Work vehicles

Abstract

The connecting part vibrates easily. [Solution] The work vehicle comprises a vehicle body, a travel device that supports the vehicle body so that it can move, a coupling part provided on the vehicle body to which a work device can be connected, a drive actuator that can raise and lower the work device connected to the coupling part by moving the coupling part in the vertical direction, and a control device that controls the drive actuator and performs vibration control to vibrate the coupling part.

Description

Technical Field

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

Background Art

[0002] The agricultural tractor disclosed in Patent Document 1 includes a traveling body equipped with a transmission case, a lift arm provided on the transmission case so as to be vertically swingable, a lifting hydraulic cylinder that vertically swings the lift arm, a lower link that can be connected to a ground working machine and vertically swings as the lift arm vertically swings, a lifting hydraulic switching valve that controls the supply and discharge of hydraulic oil to the lifting hydraulic cylinder, and a work implement lifting lever that mechanically switches the lifting hydraulic switching valve.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the agricultural tractor of Patent Document 1, by operating the work implement lifting lever, as the lifting hydraulic switching valve performs a switching operation, the lifting hydraulic cylinder expands and contracts. As a result, the lift arm swings up and down, causing the lower link to swing up and down.

[0005] However, in the agricultural tractor of Patent Document 1, since the switching of the lifting hydraulic switching valve is mechanically performed by the work implement lifting lever (operating member), the operation of the lower link (connecting portion) depends on the operator who operates the operating member. That is, even if an attempt is made to vibrate the connecting portion, there are cases where the operator who operates the operating member may not be able to vibrate them well.

[0006] The present invention was made to solve the problems of the prior art, and aims to provide a work vehicle that can easily vibrate its connecting section. [Means for solving the problem]

[0007] A work vehicle according to one aspect of the present invention comprises a vehicle body, a vehicle body that supports the vehicle body so that it can move, a connecting portion provided on the vehicle body to which a work device can be connected, a drive actuator that can raise and lower the work device connected to the connecting portion by moving the connecting portion in the vertical direction, and a control device that controls the drive actuator and performs vibration control to vibrate the connecting portion.

[0008] The control device can selectively perform either a first vibration control or a second vibration control as the vibration control, and the first amplitude of the connecting portion in the first vibration control may be greater than the second amplitude of the connecting portion in the second vibration control.

[0009] The control device is capable of controlling the drive of the work device connected to the coupling portion, and it is not necessary to drive the work device in the first vibration control but not in the second vibration control.

[0010] The control device can control the drive speed of the drive actuator, and the drive speed in the first vibration control may be faster than the drive speed in the second vibration control.

[0011] The work vehicle is equipped with an output shaft that outputs rotational driving force to the work device connected to the coupling portion, and the control device is capable of controlling the rotational drive of the output shaft, and in the vibration control, it may be possible to repeatedly perform at least one of the following controls: a first switching control that switches the rotation direction of the output shaft, and a second switching control that switches the start and stop of the rotational drive.

[0012] The control device may, in the vibration control, execute the first switching control or the second switching control in accordance with the vertical movement of the connecting portion.

[0013] The control device may execute the first switching control or the second switching control when the direction of movement of the connecting portion is switched during vibration control.

[0014] The control device can control the drive speed of the drive actuator, and may increase the drive speed in the vibration control as the vertical movement of the connecting portion moves from the center of the amplitude toward the maximum displacement of the amplitude.

[0015] In the vibration control, the control device may vibrate the connecting portion using the vertical position of the connecting portion at the start of the vibration control as the center of the amplitude of the vertical movement of the connecting portion.

[0016] The work vehicle is equipped with an operating member that receives an operation to move the connecting portion vertically by the drive actuator, and the drive actuator may be manually operated in response to the operation of the operating member.

[0017] The work vehicle is equipped with an input interface for receiving instructions to execute the vibration control, and the control device may, when the input interface receives the execution instruction, execute the vibration control instead of the manual control.

[0018] The control device may acquire the driving state of the vehicle body by the running device, and if it determines, based on the driving state, that the running device is driving the vehicle body, it may restrict the execution of the vibration control.

[0019] The control device may acquire a predetermined position of the work device connected to the vehicle body and / or the connecting part, and if it determines that the predetermined position is located in the work area where work is to be performed, it may restrict the upward movement of the connecting part by manual control or the vibration control.

[0020] The control device acquires the traveling state of the traveling vehicle body by the traveling device, and when it is determined based on the traveling state that the traveling vehicle body is performing a turning travel, the control device may restrict the downward movement of the connecting portion by the manual control.

[0021] The drive actuator and the traveling device can be directly or indirectly driven by the power discharged from the battery unit. When the remaining capacity of the battery unit is less than a predetermined value, the control device may restrict the driving of the drive actuator in the vibration control.

Advantages of the Invention

[0022] According to the above work vehicle, the connecting portion can be easily vibrated.

Brief Description of the Drawings

[0023] [Figure 1] It is a schematic side view showing an example of a work vehicle. [Figure 2] It is a diagram for explaining an example of a block diagram of a work vehicle. [Figure 3] It is a diagram for explaining an example of a hydraulic system of a work vehicle. [Figure 4] It is a perspective view of the lifting device seen from the rear. [Figure 5] It is a left side view showing the lifting operation of the lifting device. [Figure 6] It is a diagram for explaining the alignment between the connector and the mounting tool. [Figure 7] It is a diagram for explaining the operation of the connecting portion in the vibration control. [Figure 8] It is a diagram for comparing the vibrations of the connecting portion in the first vibration control and the second vibration control. [Figure 9] It is a diagram showing an example of the relationship between the vibration control and the driving of the work device in the first switching control. [Figure 10] It is a diagram showing an example of the relationship between the vibration control and the driving of the work device in the second switching control. [Figure 11] This figure shows an example of the first map (graph) illustrating the relationship between the deviation between the actual position and the first target position, and the correction value. [Figure 12] This is a diagram showing an example of a work area. [Figure 13] This diagram shows another example of a work area. [Figure 14] This diagram illustrates an example of a hydraulic system in a work vehicle in a modified example. [Figure 15] This figure shows an example of a second map (graph) illustrating the relationship between the deviation between the actual position and the target position, and the first control current. [Figure 16] This is a diagram showing an example of the planned route. [Modes for carrying out the invention]

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Figure 1 is a schematic side view showing an example of a work vehicle 1. Figure 2 is a diagram illustrating an example of a block diagram of the work vehicle 1. Figure 3 is a diagram illustrating an example of a hydraulic system of the work vehicle 1. The work vehicle 1 is a vehicle capable of performing work using a work device 45. In this embodiment, the work vehicle 1 is a tractor on which a work device 45 (implement) can be attached to a vehicle body 11 (machine body). In the following description, the work vehicle 1 will be described mainly as a tractor equipped with a driver's seat 12 and operated by manual operation by a worker seated in the driver's seat 12.

[0025] Although a detailed explanation is omitted, the work vehicle 1 may be operated by automatic driving control without manual operation by an operator, or by remote driving control via a remote control device located at a remote location. Furthermore, the work vehicle 1 is not limited to a tractor, but may also be a construction work machine such as a compact track loader or a backhoe.

[0026] Furthermore, in the following explanation, the direction in which the worker seated in the driver's seat 12 of the work vehicle 1 faces (arrow D1 in Figure 1, etc.) is referred to as the front, and the opposite direction (arrow D2 in Figure 1, etc.) is referred to as the rear. The left side of the worker (the foreground in Figure 1, arrow D3 in Figure 4) is referred to as the left, and the right side of the worker (the background in Figure 1, arrow D4 in Figure 4) is referred to as the right. The upper side of the worker (arrow D5 in Figure 1, etc.) is referred to as the up, and the opposite direction (arrow D6 in Figure 1, etc.) is referred to as the down. Also, the horizontal direction, which is perpendicular to the front-to-back direction, is referred to as the width direction. And the direction perpendicular to the horizontal direction is referred to as the up-and-down direction.

[0027] <Work vehicles (tractors)> As shown in Figure 1, the work vehicle 1 is equipped with a vehicle body 11. The vehicle body 11 supports various devices and equipment installed in the work vehicle 1. For example, the vehicle body 11 is provided with a driver's seat 12 and a protective mechanism 13 for protecting the driver's seat 12. The protective mechanism 13 is, for example, a cabin that surrounds the driver's seat 12. The protective mechanism 13 is not limited to a cabin and may be a canopy or a rope erected in front of or behind the driver's seat 12.

[0028] Furthermore, operating devices 51 for operating various devices and equipment on the work vehicle 1 are provided around the driver's seat 12. The operating devices 51 accept manual operation by the operator. The operating devices 51 may be provided in locations other than around the driver's seat 12, and their arrangement is not limited to around the driver's seat 12. For example, at least a part of the operating devices 51 may be located on the exterior cover of the vehicle body 11, etc.

[0029] The work vehicle 1 is equipped with a power unit 14. The power unit 14 is a device that generates power. The power unit 14 is mounted on the vehicle body 11. In this embodiment, the power unit 14 includes one or more electric motors 15, and the one or more electric motors 15 generate power (rotational driving force). That is, the work vehicle 1 of this embodiment is an electric work vehicle driven by electric motors 15.

[0030] The electric motor 15 is an AC synchronous motor with embedded permanent magnets, a wound-field synchronous motor, or the like. The rotating shaft (motor shaft) of the electric motor 15 is directly or indirectly connected to the power supply destination, and transmits the generated power to the said supply destination. The motor shaft of the electric motor 15 is indirectly connected to the supply destination, for example, via a transmission that includes multiple gears.

[0031] The electric motor 15 is driven by power supplied from the battery unit 16. The battery unit 16 is mounted, for example, on the vehicle body 11. The battery unit 16 is rechargeable and is a secondary battery such as a lithium-ion battery or a lead-acid battery. The battery unit 16 has multiple cells inside, and the multiple cells are electrically connected in series and parallel. As shown in Figure 2, an inverter 17 is provided in the power supply path connecting the battery unit 16 and the electric motor 15, and the inverter 17 changes the current and voltage of the power supplied from the battery unit 16 to the electric motor 15.

[0032] The power unit 14 can supply power to each device and equipment provided by the work vehicle 1. If the power unit 14 includes multiple electric motors 15, each electric motor 15 may supply power to different devices and equipment, or a common electric motor 15 may supply power to multiple devices and equipment.

[0033] For example, as shown in Figure 3, the power unit 14 supplies power to the hydraulic pump P provided in the work vehicle 1, and operates the hydraulic pump P. In this embodiment, the hydraulic pump P is powered by an electric motor 15a included in the power unit 14. As a result, the hydraulic pump P operates using the power generated by the electric motor 15a. Hereinafter, the electric motor 15a (pump motor) that supplies power to the hydraulic pump P will be referred to as the "first motor".

[0034] The hydraulic pump P discharges the hydraulic fluid stored in the hydraulic fluid tank T. The hydraulic pump P is composed of a variable displacement hydraulic pump equipped with a pump capacity control mechanism such as a constant displacement gear pump or a swash plate. Therefore, the hydraulic pump P can change the discharge amount of hydraulic fluid in accordance with the change in the rotational speed of the power supplied from the first motor 15a. Furthermore, if the hydraulic pump P is a variable displacement hydraulic pump, the hydraulic pump P can change the discharge amount of hydraulic fluid by changing the angle of the swash plate.

[0035] In this embodiment, the work vehicle 1 is described as an electric work vehicle equipped with a power unit 14 that includes one or more electric motors 15. However, the power unit 14 may include other prime movers in place of or in addition to the electric motors 15. For example, the power unit 14 may include an engine (internal combustion engine) such as a diesel engine or a gasoline engine, and the internal combustion engine may supply power to each device or piece of equipment.

[0036] As shown in Figure 1, the work vehicle 1 is equipped with a running gear 21. The running gear 21 is a device that supports the vehicle body 11 so that it can move. The running gear 21 provides propulsion to the vehicle body 11 by being driven. The running gear 21 has one or more wheels 22 that are rotatably supported on the vehicle body 11. In this embodiment, the running gear 21 has a plurality of wheels 22, which are spaced apart in the longitudinal direction or in the width direction. The running gear 21 has a pair of wheels 22F (front wheels) that support the front side of the vehicle body 11, and a pair of wheels 22R (rear wheels) that support the rear side of the vehicle body 11. Examples of the plurality of wheels 22 include wheeled wheels and crawler-type wheels (endless tracks).

[0037] The running gear 21 is driven by power supplied from the power unit 14. In this embodiment, the running gear 21 is powered by an electric motor 15 included in the power unit 14. As a result, the running gear 21 operates using the power generated by the electric motor 15. Therefore, the running gear 21 can be driven directly or indirectly by the electricity discharged from the battery unit 16.

[0038] As shown in Figure 2, the power unit 14 includes an electric motor 15b for driving the traction unit 21, separate from the first motor 15a (pump motor). The power unit 14 also includes multiple electric motors 15b corresponding to each wheel 22, and each wheel 22 can be driven independently by its corresponding electric motor 15b. Therefore, the traction unit 21 of this embodiment can be driven directly by the power discharged from the battery unit 16. Hereinafter, the electric motor 15b (trailer) that supplies power to the traction unit 21 will be referred to as the "second motor".

[0039] Each wheel 22 may be driven by power supplied from an electric motor 15 (for example, the first motor 15a) that supplies power to other devices and equipment, or from an engine (internal combustion engine). In the example described above, each wheel 22 is driven directly by the electric motor 15, but it may also be driven indirectly by a hydraulic motor driven by hydraulic fluid discharged by a hydraulic pump P, or by electricity discharged by a battery unit 16, and the power source of the running gear 21 is not particularly limited.

[0040] As shown in Figure 3, the work vehicle 1 is equipped with a steering device 23. The steering device 23 is a device that changes the steering direction and steering angle (rudder angle) of the work vehicle 1. In this embodiment, the steering device 23 is supplied with hydraulic fluid discharged from a hydraulic pump P, and the steering direction and steering angle are changed by this hydraulic fluid. The steering device 23 includes a steering control valve 24, a steering cylinder 25, and an arm 26 (knuckle arm).

[0041] The steering control valve 24 is supplied with hydraulic fluid discharged by the hydraulic pump P and adjusts the hydraulic fluid supplied to the steering cylinder 25. The steering control valve 24 is a three-position changeable valve that can be switched by moving, for example, a spool. The steering control valve 24 is operated by the steering handle 52 included in the operating device 51. Specifically, the steering control valve 24 is switched according to the direction of rotation (steering direction) of the rotating shaft 52a (steering shaft) rotated by the steering handle 52.

[0042] The steering cylinder 25 is driven by hydraulic fluid supplied from the steering control valve 24. The steering cylinder 25 extends or retracts in one or the other widthwise direction depending on the switching position and opening degree of the steering control valve 24.

[0043] The arm 26 is connected to the steering cylinder 25 and moves in accordance with the extension and retraction of the steering cylinder 25, thereby changing the steering (steering direction and steering angle) of the front wheel 22F.

[0044] As shown in Figure 3, the work vehicle 1 is equipped with a braking device 27. The braking device 27 can brake the running gear 21. In this embodiment, the braking device 27 is supplied with hydraulic fluid discharged from a hydraulic pump P, and is operated by this hydraulic fluid to brake the running gear 21. The braking device 27 can also brake a pair of rear wheels 22R. The braking device 27 includes a master cylinder 28 and a braking mechanism 29.

[0045] The master cylinder 28 operates the braking mechanism 29 by the pressure of the hydraulic fluid. The master cylinder 28 stores hydraulic fluid discharged from, for example, a hydraulic pump P in an accumulator, and operates the braking mechanism 29 by the pressure of the hydraulic fluid. The master cylinder 28 is operated by a braking device 53 included in the operating device 51. The braking device 53 can be a foot pedal type or a lever type. For example, a foot pedal type braking device 53 is a brake pedal, and a lever type braking device 53 is a parking brake. The brake pedal receives input to control the braking force of the braking mechanism 29. The parking brake receives input to switch between a braking state in which the braking mechanism 29 applies braking and a release state in which the braking is released.

[0046] A braking device 53 is connected to the master cylinder 28, and the master cylinder 28 operates in conjunction with the operation of the braking device 53. As a result, the master cylinder 28 supplies hydraulic fluid to the braking mechanism 29 and operates the braking mechanism 29 by applying pressure to the hydraulic fluid.

[0047] The braking mechanism 29 can independently brake each of the pair of rear wheels 22R. Specifically, the braking mechanism 29 is provided for each of the pair of rear wheels 22R. The braking mechanism 29 is, for example, a disc-type brake. The braking mechanism 29 also has a brake piston, and the braking force is changed by the operation of this brake piston. Specifically, when the braking device 53 is operated in the braking direction and hydraulic fluid is supplied from the master cylinder 28, the brake piston presses against the brake disc and brake plate, thereby increasing the braking force. On the other hand, when the braking device 53 is operated in the release direction and hydraulic fluid is returned to the master cylinder 28, the brake piston moves away from the brake disc and brake plate, reducing the braking force.

[0048] The braking device 27 is not limited to the examples described above. For example, the braking device 27 may brake the pair of front wheels 22F in addition to the pair of rear wheels 22R.

[0049] As shown in Figure 1, the work vehicle 1 is equipped with a coupling section 34. The coupling section 34 is provided on the vehicle body 11. The coupling section 34 is supported so as to be movable in the vertical direction relative to the vehicle body 11. Specifically, the coupling section 34 is supported so as to be able to swing relative to the vehicle body 11 around a pivot axis that extends in a direction intersecting the vertical direction (width direction). In addition, the coupling section 34 can be connected to a work device 45.

[0050] The working device 45 is connected to the vehicle body 11 by a coupling section 34 and is a device that performs work. The working device 45 is raised and lowered as the coupling section 34 is moved vertically by the drive actuator 36. The working device 45 includes a tilling device for tilling work, a furrowing device for making ridges, a furrowing device for making furrows, a harvesting device for harvesting crops, a mowing device for cutting pasture grass, a spreading device for spreading pasture grass, a grass collecting device for collecting pasture grass, a shaping device for shaping pasture grass, a fertilizer spreading device for spreading fertilizer, a pesticide spraying device for spraying pesticides, a crop separation device for separating crops, and a trolley capable of carrying materials, etc.

[0051] Furthermore, as shown in Figure 3, the work vehicle 1 is equipped with a drive actuator 36. The drive actuator 36 can raise and lower the work device 45 connected to the connecting portion 34 by moving the connecting portion 34 in the vertical direction.

[0052] In this embodiment, the drive actuator 36 is a hydraulic actuator driven by the hydraulic fluid discharged by the hydraulic pump P. Therefore, in this embodiment, the drive actuator 36 can be indirectly driven by the power discharged by the battery unit 16. However, the drive actuator 36 may also be directly driven by the power discharged by the battery unit 16, and may be an electric actuator (such as an electric cylinder or electric motor).

[0053] In this embodiment, the connecting portion 34 and the drive actuator 36 constitute at least a part of a lifting device 31 provided on the work vehicle 1 and capable of raising and lowering the work device 45. The lifting device 31 is composed of, for example, a three-point linkage mechanism. In the example shown in Figure 1, a lifting device 31 with a three-point linkage mechanism is shown.

[0054] The following describes the lifting device 31, and then the connecting portion 34 and the drive actuator 36 in detail. Figure 4 is a perspective view of the lifting device 31 from the rear. Figure 5 is a left side view showing the lifting operation of the lifting device 31. The lifting device 31 is provided at the front and / or rear of the vehicle body 11. In the work vehicle 1 shown in Figure 1, the lifting device 31 is provided at the rear of the vehicle body 11.

[0055] As shown in Figures 4 and 5, the lifting device 31 includes a lift arm 32, a top link 33, a lower link 34, a lift rod 35, and a lift cylinder 36. In this embodiment, when the connecting portion 34 and the drive actuator 36 constitute at least a part of the lifting device 31 of the three-point linkage mechanism, the connecting portion 34 is the lower link 34, and the drive actuator 36 is the lift cylinder 36.

[0056] The lift arm 32 is pivotably mounted relative to the vehicle body 11. The lift arm 32 is supported so as to be able to swing vertically relative to the vehicle body 11. Specifically, the front end of the lift arm 32 is pivotally supported on the upper rear side of the vehicle body 11 and extends toward the rear.

[0057] The lower link 34 (connecting part) is pivotably mounted relative to the vehicle body 11. The lower link 34 is supported via a ball joint so as to be able to pivot vertically relative to the vehicle body 11. Specifically, the front end of the lower link 34 is pivotally supported on the underside of the rear of the vehicle body 11 and extends toward the rear.

[0058] The rear end of the lower link 34 is capable of connecting to the work device 45. As shown in Figures 4 and 5, the connecting portion 34 (lower link) is provided with a connector 34a (joint) that can be directly or indirectly connected to the work device 45. The connector 34a is provided at the rear end of the lower link 34. The connector 34a is connected to the work device 45 via a mounting device 46. Either the connector 34a or the mounting device 46 is moved relative to the other in the direction in which the pivot axis of the connecting portion 34 extends (in this embodiment, in a direction intersecting the vertical direction) to connect with each other (see Figure 4). The mounting device 46 is provided, for example, on the work device 45. The mounting device 46 may be detachably attached to the work device 45.

[0059] In the example shown in Figure 4, the connector 34a is attached to the mounting fixture 46 by moving from one side in the width direction to the other. The connector 34a has an insertion hole 34a1 that opens in the width direction, and the mounting fixture 46 (shaft member) is fitted into the insertion hole 34a1. The shape of the insertion hole 34a1 corresponds to the cross-sectional shape of the shaft member as viewed from the axial direction. In this embodiment, the shape of the insertion hole 34a1 and the cross-sectional shape of the shaft member are substantially circular. A pin (quick-release pin, cotter pin, etc.) can be attached to the shaft member to prevent the shaft member from being removed from the insertion hole 34a1.

[0060] The connector 34a is, for example, a ball joint. The connector 34a is fitted into the rear end of the lower link 34, and the rear end of the lower link 34 is able to hold the insertion hole 34a1 of the connector 34a in a direction at least intersecting the vertical direction. Furthermore, the rear end of the lower link 34 is held in a way that allows the opening direction of the insertion hole 34a1 of the connector 34a to be changed.

[0061] Therefore, when connecting the work device 45 to the lifting device 31, the connector 34a (shaft member) is attached to the mounting device 46, and the connector 34a and mounting device 46 are aligned. Figure 6 is a diagram illustrating the alignment of the connector 34a and mounting device 46.

[0062] As shown in Figure 6, when the position of the shaft member perpendicular to the axial direction (in this embodiment, the position in the vertical and front-rear directions) coincides with the insertion hole 34a1, the shaft member can be inserted into the insertion hole 34a1. As a result, the working device 45 is connected to the connecting part 34 by inserting the shaft member into the insertion hole 34a1 and mounting it in the insertion hole 34a1. In Figure 6, the state in which the position of the insertion hole 34a1 and the position of the shaft member coincide is shown by a solid line, and the state in which the position of the insertion hole 34a1 and the position of the shaft member do not coincide is shown by a dashed line.

[0063] In the above explanation, a ball joint was used as an example of the connector 34a, but the connector 34a is not limited to a ball joint. For example, the connector 34a may be a hole (through hole) formed in the lower link 34 (connecting part) and penetrating in the direction of the pivot axis (width direction) of the lower link 34, or it may be a collar in which the through hole is formed.

[0064] Furthermore, the connector 34a may be detachable from the lower link 34. If the connector 34a is a ball joint, the rear end of the lower link 34 is configured, for example, with a quick hitch that detachably holds the ball joint.

[0065] The lift rod 35 connects the lift arm 32 and the lower link 34. The upper end of the lift rod 35 is connected to the rear end of the lift arm 32. The lower end of the lift rod 35 is connected to the middle of the lower link 34 in the longitudinal direction. Therefore, as the lift arm 32 moves up and down, the lower link 34, which is connected to the lift arm 32 via the lift rod 35, also moves up and down.

[0066] The top link 33 is pivotably mounted on the vehicle body 11. The top link 33 is supported on the vehicle body 11 via a ball joint so as to be able to pivot vertically. Specifically, the front end of the top link 33 is pivotally supported on the upper rear side of the vehicle body 11 and extends toward the rear.

[0067] The rear end of the top link 33 can be connected to the working device 45. The top link 33 is also provided with a connector that allows it to be connected (linked) to the working device 45 directly or indirectly, similar to the lower link 34. The connector of the top link 33 can adopt the same configuration as the connector 34a of the lower link 34 described above, so a detailed explanation is omitted.

[0068] With the above configuration, the work device 45 is connected to the rear end of the top link 33 and the rear end of the lower link 34, thereby enabling the work device 45 to be raised and lowered on the work vehicle 1.

[0069] As shown in Figure 3, the lift cylinder 36 (drive actuator) is a hydraulic cylinder operated by hydraulic fluid discharged from the hydraulic pump P. One end of the lift cylinder 36 is pivotally supported on the lift arm 32, and the other end is pivotally supported on the rear of the vehicle body 11. As shown in Figure 3, the lift cylinder 36 is a single-acting cylinder.

[0070] Therefore, when hydraulic fluid is supplied to the bottom oil chamber of the lift cylinder 36, the lift cylinder 36 extends. Conversely, when hydraulic fluid is discharged from the bottom oil chamber, the lift cylinder 36 contracts. As a result of the extension and retraction of the lift cylinder 36, the lift arm 32 swings up and down. With this configuration, the lift cylinder 36 (drive actuator) indirectly moves (swings) the lower link 34 (connecting part) up and down by moving the lift arm 32 up and down.

[0071] As shown in Figure 3, the work vehicle 1 is equipped with a control valve 37 for controlling the drive actuator 36. The control valve 37 is connected to a hydraulic pump P and adjusts the hydraulic fluid supplied from the hydraulic pump P to the drive actuator 36. The control valve 37 is a three-position changeable valve that can be switched by moving, for example, a spool. The control valve 37 can be switched between a neutral position, a first position, and a second position.

[0072] The control valve 37 in the neutral position has its opening degree set to zero, blocking the supply of hydraulic fluid from the hydraulic pump P to the lift cylinder 36 and the discharge of hydraulic fluid from the lift cylinder 36. The control valve 37 in the first position can supply the hydraulic fluid discharged by the hydraulic pump P to the bottom oil chamber by changing its opening degree. The control valve 37 in the second position can discharge the hydraulic fluid from the bottom oil chamber to the hydraulic fluid tank T by changing its opening degree.

[0073] Therefore, when the control valve 37 is in the neutral position, the lift cylinder 36 does not extend or retract, but maintains its length. Also, when the control valve 37 is in the first position, the lift cylinder 36 extends, and when the control valve 37 is in the second position, the lift cylinder 36 retracts. In this embodiment, the spool of the control valve 37 is provided with an operated portion 37a that is operated by an operating member 54 included in the operating device 51. By operating the operated portion 37a with the operating member 54, the position of the spool is changed to the neutral position, the first position, or the second position.

[0074] The operating member 54 receives the operation of moving the connecting portion 34 vertically by the drive actuator 36. The operating member 54 is swingable and is, for example, a lifting lever (position lever) that receives the operation of the vertical position of the lifting device 31 (connecting portion 34). When the operating member 54 is swingable in a first direction (upward and rearward in this embodiment), it receives the operation of moving the connecting portion 34 upward (operation of raising the lifting device 31). Also, when the operating member 54 is swingable in a second direction opposite to the first direction (downward and forward in this embodiment), it receives the operation of moving the connecting portion 34 downward (operation of lowering the lifting device 31). Note that the operating member 54 is not limited to a lever-shaped member that receives swinging operations. For example, the operating member 54 may be composed of a handle-shaped member that can receive lifting operations by an operator.

[0075] As shown in Figure 3, the operating member 54 in this embodiment is connected to the operated part 37a via a first link mechanism 38a. As a result, when the operating member 54 is oscillated, the first link mechanism 38a is activated and acts on the operated part 37a, thereby switching the switching position of the control valve 37 from the neutral position to the first position or the second position. Consequently, the drive actuator 36 is manually operated in response to the operation of the operating member 54.

[0076] Furthermore, a feedback lever 38b is connected to the first link mechanism 38a. The feedback lever 38b is connected to the lift arm 32 via the second link mechanism 38c. Therefore, when the lift cylinder 36 extends and retracts and the lift arm 32 swings up and down due to the operation of the operating member 54, the control valve 37 is moved to the neutral position via the second link mechanism 38c, the feedback lever 38b, and the first link mechanism 38a. As a result, when the operating member 54 is operated and the lift arm 32 swings up and down, the position of the lift arm 32 can be maintained at a position corresponding to the operating position of the operating member 54. This allows the operator to change the height of the connecting part 34 (lower link) according to the amount of operation of the operating member 54.

[0077] Furthermore, the work vehicle 1 is equipped with an output shaft 41 (PTO shaft). The output shaft 41 outputs rotational driving force to the work device 45 connected to the coupling section 34. The output shaft 41 is located near the coupling section 34 on the vehicle body 11. In this embodiment, the output shaft 41 is provided projecting rearward from the rear of the vehicle body 11. If the coupling section 34 (lifting device 31) is provided at the front of the vehicle body 11, the output shaft 41 may also be provided projecting forward from the front of the vehicle body 11, and is provided at least on the front and rear of the vehicle body 11.

[0078] The output shaft 41 is connected to the input shaft of the work device 45 via a connecting member such as a universal joint. This allows the work device 45 to be driven by the rotational driving force transmitted from the output shaft 41. In this embodiment, the output shaft 41 is driven by power supplied from the power unit 14. Therefore, in this embodiment, the work device 45, which receives rotational driving force from the output shaft 41, can be indirectly driven by the power discharged from the battery unit 16.

[0079] As shown in Figure 2, the power unit 14 includes an electric motor 15c that drives the output shaft 41, in addition to the electric motor 15 that drives the hydraulic pump P and the travel device 21. Therefore, the output shaft 41 can be driven independently of the hydraulic pump P and the travel device 21. Hereafter, the electric motor 15c (PTO motor) that supplies power to the output shaft 41 will be referred to as the "third motor".

[0080] In the above description, the case in which the work device 45 is driven by rotational driving force transmitted from the output shaft 41 was described. However, the work device 45 may also be driven by hydraulic fluid discharged by a hydraulic pump P, separately from the output shaft 41. In such a case, the work device 45 has a hydraulic actuator (such as a hydraulic cylinder or hydraulic motor) that is driven by hydraulic fluid, and the hydraulic actuator is driven by hydraulic fluid supplied from the hydraulic pump P via a switching valve 42 provided on the work vehicle 1. The switching valve 42 is, for example, an electromagnetic proportional valve, and the amount of hydraulic fluid supplied to the hydraulic actuator can be adjusted by changing the opening degree.

[0081] Furthermore, the work device 45 may be driven directly by the power discharged from the battery unit 16. In this case, the work device 45 has an electric actuator (such as an electric motor or electric cylinder) that is driven by the power supplied from the battery unit 16, and the electric actuator is driven by the power supplied from the battery unit 16 via the inverter 17 and cables. In addition, the work device 45 may be driven by power supplied from an engine (internal combustion engine) that supplies power to other devices and equipment.

[0082] The following will provide a detailed explanation of the various devices and equipment mounted on the work vehicle 1, primarily using Figure 2. As shown in Figure 2, the work vehicle 1 is equipped with a control device 71. The work vehicle 1 is also equipped with a storage device 72.

[0083] The control device 71 includes one or more processors. The control device 71 is a controller for the work vehicle 1 and performs various controls related to the work vehicle 1. The control device 71 is communicated with each device and equipment mounted on the work vehicle 1 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. Therefore, the control device 71 can control each of these devices and equipment.

[0084] The control device 71 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The control device 71 can read software programs from one or more memories using one or more processors and execute various processes based on said software programs. The control device 71 may also execute various processes based on predetermined logic circuits using one or more processors.

[0085] Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits).

[0086] The control device 71 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors are each mounted on one or more computers physically separated from the work vehicle 1, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0087] Furthermore, the software program may be stored in a storage device 72 that is communicatively connected to the control device 71, or in an external server device connected via the network, and then installed into the memory from there.

[0088] The storage device 72 is a device capable of storing information. The storage device 72 is a non-volatile memory such as an HDD, SSD, CD-ROM, or DVD-ROM. The storage device 72 is connected to the control device 71 in a communication manner, and the control device 71 stores various information in the storage device 72 and retrieves information stored in the storage device 72.

[0089] The control device 71 controls the power unit 14 and can change the power generated by the power unit 14. In this embodiment, the control device 71 can control the rotational speed and rotational direction of each electric motor 15 by controlling the inverter 17. For example, the control device 71 can control the output (discharge amount of hydraulic fluid) of the hydraulic pump P by controlling the rotational speed of the first motor 15a. Therefore, the control device 71 can control the drive speed of the drive actuator 36 by controlling the output of the hydraulic pump P.

[0090] Furthermore, the control device 71 can control the rotational drive (rotational speed, rotational direction, etc.) of the output shaft 41 by controlling the rotational speed and direction of the third motor 15c. As a result, the control device 71 can control the drive of the work device 45, which is connected to the coupling section 34 and supplied with power from the output shaft 41.

[0091] In the example described above, the control device 71 controls the output of the hydraulic pump P and the rotational drive of the output shaft 41 by controlling the inverter 17. However, the control device 71 may control each device and equipment independently of the control of the power unit 14 by the inverter 17. Specifically, if the hydraulic pump P is a variable displacement hydraulic pump, the control device 71 controls the angle of the swash plate of the hydraulic pump P by controlling the piston that changes the angle of the swash plate, thereby controlling the output of the hydraulic pump P.

[0092] Furthermore, if the work device 45 has a hydraulic actuator, the control device 71 controls the drive of the work device 45 by controlling the switching valve 42 to adjust the hydraulic fluid supplied to the hydraulic actuator. Also, if the work device 45 has an electric actuator, the control device 71 controls the drive of the electric actuator by controlling the inverter 17. In this way, the control device 71 can control the drive of the work device 45 connected to the connecting section 34.

[0093] Furthermore, the control device 71 can control the drive actuator 36. As shown in Figures 2 and 3, the work vehicle 1 is equipped with a drive device 55 that operates the operating member 54 by being driven. The control device 71 indirectly controls the drive actuator 36 by controlling the drive device 55. The drive device 55 is connected to the operating member 54 and performs a swinging operation of the operating member 54 when controlled by the control device 71. The control device 71 outputs an instruction signal to the drive device 55. Based on the instruction signal output from the control device 71, the drive device 55 swings the operating member 54 by a predetermined amount.

[0094] The drive unit 55 has an electric actuator 55a, which is driven by an instruction signal output from the control device 71. The electric actuator 55a of the drive unit 55 is, for example, an electric cylinder. One end of the electric cylinder 55a is connected to an operating member 54, and the operating member 54 is oscillated as the electric cylinder 55a extends and retracts. For this reason, the control device 71 outputs an instruction signal to a servo amplifier in the drive unit 55, and the servo amplifier supplies power to the electric cylinder 55a. As a result, the drive unit 55 oscillates the operating member 54 by a predetermined amount as the electric cylinder 55a extends and retracts.

[0095] The electric actuator 55a of the drive unit 55 is not limited to an electric cylinder, but may be a servo motor or the like.

[0096] As shown in Figure 2, the work vehicle 1 is equipped with a detection device 81. The detection device 81 is a device that detects the state of the work vehicle 1 and outputs the detection result as a detection signal. The detection device 81 is connected to the control device 71 via wired or wireless communication and outputs the detection result to the control device 71. The control device 71 can obtain the state of the work vehicle 1 by acquiring the detection result from the detection device 81. The detection device 81 includes, for example, a battery detection device 82, a rotation detection device 83, a steering detection device 84, and a lifting detection device 85.

[0097] The battery detection device 82 is a device that detects the state of the battery unit 16. The battery detection device 82 is a BMU (battery management unit) installed in the battery unit 16. The battery detection device 82 detects the temperature, voltage, current, or terminal voltage of the internal cells of the battery unit 16. The battery detection device 82 also detects the remaining capacity (charge rate) of the battery unit 16, for example, by measuring the terminal voltage of the internal cells and using a voltage measurement method. Note that the method for detecting the remaining capacity of the battery unit 16 is not limited to a voltage measurement method, but may also be other methods such as a Coulomb counter method, a battery cell modeling method, or an impedance track method.

[0098] The rotation detection device 83 is a device that detects the rotation of the power supply unit 14. The rotation detection device 83 is, for example, an optical or magnetic rotation sensor. The rotation detection device 83 detects any rotation in the power transmission path from the motor shaft of each electric motor 15 to the power supply destination. The rotation detection device 83 outputs the detected rotation speed and rotation direction signal (detection signal) to the control device 71. The control device 71 can acquire the rotation speed and rotation direction of each electric motor 15 based on the detection result of the rotation detection device 83 and predetermined calculation formulas stored in the storage device 72. In addition, the control device 71 can calculate the vehicle speed of the vehicle body 11 by acquiring the rotation speed and rotation direction of the electric motors 15 that output power to the running device 21.

[0099] The steering detection device 84 is a device that detects the steering direction and steering angle (rudder angle) of the steering device 23. The steering detection device 84 is, for example, an optical or magnetic rotation sensor. The steering detection device 84 detects the rotation angle and rotation direction of the steering shaft 52a. The steering detection device 84 outputs the detected rotation angle and rotation direction signal (detection signal) to the control device 71. The control device 71 can obtain the steering direction and steering angle of the steering device 23 based on the detection result of the steering detection device 84 and predetermined calculation formulas etc. that are stored in advance in the storage device 72. Hereinafter, the steering angle will be described as the absolute value of the deviation from the steering angle when the tractor 1 is moving in a straight line (straight-line movement), with the steering angle being set to zero when the tractor 1 is moving in a straight line (straight-line movement), unless otherwise specified.

[0100] The lifting detection device 85 is a device that detects the lifting and lowering of the lifting device 31. In this embodiment, the lifting detection device 85 is a sensor (lift arm sensor) that detects the angle of the lift arm 32. The lifting detection device 85 is, for example, a rotational displacement type variable resistor such as a potentiometer. The control device 71 can calculate the vertical position AP of the connecting portion 34 based on the detection result of the lifting detection device 85 and a predetermined calculation formula stored in the storage device 72.

[0101] In this embodiment, the vertical position AP of the connecting portion 34 is the height of the rear end of the connecting portion 34 relative to the vehicle body 11. More specifically, the vertical position AP is the height of the center of the insertion hole 34a1. Hereafter, for the sake of explanation, the vertical position AP of the connecting portion 34 obtained by the control device 71 based on the detection result of the lifting detection device 85 may be referred to as the "actual position".

[0102] In the following explanation, the control device 71 will be described using the example of calculating the height of the connecting portion 34 as the actual position AP, but it may also be calculated using the angle of the connecting portion 34 as the actual position AP.

[0103] Furthermore, the detection device 81 described above is merely an example, and the type of sensor is not limited to these. The lifting detection device 85 may be a lift cylinder sensor that detects, for example, the extension (stroke) of the lift cylinder 36 instead of the angle of the lift arm 32. The lifting detection device 85 may also be a rotation sensor that detects the angle of the lower link 34.

[0104] Furthermore, the detection device 81 described above is merely an example, and is not limited to the device described above. Additional devices may be added, deleted, or modified as appropriate depending on the function of the work vehicle 1.

[0105] For example, as shown in Figure 2, the detection device 81 may include a sensing device 86. The sensing device 86 is a device that senses the environment around the work vehicle 1. Based on the sensing results of the sensing device 86, the control device 71 can detect workers, obstacles, etc., around the work vehicle 1, and estimate the position of the work vehicle 1 based on the sensing results (detected point cloud data) and environmental map information stored in the storage device 72, etc. Based on the sensing results, the control device 71 can estimate a predetermined position VP (for example, the center position in the front-rear and width directions) of the work device 45 connected to the traveling vehicle body 11 and / or the coupling part 34. Hereinafter, the predetermined position VP estimated based on the sensing results of the sensing device 86 will be described as the "estimated position".

[0106] The sensing device 86 includes an optical distance measuring sensor and a signal processing circuit, etc. An example of the optical distance measuring sensor in the sensing device 86 is a LiDAR (Light Detection and Ranging) sensor.

[0107] A lidar (laser sensor) emits pulsed measurement light (laser beam) millions of times per second from a light source such as a laser diode. This measurement light is reflected by a rotating mirror and scanned horizontally or vertically, projecting it into a predetermined detection range (sensing range, e.g., 360°). The lidar then receives the reflected light from the object using a photodetector. The signal processing circuit detects the distance to the object based on the time from when the lidar emits the measurement light until the reflected light is received (Time of Flight (ToF) method).

[0108] In addition to LiDAR, other examples of optical distance measuring sensors for the sensing device 86 include imaging devices such as CCD cameras equipped with CCD (Charge Coupled Devices) image sensors, CMOS cameras equipped with CMOS (Complementary Metal Oxide Semiconductor) image sensors, and ToF cameras. Furthermore, although the above example illustrates a case where the sensing device 86 has an optical distance measuring sensor, an ultrasonic distance measuring sensor (for example, an airborne ultrasonic sensor such as sonar) may be used instead of an optical distance measuring sensor.

[0109] As shown in Figure 2, the detection device 81 may include a positioning device 87. The positioning device 87 is a device that performs positioning (detection of the position of the work vehicle 1) of the work vehicle 1. The positioning device 87 receives satellite signals from a satellite positioning system using a GPS antenna and performs positioning of the work vehicle 1 using said satellite signals. As positioning of the work vehicle 1, the positioning device 87 can determine a predetermined position VP (for example, the center position in the front-rear and width directions) of the work device 45 connected to the vehicle body 11 and / or the coupling part 34. Hereinafter, the predetermined position VP determined by the positioning device 87 will be described as the "positioned position".

[0110] As shown in Figure 2, the detection device 81 may include an attitude detection device 88. The attitude detection device 88 is a device that detects the attitude of the work vehicle 1 (vehicle body 11). The attitude detection device 88 detects the three-dimensional inertial motion of the vehicle body 11 as the attitude of the vehicle body 11. The attitude detection device 88 is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyro sensor. The attitude detection device 88 detects the tilt information of the vehicle body 11 (roll angle, pitch angle, and yaw angle), etc. In the following description, the roll angle and pitch angle when the vehicle body 11 is in a horizontal position are set to zero, and unless otherwise specified, the roll angle and pitch angle are described as the absolute values ​​of the deviation from the horizontal position.

[0111] As shown in Figure 2, the operating device 51 is not limited to the steering wheel 52 or braking device 53 described above, but includes an operating device 62 (input operating device) that receives operations and outputs the received operations as signals (operation signals) to the control device 71. The control device 71 may control each device or equipment in accordance with the operation of the operating device. The input operating device 62 is connected to the control device 71 via wired or wireless communication and outputs operation signals to the control device 71. The control device 71 controls each device or equipment based on the operation signals output from the input operating device 62. Examples of input operating devices 62 include an accelerator operating device 63 and a rotary operating device 64.

[0112] The accelerator control device 63 is a control device that receives input for the propulsion force of the running gear 21. The accelerator control device 63 has, for example, an accelerator pedal or an accelerator lever, and a sensor detects these operations (direction of operation, amount of operation, etc.) and outputs them as an operation signal to the control device 71. When the control device 71 receives an operation signal from the accelerator control device 63, it controls the power unit 14 (second motor 15b) based on the operation signal, the detection result of the rotation detection device 83, and calculation formulas, etc.

[0113] The rotary operating device 64 is an operating device that accepts control of the rotational speed of the output shaft 41. The rotary operating device 64 has, for example, a dial, and detects these operations (direction of operation, amount of operation, etc.) using a sensor and outputs them as an operation signal to the control device 71. When the control device 71 receives the operation signal from the rotary operating device 64, it controls the power unit 14 (third motor 15c) based on the operation signal, the detection result of the rotation detection device 83, and calculation formulas, etc.

[0114] The operating device 51 may include operating devices other than the accelerator operating device 63 and the rotation operating device 64. For example, it may include an operating device (pump operating device) that accepts control of the rotational speed of the electric motor 15a (first motor) that supplies power to the hydraulic pump P. If the operating device 51 does not include the pump operating device, the control device 71 controls the rotational speed of the electric motor 15 that supplies power to the hydraulic pump P to its rated rotational speed based on the detection result of the rotation detection device 83.

[0115] Furthermore, although the above description described the case in which the work vehicle 1 is operated by the control device 51, it may also be operated by receiving operation information and instruction information separately from the control device 51. In such a case, the work vehicle 1 is equipped with a communication device 66 that receives operation information and instruction information. The communication device 66 is the communication interface of the work vehicle 1 and includes a communication circuit. The communication device 66 wirelessly communicates with external server devices, mobile terminals, remote control devices, etc., using, for example, the IEEE 802.11 series Wi-Fi (Wireless Fidelity, registered trademark), a mobile phone communication network, or a data communication network. The communication device 66 communicates wirelessly with the server device, etc., and receives various information, data, and signals. The communication device 66 may also serve as an output interface capable of outputting (transmitting) various information, data, and signals to the server device, etc.

[0116] In the following explanation, an input device 62, as described above, which receives operation instructions from an operator and outputs those instructions (operation information) to the control device 71, and a device 61, such as a communication device 66, which receives operation information or instruction information from an external source, may be referred to as an "input interface." The input interface 61 receives information input and outputs the received information to the control device 71.

[0117] <Vibration control> The control device 71 can control the drive actuator 36 and perform vibration control to vibrate the connecting portion 34. That is, in this embodiment, since the work vehicle 1 is equipped with an operating member 54 that accepts manual operation, the control device 71 can perform vibration control independently of manual operation.

[0118] The work vehicle 1 is equipped with an input interface 61 that receives instructions to execute vibration control. When the control device 71 receives an execution instruction from the input interface 61, it executes vibration control instead of manual operation. For example, the input interface 61 that receives instructions to execute vibration control is an input operating device 62 (instruction operating device 65) that receives the operation of said execution instruction. When the instruction operating device 65 receives the operation of the vibration control execution instruction, it outputs an operation signal for said execution instruction to the control device 71. When the control device 71 receives the operation signal for the execution instruction, it starts executing vibration control.

[0119] The indicator device 65 is a hardware-type operating device such as a physical switch. Examples of indicator device 65 include push-button switches and seesaw-type switches. The indicator device 65 is provided, for example, inside or outside the protective mechanism 13. For example, the indicator device 65 is provided inside the protective mechanism 13, around the driver's seat 12. Alternatively, the indicator device 65 may be provided outside the protective mechanism 13, near the lifting device 31 (for example, on the rear fender).

[0120] The instruction and operation device 65 may be provided on a remote control that is removable from the work vehicle 1, and this remote control is connected to the control device 71 via wired or wireless means so as to be able to communicate. In such a case, the remote control is connected to the control device 71 via a communication device 66 so as to be able to communicate.

[0121] Furthermore, if the work vehicle 1 is equipped with a display device, the instruction and operation device 65 may be a software type such as a display image that is displayed on the screen of the display device and can be operated. Also, if the work vehicle 1 is equipped with a communication device 66 as an input interface 61, vibration control operations may be received via a portable terminal or the like that can communicate with the communication device 66.

[0122] In vibration control, the control device 71 vibrates the connecting portion 34 from one side to the other and from the other side to the other, with a predetermined position (reference position BP) as the center of amplitude α. In vibration control, the control device 71 vibrates the connecting portion 34 with the vertical position of the connecting portion 34 at the start of the vibration control (reference position BP) as the center of amplitude α. Here, amplitude α refers to the amplitudes of both sides of the center of the insertion hole 34a1 in vibration control.

[0123] When the control device 71 receives an operation signal for executing vibration control from the instruction device 65, it acquires the detection result of the lifting detection device 85 as a reference position BP and stores the reference position BP in memory. The control device 71 updates the reference position BP stored in memory each time the input interface 61 receives an input for executing vibration control.

[0124] Note that the reference position BP is not limited to the vertical position of the connecting section 34 at the start of vibration control. For example, a memory or storage device 72 may store the reference position BP in advance, and the control device 71 may refer to the reference position BP to perform vibration control. Specifically, the storage device 72 may store a first table that associates the reference position BP with each work device 45 connected to the connecting section 34. The first table stores identification information indicating the work device 45 and the reference position BP in association.

[0125] The control device 71 acquires identification information input via the input interface 61 and obtains a reference position BP corresponding to the identification information from the first table. The control device 71 stores the reference position BP obtained from the first table in memory. For example, if the input interface 61 is a communication device 66, the control device 71 receives a selection operation for a work device 45 attached to the connecting unit 34 from a mobile terminal or the like that can communicate with the communication device 66, and the communication device 66 receives the identification information. Alternatively, if each work device 45 is equipped with a transmitter (e.g., a beacon) that transmits identification information, the control device 71 may identify the work device 45 attached to the connecting unit 34 based on the identification information received from the beacon by the input interface 61 (receiver, beacon scanner).

[0126] Furthermore, the reference position BP may be associated with location information in place of, or in addition to, the work device 45. In such a case, the storage device 72 may store a second table that associates the reference position BP with the location information of each point. Examples of location information include the location of a barn or field H. For example, if the work vehicle 1 is equipped with a positioning device 87, the control device 71 acquires the positioning location determined by the positioning device 87, and obtains the reference position BP corresponding to that location by referring to the second table. Also, if the work vehicle 1 is equipped with a sensing device 86, the control device 71 acquires the estimated location estimated based on the sensing results of the sensing device 86, and obtains the reference position BP corresponding to that estimated location by referring to the second table. The control device 71 stores the reference position BP acquired from the second table in memory.

[0127] The first and second tables described above are merely examples; the storage device 72 may store a third table associating a reference position BP with each work device 45 and position information, and the control device 71 may obtain the reference position BP from this third table.

[0128] The control device 71 controls the drive actuator 36 based on the detection result of the lifting detection device 85 and a predetermined amplitude α stored in the storage device 72, with the reference position BP held in memory as the center of the amplitude α. The amplitude α is defined as a value such as 20 to 60 mm. The amplitude α stored in the storage device 72 may be edited as appropriate based on information received by the input interface 61 (such as the input operating device 62 or the communication device 66).

[0129] Figure 7 illustrates the operation of the coupling portion 34 in vibration control. As shown in Figure 7, the control device 71 controls the drive actuator 36 to move the coupling portion 34 to one side in the vertical direction, and when the coupling portion 34 reaches the maximum displacement (upper or lower point) of amplitude α, it moves the coupling portion 34 to the other side in the vertical direction. Specifically, the control device 71 moves the coupling portion 34 upward, and when the coupling portion 34 reaches the maximum displacement (upper point) of amplitude α, it moves the coupling portion 34 downward. Also, the control device 71 moves the coupling portion 34 downward, and when the coupling portion 34 reaches the maximum displacement (lower point) of amplitude α, it moves the coupling portion 34 upward. The control device 71 controls the drive actuator 36 to repeatedly execute the vertical movement of the coupling portion 34, thereby causing the coupling portion 34 to vibrate.

[0130] For example, when moving (oscillating) the connecting portion 34 upward in vibration control, the control device 71 controls the drive actuator 36 so that the deviation ΔD between the target position GP (first target position GP1), which is higher than the reference position BP by a single amplitude α / 2, and the actual position AP is zero. That is, in this embodiment, the control device 71 controls the drive device 55 to operate the operating member 54 in a first direction, thereby switching the control valve 37 to the first position and raising the connecting portion 34 to the first target position GP1.

[0131] Furthermore, when moving (oscillating) the connecting portion 34 downward in vibration control, the control device 71 controls the drive actuator 36 so that the deviation ΔD between the target position GP (second target position GP2), which is lower by a single amplitude α / 2 than the reference position BP, and the actual position AP becomes zero. That is, in this embodiment, the control device 71 controls the drive device 55 to operate the operating member 54 in the second direction, thereby switching the control valve 37 to the second position and lowering the connecting portion 34 to the second target position GP2.

[0132] When the control device 71 starts vibration control, it counts the number of vibrations since the start of the vibration control. The number of vibrations is, for example, the number of times the connecting part 34 has been moved back and forth in the vertical direction. The control device 71 continues the vibration control until the number of vibrations reaches a predetermined number. When the number of vibrations since the start of vibration control reaches the predetermined number, the control device 71 terminates the vibration control.

[0133] The control device 71 may terminate vibration control based on conditions other than the number of vibrations. For example, when the control device 71 starts vibration control, it counts the elapsed time since the start of vibration control. The control device 71 continues vibration control until the elapsed time exceeds a predetermined time. The control device 71 terminates vibration control once the predetermined time has elapsed since the start of vibration control.

[0134] Furthermore, if the input interface 61 is capable of receiving an input for an instruction to terminate vibration control, the control device 71 may terminate vibration control when the input interface 61 receives an input for a termination instruction. For example, the instruction device 65 receives an operation for an instruction to execute vibration control, outputs an operation signal for the execution instruction to the control device 71, and then receives an operation for a termination instruction when operated again. Accordingly, the instruction device 65 outputs an operation signal for the termination instruction to the control device 71. When the control device 71 receives the operation signal for a termination instruction, it terminates the execution of vibration control. Moreover, the instruction device 65 may include a start device that receives an operation for an instruction to execute vibration control and a termination device that receives an operation for a termination instruction.

[0135] Furthermore, the control device 71 may correct the reference position BP in accordance with the vertical load acting on the connecting portion 34 between the start and end of vibration control. For example, the control device 71 corrects the reference position BP in accordance with the downward load acting on the connecting portion 34. Specifically, while performing vibration control, the control device 71 determines whether the downward load acting on the connecting portion 34 is relatively large based on the amount of change per unit time of the deviation ΔD between the first target position GP1 and the actual position AP.

[0136] More specifically, in vibration control, the control device 71 moves (oscillates) the connecting portion 34 upward, and if, for example, the deviation ΔD between the first target position GP1 and the actual position AP does not change for a predetermined time (determination time), it determines that the downward load acting on the connecting portion 34 is relatively large. In such a case, the control device 71 corrects the reference position BP to be higher by a set height. The determination time and the set height are stored in advance in the storage device 72 and may be edited as appropriate based on the information received by the input interface 61 (input operating device 62, communication device 66, etc.). The set height may also be defined to increase over time.

[0137] However, the method for determining the degree of vertical load acting on the connecting portion 34 is not limited to the example described above. For example, if the drive actuator 36 is a hydraulic cylinder, a pressure sensor may be provided in the oil passage connecting the drive actuator 36 and the control valve 37, and the control device 71 may determine the degree of vertical load acting on the connecting portion 34 based on the detection result of the pressure sensor. Alternatively, the control device 71 may determine the degree of load acting on the connecting portion 34 during the first upward movement of the connecting portion 34 after starting vibration control.

[0138] As described above, the control device 71 can vibrate the connecting portion 34 with a single amplitude α / 2, with the reference position BP as the center of both amplitudes α.

[0139] <First vibration control, second vibration control> Furthermore, the vibration control may include a first vibration control and a second vibration control. The first vibration control is a control that vibrates the work device 45 to remove any attached substances such as soil, snow, or water droplets. The second vibration control is a control that aligns the connecting part 34 (connector 34a) and the work device 45 (mounting device 46). The control device 71 can perform at least one of the first vibration control and the second vibration control.

[0140] If the control device 71 is capable of performing both the first vibration control and the second vibration control, the control device 71 can selectively perform either the first vibration control or the second vibration control as vibration control. In such a case, the input interface 61 (instruction device 65) can individually receive instructions to perform the first vibration control and the second vibration control. For example, the instruction device 65 includes a first operation unit that receives instructions to perform the first vibration control and a second operation unit that receives instructions to perform the second vibration control. In this case, the first operation unit and the second operation unit may be located adjacent to each other or in different locations. If the first operation unit and the second operation unit are located in different locations, for example, the first operation unit may be located inside the protective mechanism 13 (around the driver's seat 12) and the second operation unit may be located outside the protective mechanism 13 (e.g., on the fender).

[0141] Furthermore, the instruction device 65 may accept both the instruction to execute the first vibration control and the instruction to execute the second vibration control using a common input device 62. In this case, the instruction device 65 selectively accepts the instruction to execute the first vibration control and the instruction to execute the second vibration control by accepting different operations. For example, the instruction device 65 accepts the instruction to execute the first vibration control with a single press and the instruction to execute the second vibration control with a long press.

[0142] The instruction device 65 may accept the operation for ending the first vibration control and the operation for ending the second vibration control through a common operation unit, or it may accept them through separate operation units.

[0143] Figure 8 is a diagram comparing the vibration of the connecting part 34 in the first vibration control and the second vibration control. In Figure 8, the left figure shows the vibration of the connecting part 34 in the first vibration control, and the right figure shows the vibration of the connecting part 34 in the second vibration control. As shown in Figure 8, the first amplitude α1 of the connecting part 34 in the first vibration control is larger than the second amplitude α2 of the connecting part 34 in the second vibration control. That is, the connecting part 34 vibrates more in the first vibration control than in the second vibration control. In other words, the connecting part 34 vibrates less in the second vibration control than in the first vibration control. Specifically, the first amplitude α1 is defined as a value such as 40 to 60 mm. In contrast, the second amplitude α2 is defined as a value such as 20 to 40 mm.

[0144] In addition, in the first vibration control and the second vibration control, the periods of each vibration may be the same, or the period of the first vibration control may be longer than the period of the second vibration control.

[0145] <Driven work devices in vibration control> The control device 71 may drive the work device 45 during vibration control. In this embodiment, the control device 71 drives the work device 45 during first vibration control. On the other hand, the control device 71 does not drive the work device 45 during second vibration control. That is, when the control device 71 performs first vibration control, it drives the third motor 15c and drives the work device 45 connected to the coupling part 34. On the other hand, when the control device 71 performs second vibration control, it stops the third motor 15c.

[0146] Furthermore, the control device 71 may control the rotational drive of the output shaft 41 in vibration control (first vibration control in this embodiment). For example, the control device 71 may perform at least one of the first switching control and the second switching control in vibration control. In this embodiment, the case in which the control device 71 can perform the first switching control will be described as an example.

[0147] First, the first switching control will be explained. Figure 9 shows an example of the relationship between vibration control and the drive of the work device 45 in the first switching control. Figure 9 shows the relationship between the actual position AP of the coupling part 34 and the rotation direction of the output shaft 41 in the first vibration control. In particular, the upper part of Figure 9 shows the change in the actual position AP with respect to time, and the lower part shows the rotation direction of the output shaft 41 with respect to time.

[0148] As shown in Figure 9, the control device 71 switches the rotation direction of the output shaft 41 as a first switching control in vibration control (first vibration control in this embodiment). By executing the first switching control, the control device 71 may switch the rotation direction of the output shaft 41 multiple times during one cycle (one reciprocating motion of the connecting portion 34 in the vertical direction) in vibration control, or it may switch the rotation direction of the output shaft 41 once during multiple cycles. In the following description, the case in which the control device 71 switches the rotation direction of the output shaft 41 multiple times in one cycle by executing the first switching control will be described as an example.

[0149] As shown in Figure 9, in vibration control, the control device 71 performs a first switching control in accordance with the vertical movement of the connecting portion 34. Specifically, in vibration control, the control device 71 performs a first switching control when the direction of movement of the connecting portion 34 changes. The control device 71 controls the drive actuator 36 to move the connecting portion 34 to one side in the vertical direction, and when the connecting portion 34 reaches the maximum displacement (upper or lower point) of the amplitude α, the first switching control changes the rotation direction of the output shaft 41.

[0150] For example, when the connecting section 34 is rising, and it reaches its highest point, the deviation ΔD from the first target position GP1 becomes zero, the control device 71 controls the inverter 17 to switch the rotation direction of the output shaft 41 from one direction (forward rotation, for example, clockwise when viewed from the rear) to another direction (reverse rotation, for example, counterclockwise when viewed from the rear). Also, when the connecting section 34 is descending, and it reaches its lowest point, the deviation ΔD from the second target position GP2 becomes zero, the control device 71 controls the inverter 17 to switch the rotation direction of the output shaft 41 from the other direction to one direction.

[0151] Next, the second switching control will be explained. Figure 10 shows an example of the relationship between vibration control and the drive of the work device 45 in the second switching control. Figure 10 shows the relationship between the actual position AP of the coupling part 34 in the first vibration control and the rotation and stopping of the output shaft 41. In particular, the upper part of Figure 10 shows the change in the actual position AP with respect to time, and the lower part shows the rotation and stopping of the output shaft 41 with respect to time.

[0152] As shown in Figure 10, the control device 71 switches the rotation drive to start and stop as a second switching control in vibration control. The control device 71 switches the rotation and stop of the third motor 15c by controlling the inverter 17 in the second switching control. By executing the second switching control, the control device 71 may switch the rotation and stop of the output shaft 41 multiple times during one cycle (one reciprocating motion of the connecting part 34 in the vertical direction) in vibration control, or it may switch the rotation and stop of the output shaft 41 once during multiple cycles. In the following explanation, the case in which the control device 71 switches the rotation and stop of the output shaft 41 multiple times in the above one cycle by executing the second switching control will be explained as an example.

[0153] As shown in Figure 10, the control device 71 performs a second switching control in vibration control in accordance with the vertical movement of the connecting portion 34. Specifically, the control device 71 performs a second switching control in vibration control when the direction of movement of the connecting portion 34 changes. The second switching control differs from the first switching control in that it does not change the rotation direction of the output shaft 41.

[0154] The control device 71 controls the drive actuator 36 to move the connecting portion 34 to one side in the vertical direction, and when the connecting portion 34 reaches the maximum displacement of amplitude α (upper or lower point), the control device 71 stops the rotation of the output shaft 41 by second switching control. Also, when the connecting portion 34 moves from the maximum displacement of amplitude α to the other side in the vertical direction, the control device 71 starts the rotation of the output shaft 41 by second switching control. In other words, when the direction of movement of the connecting portion 34 changes, the control device 71 executes second switching control to stop the rotation of the output shaft 41 when the connecting portion 34 is at the maximum displacement, and to rotate the output shaft 41 when the connecting portion 34 is at a position other than the maximum displacement.

[0155] For example, when the connecting section 34 is rising, and it reaches its highest point, the deviation ΔD from the first target position GP1 becomes zero, the control device 71 controls the inverter 17 to stop the rotation of the output shaft 41. Also, when the connecting section 34 moves downward from its highest point, and the deviation ΔD from the second target position GP2 decreases, the control device 71 controls the inverter 17 to start the rotation of the output shaft 41. On the other hand, when the connecting section 34 is descending, and it reaches its lowest point, the deviation ΔD from the second target position GP2 becomes zero, the control device 71 controls the inverter 17 to stop the rotation of the output shaft 41. Also, when the connecting section 34 moves upward from its lowest point, and the deviation ΔD from the first target position GP1 decreases, the control device 71 controls the inverter 17 to start the rotation of the output shaft 41.

[0156] In the above explanation, the switching control was described using the case where the work device 45 connected to the connecting section 34 is powered from the output shaft 41 as an example. However, if the work device 45 is driven by an electric actuator or hydraulic motor and is not powered from an external source, the control device 71 can achieve the above switching control by controlling each control target (inverter 17, switching valve 42, etc.).

[0157] <First Speed ​​Control> As described above, the control device 71 of this embodiment can control the drive speed of the drive actuator 36 by controlling the output of the hydraulic pump P. Therefore, the control device 71 may control the drive speed of the drive actuator 36 in vibration control (speed control). Specifically, for example, the control device 71 controls the drive speed (movement speed) of the drive actuator 36 to be faster when vibration control is performed compared to when vibration control is not performed (first speed control). Therefore, as first speed control, the control device 71 controls the rotation speed of the hydraulic pump P when vibration control is performed to be higher than the rotation speed of the hydraulic pump P when vibration control is not performed. As a result, the upward movement speed of the connecting part 34 increases when vibration control is performed compared to when vibration control is not performed.

[0158] In this embodiment, the control device 71 controls the rotational speed of the hydraulic pump P at its rated speed when vibration control is not being performed. Therefore, in vibration control, the control device 71 increases the rotational speed of the hydraulic pump P above its rated speed as a first speed control. For example, the control device 71 controls the rotational speed of the first motor 15a to be higher than its rated speed by a predetermined value (increased rotational speed). The increased rotational speed is, for example, a predefined fixed value (for example, 100 rpm) and is stored in the storage device 72. For this reason, the control device 71 obtains the increased rotational speed from the storage device 72 and controls the rotational speed of the first motor 15a at a target speed obtained by adding the increased rotational speed to the rated speed.

[0159] Furthermore, the increased rotation speed stored in the memory device 72 may be edited as appropriate based on the information received by the input interface 61 (such as the input device 62 or the communication device 66).

[0160] Furthermore, in the example described above, the control device 71 was shown to add an increased rotational speed to the rated rotational speed. However, the target rotational speed after the addition is stored in the storage device 72, and the control device 71 may acquire this target rotational speed and control the rotational speed of the first motor 15a to be higher than the rated rotational speed by the increased rotational speed. As another example, if the operating device 51 includes a rotary operating tool 64, and the control device 71 can change the target rotational speed of the first motor 15a based on information received by the input interface 61, the control device 71 may control the first motor 15a to be higher than the target rotational speed when performing vibration control. For example, the control device 71 corrects the target rotational speed and controls the rotational speed of the first motor 15a to be higher than the target rotational speed by the increased rotational speed.

[0161] Furthermore, the control device 71 does not need to perform first speed control of the hydraulic pump P in both the first vibration control and the second vibration control. For example, the control device 71 may perform first speed control when performing first vibration control, but may not perform first speed control when performing second vibration control.

[0162] <Second Speed ​​Control> If the control device 71 is capable of performing first vibration control and second vibration control, it may set the drive speed of the drive actuator 36 to be different for the first vibration control and the second vibration control. For example, the control device 71 controls the drive speed of the drive actuator 36 such that the drive speed when performing first vibration control is faster than the drive speed when performing second vibration control (second speed control). In the following explanation, the case in which the drive speed (movement speed) of the drive actuator 36 is controlled to be faster when vibration control is performed compared to when vibration control is not performed is used as an example, but this is not limited to this case. In other words, the drive speed may be the same when second vibration control is performed and when vibration control is not performed.

[0163] Specifically, the control device 71 increases the rotational speed of the hydraulic pump P in the first vibration control compared to the rotational speed of the hydraulic pump P in the second vibration control. The control device 71 also increases the rotational speed of the first motor 15a in the first vibration control compared to the rotational speed of the first motor 15a in the second vibration control. In other words, the control device 71 decreases the rotational speed of the first motor 15a in the second vibration control compared to the rotational speed of the first motor 15a in the first vibration control. As a result, the upward movement speed of the connecting part 34 can be increased when the first vibration control is being performed compared to when the second vibration control is being performed.

[0164] In this embodiment, the control device 71 controls the rotational speed of the hydraulic pump P to its rated speed when vibration control is not being performed. Therefore, in the first vibration control, the second speed control controls the rotational speed of the hydraulic pump P to be higher than the rated speed by a first increment of rotational speed. The first increment of rotational speed is, for example, a predetermined fixed value (for example, 200 rpm) and is stored in the storage device 72.

[0165] On the other hand, in the second vibration control, the control device 71 controls the rotational speed of the hydraulic pump P to be higher than the rated rotational speed by a second increase in rotational speed as the second speed control. The second increase in rotational speed is lower than the first increase in rotational speed. The second increase in rotational speed is, for example, a predetermined fixed value (for example, 100 rpm) and is stored in the memory device 72. Therefore, the control device 71 obtains the increase in rotational speed (first increase in rotational speed or second increase in rotational speed) from the memory device 72 according to the vibration control to be executed, and controls the rotational speed of the first motor 15a to a target rotational speed obtained by adding the increase in rotational speed to the rated rotational speed.

[0166] The second speed control described above is merely an example, and modified versions explained in the first speed control may be adopted as appropriate.

[0167] <Third Speed ​​Control> Furthermore, the control device 71 may change the drive speed of the drive actuator 36 in accordance with the vertical movement of the connecting portion 34. For example, the control device 71 increases the drive speed in vibration control as the vertical movement of the connecting portion 34 moves from the center of the amplitude α (reference position BP) toward the maximum displacement of the amplitude α (third speed control). In this embodiment, since the control device 71 controls the drive speed by changing the output of the hydraulic pump P, the third speed control increases the movement speed of the connecting portion 34 when the connecting portion 34 moves from the reference position BP toward the maximum displacement upward (first target position GP1).

[0168] In the following explanation, we will use the case where the control device 71 performs third speed control in the first vibration control but does not perform third speed control in the second vibration control as an example, but we are not limited to this. In other words, the control device 71 may perform third speed control in both the first vibration control and the second vibration control.

[0169] For example, in the first vibration control, the control device 71 performs third speed control by correcting the target rotational speed, which is obtained by adding the increased rotational speed, with a correction value. The storage device 72 stores a first map M1 (graph) that shows the relationship between the deviation ΔD between the actual position AP and the first target position GP1, and the correction value (see Figure 11).

[0170] In the first map M1 shown in Figure 11, the horizontal axis represents the deviation ΔD between the actual position AP and the first target position GP1, and the vertical axis represents the correction value. In the example of the first map M1 shown in Figure 11, the correction value increases proportionally as the deviation ΔD between the actual position AP and the first target position GP1 approaches zero. Therefore, in the first vibration control, the control device 71 obtains a correction value corresponding to the deviation ΔD between the actual position AP and the first target position GP1, and corrects the target rotational speed with this correction value, so that as the coupling portion 34 moves towards the maximum displacement above the center of the amplitude α, the movement speed of the coupling portion 34 increases.

[0171] Note that the control map shown in Figure 11 is just one example, and the correction value may change in a roughly curved manner such that it gradually increases and then increases sharply as the deviation ΔD between the actual position AP and the first target position GP1 approaches zero, or it may change in a roughly curved manner such that it increases sharply and then increases gradually.

[0172] Furthermore, the speed control is not limited to the first to third speed control described above. For example, the control device 71 may change the drive speed of the drive actuator 36 in accordance with the vertical load acting on the coupling portion 34. In such a case, the control device 71 changes the drive speed in the vibration control based on the amount of change per unit time of the deviation ΔD between the first target position GP1 and the actual position AP, while performing vibration control or while moving the coupling portion 34 upward for the first time via vibration control, similar to the correction of the reference position BP in accordance with the load acting on the coupling portion 34. The control device 71 may increase the output of the hydraulic pump P (rotational speed of the first motor 15a) as the load increases, or it may increase the output of the hydraulic pump P by a predetermined value if it determines that the load is above a predetermined level.

[0173] <Conditions for executing vibration control> The control device 71 may allow the execution of vibration control when predetermined execution conditions are met, and may restrict the execution of vibration control when those conditions are not met. That is, if the control device 71 determines that the execution conditions are not met, it will not execute vibration control based on the instruction to execute vibration control, even if the input interface 61 receives an instruction to execute vibration control. Furthermore, if the control device 71 determines that the execution conditions are not met while vibration control is being executed, it will terminate or interrupt the vibration control that is currently being executed. If the control device 71 has interrupted vibration control, it will resume the interrupted vibration control when it determines that the execution conditions are met.

[0174] Furthermore, the control device 71 does not need to execute vibration control if it determines that the execution conditions are not met. That is, if the input interface 61 receives an input instruction to execute vibration control while the execution conditions are not met, the control device 71 may execute vibration control based on the instruction once the execution conditions are met. The following describes how the control device 71 restricts the execution of vibration control, using the first to third execution conditions as examples. However, if there are multiple execution conditions (for example, two execution conditions, the first and second), the control device 71 will allow the execution of vibration control only if all of the multiple execution conditions are met. In other words, the control device 71 restricts the execution of vibration control if at least one of the multiple execution conditions is not met.

[0175] First, let's explain the first execution condition. The first execution condition is an execution condition based on the running state of the vehicle body 11 by the running device 21. The control device 71 acquires the running state and determines whether or not the first execution condition is met. Specifically, the control device 71 determines that the first execution condition is met if it determines that the running device 21 is not moving the vehicle body 11. The control device 71 determines that the first execution condition is not met if it determines that the running device 21 is moving the vehicle body 11. For this reason, the control device 71 restricts the execution of vibration control if it determines that the running device 21 is moving the vehicle body 11.

[0176] For example, the control device 71 acquires an operation signal output from the accelerator pedal 63 and determines whether the running gear 21 is driving the vehicle body 11 based on the operation signal. If the amount of operation of the accelerator pedal 63 is zero, the control device 71 determines that the running gear 21 is not driving the vehicle body 11 and that the first execution condition is met. On the other hand, if the amount of operation of the accelerator pedal 63 exceeds zero, the control device 71 determines that the running gear 21 is driving the vehicle body 11 and that the first execution condition is not met.

[0177] Furthermore, the control device 71 may determine whether the running device 21 is driving the vehicle body 11 based on the vehicle speed calculated from the detection result of the rotation detection device 83. If the vehicle speed is zero, the control device 71 determines that the running device 21 is not driving the vehicle body 11 and that the first execution condition is met. On the other hand, if the vehicle speed exceeds zero, the control device 71 determines that the running device 21 is driving the vehicle body 11 and that the first execution condition is not met.

[0178] The determination of whether the first execution condition is met is not limited to the operation signal from the accelerator control device 63 or the vehicle speed. For example, if the work vehicle 1 is equipped with a positioning device 87, the control device 71 may determine whether the first execution condition is met based on the positioning position determined by the positioning device 87. In such a case, the control device 71 determines that if the positioning position is not moving (during the period when the positioning position is not moving), the running device 21 is not moving the running vehicle body 11 and the first execution condition is met. The control device 71 determines that if the positioning position is moving (during the period when the positioning position is moving), the running device 21 is moving the running vehicle body 11 and the first execution condition is not met.

[0179] Furthermore, if the work vehicle 1 is equipped with a sensing device 86, the control device 71 may determine whether the first execution condition is met based on the sensing results of the sensing device 86. In such a case, the control device 71 determines that, for example, if the estimated position of the work vehicle 1 based on the sensing results has not moved (during the period when the estimated position has not moved), the traveling device 21 has not driven the traveling vehicle body 11, and the first execution condition is met. If the estimated position has moved (during the period when the estimated position has moved), the control device 71 determines that the traveling device 21 has driven the traveling vehicle body 11, and the first execution condition is not met.

[0180] Furthermore, if the detection device 81 includes a sensor that detects the operating state of the parking brake (braking state and release state), the control device 71 may determine whether the first execution condition is met based on the detection result of the sensor. In such a case, the control device 71 determines that the first execution condition is met because the driving device 21 is not moving the vehicle body 11 when the parking brake is in the braking state.

[0181] Next, the second execution condition will be explained. The second execution condition is an execution condition based on a predetermined position VP. The control device 71 acquires the predetermined position VP (in this embodiment, the estimated position or positioning position) and determines whether or not the second execution condition is met. Specifically, the control device 71 determines that the second execution condition is met if it determines that the predetermined position VP is not located in the work area E1 where the work is to be performed. The control device 71 determines that the second execution condition is not met if it determines that the predetermined position VP is located in the work area E1. For this reason, the control device 71 limits vibration control if it determines that the predetermined position VP is located in the work area E1.

[0182] The work area E1 is the area where the work device 45 operates on the object being worked on. For this reason, an example of the work area E1 is the area E11 (inner area) inside the headland area E21 of field H (see Figure 12). However, the work area E1 is not limited to the inner area E11. If field H is an orchard, then multiple fruit trees TR are planted in the orchard at intervals in a predetermined direction, and an example of the work area E1 is the area E12 (inter-row area) between the areas E22 (row area) where the rows of fruit trees TR are located (see Figure 13).

[0183] For example, if the work vehicle 1 is equipped with a positioning device 87, the storage device 72 pre-stores map information including the work area E1. The control device 71 determines whether a predetermined position VP is located in the work area E1 based on the map information in the storage device 72 and the positioning position determined by the positioning device 87.

[0184] Furthermore, if the work vehicle 1 is equipped with a sensing device 86, the environmental map information stored in the storage device 72 is associated with the work area E1, and the control device 71 estimates whether a predetermined position VP is located in the work area E1 based on the environmental map information in the storage device 72 and the sensing results (detected point cloud data) of the sensing device 86.

[0185] Next, the third execution condition will be explained. The third execution condition is an execution condition based on the remaining capacity of the battery unit 16. The control device 71 obtains the remaining capacity of the battery unit 16 and determines whether or not the third execution condition is met. Specifically, if the remaining capacity is above a predetermined value (above or below the first remaining capacity), the control device 71 determines that the third execution condition is met. Conversely, if the remaining capacity is below a predetermined value (below the first remaining capacity), the control device 71 determines that the third execution condition is not met. For this reason, if the control device 71 determines that the remaining capacity of the battery unit 16 is below a predetermined value (below the first remaining capacity), it limits vibration control.

[0186] In this embodiment, the control device 71 refers to the remaining capacity of the battery unit 16 detected by the battery detection device 82 and determines whether the remaining capacity is equal to or greater than a first remaining capacity. The first remaining capacity is a predetermined value stored in the storage device 72, and the control device 71 obtains the first remaining capacity by referring to the storage device 72. The first remaining capacity stored in the storage device 72 may be edited as appropriate based on information received by the input interface 61 (such as the input operating device 62 or the communication device 66).

[0187] Furthermore, the control device 71 may appropriately correct the first remaining capacity according to the distance traveled and the travel time from the position of the work vehicle 1 (predetermined position VP) to the charger (e.g., charging station) for charging the battery unit 16. In such a case, the storage device 72 stores the location of the charging station as map information, and the control device 71 calculates the distance traveled or travel time based on the positioning position or estimated position and the map information. The control device 71 corrects the first remaining capacity to a higher value as the distance traveled or travel time increases, and to a lower value as it decreases. However, the above distance traveled and travel time are examples, and the distance traveled and travel time traveled by the work vehicle 1 for the remaining work from the position of the work vehicle 1 may be used.

[0188] In the above explanation, the first to third execution conditions were described as execution conditions, but the execution conditions are not limited to the first to third execution conditions. For example, the execution conditions may include execution conditions based on the attitude of the vehicle body 11 (fourth execution condition). The control device 71 acquires the detection result of the attitude detection device 88 and determines whether the fourth execution condition is met based on the detection result. Specifically, the control device 71 determines that the fourth execution condition is met if it determines that the deviation of at least one of the roll angle and pitch angle of the vehicle body 11 from the horizontal is less than a predetermined value (less than the angle threshold). Conversely, the control device 71 determines that the fourth execution condition is not met if it determines that the deviation of at least one of the roll angle and pitch angle of the vehicle body 11 from the horizontal is greater than or equal to a predetermined value (greater than or equal to the angle threshold).

[0189] <Limitations on the operation of drive actuators in vibration control> The control device 71 may restrict the driving of the drive actuator 36 in vibration control when predetermined limiting conditions are met. For example, the control device 71 obtains the remaining capacity of the battery unit 16 and restricts the driving of the drive actuator 36 in vibration control when limiting conditions based on the remaining capacity are met. Specifically, the control device 71 restricts the driving of the drive actuator 36 in vibration control when the remaining capacity is less than a predetermined amount (less than the second remaining capacity). For example, when the limiting conditions are met, the control device 71 does not perform speed control of the rotational speed of the hydraulic pump P in vibration control and maintains it at the rated rotational speed. Alternatively, when the limiting conditions are met, the control device 71 may reduce the rotational speed to a speed below the rated rotational speed (for example, a predetermined idling speed that is less than the rated rotational speed and greater than zero) in vibration control.

[0190] The control device 71, similar to the determination of the third execution condition, refers to the remaining capacity of the battery unit 16 detected by the battery detection device 82 and determines whether the remaining capacity is equal to or greater than the second remaining capacity. The second remaining capacity is a predetermined value pre-stored in the storage device 72, and the control device 71 obtains the second remaining capacity by referring to the storage device 72. If the control device 71 can limit vibration control based on the third execution condition, the second remaining capacity is defined as a value higher than the first remaining capacity.

[0191] The second remaining capacity stored in the storage device 72 may be edited as appropriate based on the information received by the input interface 61 (such as the input device 62 or the communication device 66). Furthermore, the control device 71 may, similar to the first remaining capacity, adjust the second remaining capacity as appropriate according to the distance traveled and the travel time. Since the method for adjusting the second remaining capacity is the same as the method for adjusting the first remaining capacity, a detailed explanation is omitted.

[0192] Furthermore, in the above-described embodiment, the case in which the control device 71 executes vibration control when the input interface 61 receives an instruction to execute vibration control was explained. However, the control device 71 may also automatically execute vibration control when an operator manually operates the lower link 34. For example, if the control device 71 determines that an operator has pushed down or pushed up the lower link 34, it will execute vibration control (second vibration control). Specifically, if the control device 71 determines that the connecting portion 34 is moving (oscillating) in the vertical direction without being driven by the drive actuator 36, it will execute second vibration control.

[0193] For example, the control device 71 determines whether the connecting portion 34 is swinging by driving the drive actuator 36, based on whether the operating member 54 is being operated. In such a case, the operating member 54 is provided with an operation detection sensor 54a (e.g., a potentiometer) to detect the swinging operation, and the control device 71 determines whether the operating member 54 is being operated based on the detection result of the potentiometer.

[0194] Furthermore, the control device 71 detects the vertical oscillation of the connecting portion 34 based on the detection result of the lifting detection device 85. If the drive actuator 36 is a hydraulic cylinder, a pressure sensor is provided in the oil passage connecting the drive actuator 36 and the control valve 37, and the control device 71 detects the vertical oscillation of the connecting portion 34 based on the detection result of the pressure sensor. In addition, if the work vehicle 1 is equipped with a sensing device 86, the control device 71 may estimate whether the worker has pushed down or pushed up the lower link 34 based on the sensing result of the sensing device 86.

[0195] In the above explanation, we described a case where the control device 71 performs second vibration control when the operator pushes down or pushes up the lower link 34. However, the control device 71 may perform first vibration control instead of second vibration control.

[0196] In the embodiment described above, the control device 71 controlled the drive device 55, which in turn controlled the drive actuator 36 by causing the drive device 55 to swing the operating member 54. However, it is sufficient if the operating member 54 can receive an operation to move the connecting portion 34, i.e., an operation of the drive actuator 36, and the control device 71 can control the drive actuator 36. For example, the control device 71 may control the drive actuator 36 (manual control) in response to the operation of the operating member 54, separately from vibration control. In this way, the drive actuator 36 is manually operated in response to the operation of the operating member 54. Specifically, the control valve 37 is an electromagnetic proportional valve, and the control device 71 performs manual control by outputting a control current to the control valve 37 in response to the operation of the operating member 54, thereby controlling the drive actuator 36.

[0197] Figure 14 illustrates an example of the hydraulic system of a modified work vehicle 1. As shown in the example in Figure 14, the control valve 37 includes a first control valve 37A (upward control valve) that controls the extension of the lift cylinder 36 (drive actuator), and a second control valve 37B (downward control valve) that controls the contraction of the lift cylinder 36.

[0198] The first control valve 37A is located in the oil passage connecting the hydraulic pump P and the bottom oil chamber, and by changing its opening degree, the hydraulic fluid discharged by the hydraulic pump P can be supplied to the bottom oil chamber. The second control valve 37B is located in the oil passage connecting the bottom oil chamber and the hydraulic fluid tank T, and by changing its opening degree, the hydraulic fluid from the bottom oil chamber can be discharged to the hydraulic fluid tank T. In the following example, the explanation will mainly focus on the case where the control valve 37 includes the first control valve 37A and the second control valve 37B, but a three-position electromagnetic switching valve that can be switched between a neutral position, a first position and a second position may be used as the control valve 37.

[0199] Furthermore, in this modified example, the operating member 54 is provided with an operation detection sensor 54a (e.g., a potentiometer) for detecting oscillation. The control device 71 can define the vertical target position GP of the connecting portion 34 (lower link) based on the operation signal output from the potentiometer. When the amount of operation of the operating member 54 in the first direction increases, the control device 71 defines the target position GP to be higher in accordance with that amount of operation. On the other hand, when the amount of operation of the operating member 54 in the second direction decreases, the control device 71 defines the target position GP to be lower in accordance with that amount of operation.

[0200] The control device 71 controls the control valve 37 so that the deviation ΔD between the target position GP, ​​defined according to the amount of operation of the operating member 54, and the actual position AP becomes zero. The control device 71 controls the control valve 37 by outputting a control current to the control valve 37 in response to the operation signal output from the operating member 54.

[0201] In the above-described embodiment, the case in which the control device 71 controls the drive speed of the drive actuator 36 by controlling the output of the hydraulic pump P was explained. However, as shown in the modified example in Figure 14, if the control valve 37 is composed of an electromagnetic proportional valve, the control device 71 can control the drive speed by controlling the opening degree of the control valve 37, thereby changing the flow rate of hydraulic fluid supplied to the drive actuator 36 and the flow rate of hydraulic fluid discharged from the drive actuator 36. For this reason, in the modified example shown in Figure 14, the control device 71 can perform speed control by changing the control current output to the control valve 37. As a result, the upward movement speed of the connecting portion 34 increases when vibration control is performed compared to when vibration control is not performed.

[0202] In the modified example, when the control device 71 performs second speed control, the control device 71 reduces the control current output to the control valve 37 in the second vibration control compared to the control current output to the control valve 37 in the first vibration control. The control current in the first vibration control (first control current) is higher than the control current in the second vibration control (second control current). The first control current and the second control current are stored in the memory device 72 beforehand. Alternatively, the memory device 72 may store either the first control current or the second control current, and the control device 71 may obtain the other by correcting the other, thereby reducing the second control current compared to the first control current.

[0203] Furthermore, in the modified example, when the control device 71 performs third speed control, the control device 71 increases the drive speed in vibration control by increasing the control current as the vertical movement of the connecting portion 34 moves from the center of the amplitude α toward the maximum displacement of the amplitude α. For example, the memory device 72 stores a second map (graph) showing the relationship between the deviation ΔD between the actual position AP and the target position GP and the first control current (see Figure 15). In Figure 15, the first control current is shown as a solid line, and the second control current is shown as a dashed line for comparison with the first control current.

[0204] In the control map shown in Figure 15, the horizontal axis represents the deviation ΔD, and the vertical axis represents the current value I of the first control current. In the example control map shown in Figure 15, as the deviation ΔD decreases and approaches zero, the current value I increases proportionally. Note that the control map shown in Figure 15 is just one example, and the current value I may change in a roughly curved manner, gradually increasing and then rapidly increasing as the deviation ΔD approaches zero, or it may change in a roughly curved manner, rapidly increasing and then gradually increasing.

[0205] In the modified example described above, the case where the control valve 37 is an electromagnetic proportional valve was explained. However, if the drive actuator 36 is an electric actuator, the control device 71 may control the power supplied from the battery unit 16 to the drive actuator 36 via the inverter 17 by controlling the inverter 17, thereby controlling the drive speed of the drive actuator 36. In such a case, the current value of the control current in the modified example described above can be replaced with the current value of the power supplied to the drive actuator 36, so a detailed explanation is omitted.

[0206] <Restrictions on manual operation> As in the modified examples described above, when the control device 71 controls (manually controls) the drive actuator 36 in response to the operation of the operating member 54, and the drive actuator 36 is operated manually, the control device 71 may allow manual operation if predetermined operating conditions are met, and may restrict manual operation if those conditions are not met. That is, if the control device 71 determines that the operating conditions are not met, it will not control (manually control) the drive actuator 36 even if the operating member 54 is operated manually. Furthermore, if the control device 71 determines that the operating conditions are not met while manual control is being performed, it will terminate or interrupt the manual control that is currently being performed. If the control device 71 has interrupted manual control, it will resume the interrupted manual control if it determines that the operating conditions are met.

[0207] Furthermore, the control device 71 does not need to execute manual control if it determines that the operating conditions are not met. In other words, if the operating member 54 accepts a manual operation while the operating conditions are not met, the control device 71 may execute manual control when the operating conditions are met. The following describes the restrictions on manual operation (manual control) by the control device 71, using the first and second operating conditions as examples. However, if there are multiple operating conditions (for example, two operating conditions, the first and second), the control device 71 will allow manual operation only if all of the multiple operating conditions are met. In other words, the control device 71 restricts manual operation if at least one of the multiple operating conditions is not met.

[0208] First, the first operating condition will be explained. The first operating condition is an operating condition based on a predetermined position VP. The control device 71 acquires the predetermined position VP (in this embodiment, the estimated position or positioning position) and determines whether or not the first operating condition is met. If the first operating condition is met, the control device 71 allows upward movement of the connecting part 34 by manual operation. On the other hand, if the first operating condition is not met, the control device 71 restricts upward movement of the connecting part 34 by manual operation.

[0209] Specifically, the control device 71 determines that the first operating condition is met if it determines that the predetermined position VP is not located in the work area E1 where the work is to be performed. The control device 71 determines that the first operating condition is not met if it determines that the predetermined position VP is located in the work area E1. In other words, in this embodiment, the first operating condition is the same as the second execution condition. Therefore, if the control device 71 determines that the predetermined position VP is located in the work area E1, it restricts the upward movement of the connecting part 34 by manual operation.

[0210] If the control device 71 determines that the first operating condition is not met when the actual position AP is lower than the target position GP defined according to the amount of operation of the operating member 54, it interrupts or terminates the control (manual control) of the drive actuator 36 based on the deviation ΔD between the target position GP and the actual position AP. On the other hand, if the control device 71 determines that the first operating condition is met when the actual position AP is lower than the target position GP defined according to the amount of operation of the operating member 54, it performs control (manual control) of the drive actuator 36 based on the deviation ΔD between the target position GP and the actual position AP.

[0211] Next, the second operating condition will be explained. The second operating condition is a limiting condition based on the running state of the vehicle body 11 by the running device 21. The control device 71 acquires the running state and determines whether or not the second operating condition is met. Specifically, the control device 71 determines that the second operating condition is met if it determines that the vehicle body 11 is not performing a turning maneuver. The control device 71 determines that the second operating condition is not met if it determines that the vehicle body 11 is performing a turning maneuver. When the second operating condition is met, the control device 71 allows the coupling section 34 to be moved downward by manual operation. On the other hand, when the second operating condition is not met, the control device 71 restricts the downward movement of the coupling section 34 by manual operation.

[0212] Specifically, the control device 71 determines whether or not the vehicle is turning based on the steering angle detected by the steering detection device 84. In such cases, if the steering angle is greater than or equal to a predetermined determination value, the control device 71 determines that the steering angle is relatively large and the vehicle body 11 is turning. On the other hand, if the steering angle is less than the determination value, the control device 71 determines that the steering angle is relatively small and the vehicle body 11 is traveling in a straight line.

[0213] Alternatively, the control device 71 may determine whether the vehicle body 11 is turning based on the position of the work vehicle 1 in the field H, instead of the steering angle. For example, if the work vehicle 1 is equipped with a positioning device 87, the storage device 72 stores map information including the headland area E21. The control device 71 determines whether a predetermined position VP is located in the headland area E21 based on the map information in the storage device 72 and the positioning position determined by the positioning device 87. If the work vehicle 1 is equipped with a sensing device 86, the headland area E21 is associated with the environmental map information stored in the storage device 72, and the control device 71 estimates whether a predetermined position VP is located in the headland area E21 based on the environmental map information in the storage device 72 and the sensing results (detected point cloud data) of the sensing device 86.

[0214] Furthermore, the control device 71 may determine whether the vehicle body 11 is performing a turning maneuver based on the position of the work vehicle 1 on the planned travel line L, which is the path the work vehicle 1 will travel. Figure 16 shows an example of the planned travel line L. As shown in Figure 16, the planned travel line L is a travel path that includes a straight-line section L1 in which the vehicle body 11 travels in a straight line and a turning section L2 in which the vehicle body 11 travels in a turning maneuver. The planned travel line L is defined in advance by the operator using a mobile terminal or the like and stored in the storage device 72.

[0215] If the work vehicle 1 is equipped with a positioning device 87, the control device 71 determines whether a predetermined position VP is located in the turning section L2 based on the planned travel line L in the storage device 72 and the positioning position determined by the positioning device 87. If the work vehicle 1 is equipped with a sensing device 86, the control device 71 determines whether a predetermined position VP is located in the turning section L2 based on the planned travel line L in the storage device 72 and the estimated position estimated from the sensing results.

[0216] Therefore, if the control device 71 determines that the second operating condition is not met when the target position GP, ​​defined according to the amount of operation of the operating member 54, is lower than the actual position AP, it interrupts or terminates the control (manual control) of the drive actuator 36 based on the deviation ΔD between the target position GP and the actual position AP. On the other hand, if the control device 71 determines that the second operating condition is met when the target position GP, ​​defined according to the amount of operation of the operating member 54, is lower than the actual position AP, it performs control (manual control) of the drive actuator 36 based on the deviation ΔD between the target position GP and the actual position AP.

[0217] <Modified example of the connecting part> In the above description, the case in which a work device 45 is connected to the connecting part 34 was described, but other devices or equipment besides the work device 45 may also be connected to the connecting part 34. For example, an auxiliary battery (sub-battery, range extender) may be connected to the connecting part 34 instead of, or in addition to, the work device 45. The auxiliary battery is capable of supplying power to drive the work vehicle 1. The auxiliary battery is capable of storing energy and is a secondary battery such as a lithium-ion battery or a lead-acid battery. The auxiliary battery only needs to be capable of supplying power to drive the work vehicle 1, and may store the power generated by the fuel cell. In such a case, the auxiliary battery has a tank that contains gas (for example, hydrogen gas or methane gas) and a fuel cell (fuel cell stack) that generates electricity from the gas supplied from the tank.

[0218] A preferred embodiment of the present invention provides a work vehicle 1 as described in the following items.

[0219] (Item 1) A work vehicle 1 comprising: a traveling body 11; a traveling device 21 that supports the traveling body 11 so that it can travel; a connecting portion 34 provided on the traveling body 11 to which a work device 45 can be connected; a drive actuator 36 that can raise and lower the work device 45 connected to the connecting portion 34 by moving the connecting portion 34 in the vertical direction; and a control device 71 that controls the drive actuator 36 and performs vibration control to vibrate the connecting portion 34.

[0220] According to the work vehicle 1 related to item 1, the control device 71 performs vibration control, thereby allowing the connecting portion 34 to vibrate without relying on operation by the worker. Furthermore, since the control device 71 uses a drive actuator 36 to move the connecting portion 34 in the vertical direction in vibration control, the drive actuator 36 can serve as both the drive source for the vertical movement of the connecting portion 34 and the drive source for the vibration.

[0221] (Item 2) The control device 71 is capable of selectively executing either a first vibration control or a second vibration control as the vibration control, wherein the first amplitude α1 of the connecting portion 34 in the first vibration control is greater than the second amplitude α2 of the connecting portion 34 in the second vibration control.

[0222] According to the work vehicle 1 related to item 2, the control device 71 can change the amplitude α according to the purpose of vibrating the connecting part 34 and / or the work device 45 connected to the connecting part 34 by selecting either the first vibration control or the second vibration control. Therefore, the work vehicle 1 can improve the versatility of vibration control.

[0223] (Item 3) The control device 71 is capable of controlling the drive of the work device 45 connected to the connecting portion 34, and the work vehicle 1 according to item 2 is characterized in that the work device 45 is driven in the first vibration control and the work device 45 is not driven in the second vibration control.

[0224] In the work vehicle 1 related to item 3, the work device 45 is driven in the first vibration control. Therefore, when the work device 45 is connected to the coupling part 34, the control device 71 executes the first vibration control, and the vibration of the coupling part 34 and the driving of the work device 45 can remove any attached substances such as soil, snow, or water droplets from the work device 45. Furthermore, in the second vibration control, where the amplitude α of the coupling part 34 is smaller than that of the first vibration control, the work device 45 is not driven, thus preventing unintended vibration of the work device 45 due to its driving.

[0225] (Item 4) The control device 71 is capable of controlling the drive speed of the drive actuator 36, and the drive speed in the first vibration control is faster than the drive speed in the second vibration control. (Work vehicle 1 according to item 2 or 3.)

[0226] In the work vehicle 1 related to item 4, the first vibration control has a faster drive speed than the second vibration control, so when the control device 71 executes the first vibration control, it is possible to more effectively remove deposits attached to the work device 45 connected to the coupling part 34. Also, since the second vibration control has a slower drive speed than the first vibration control, it is possible to accurately align the coupling part 34 with respect to the work device 45, and to accurately align the work device 45 connected to the coupling part 34 with respect to other devices, etc.

[0227] (Item 5) The work vehicle 1 according to item 1, comprising an output shaft 41 that outputs rotational driving force to the work device 45 connected to the connecting portion 34, wherein the control device 71 is capable of controlling the rotational drive of the output shaft 41, and in the vibration control, it is possible to repeatedly perform at least one of the following controls: a first switching control that switches the rotation direction of the output shaft 41, and a second switching control that switches the start and stop of the rotational drive.

[0228] According to the work vehicle 1 related to item 5, when performing the first switching control in vibration control, the driving direction of the work device 45 connected to the coupling part 34 can be changed while vibrating the work device 45. Also, when performing the second switching control in vibration control, the driving and stopping of the work device 45 can be changed while vibrating the work device 45 connected to the coupling part 34. Therefore, by the control device 71 executing the first switching control or the second switching control in vibration control, the work device 45 operates in a complex manner, allowing for more appropriate removal of deposits attached to the work device 45.

[0229] (Item 6) The control device 71 is the work vehicle 1 described in item 5, which in the vibration control performs the first switching control or the second switching control in accordance with the vertical movement of the connecting portion 34.

[0230] According to the work vehicle 1 related to item 6, the control device 71 can operate the work device 45 connected to the coupling part 34 in a more complex manner using vibration control. As a result, the work device 45 operates in a more complex manner, allowing for more effective removal of any deposits attached to the work device 45.

[0231] (Item 7) The control device 71 is the work vehicle 1 described in item 6, which executes the first switching control or the second switching control when the direction of movement of the connecting portion 34 is switched in the vibration control.

[0232] According to the work vehicle 1 related to item 7, the control device 71 can operate the work device 45 connected to the coupling part 34 in a more complex manner using vibration control. As a result, the work device 45 operates in a more complex manner, allowing for more effective removal of any deposits attached to the work device 45.

[0233] (Item 8) The control device 71 is capable of controlling the drive speed of the drive actuator 36, and the drive speed in the vibration control increases as the vertical movement of the connecting portion 34 moves from the center of the amplitude α toward the maximum displacement of the amplitude α, according to item 1 or any one of items 5 to 7.

[0234] According to the work vehicle 1 related to item 8, as the work device 45 connected to the coupling part 34 approaches the maximum displacement of amplitude α due to vibration control, that is, the direction of movement of the work device 45 (coupling part 34) switches, and the drive speed increases just before the movement temporarily stops. Therefore, by increasing the inertial force acting on the work device 45, deposits attached to the work device 45 can be removed more effectively.

[0235] (Item 9) The control device 71, in the vibration control, vibrates the connecting portion 34 using the vertical position of the connecting portion 34 at the start of the vibration control as the center of the amplitude α of the vertical movement of the connecting portion 34, as described in item 1 of the work vehicle 1.

[0236] According to the work vehicle 1 related to item 9, the connecting section 34 can be vibrated based on the start of vibration control, so that the position of the connecting section 34 relative to the work device 45 and the position of the work device 45 connected to the connecting section 34 relative to other devices can be accurately performed.

[0237] (Item 10) The work vehicle 1 is equipped with an operating member 54 that receives an operation to move the connecting portion 34 in the vertical direction by the drive actuator 36, and the drive actuator 36 is manually operated in response to the operation of the operating member 54, as described in any one of items 1 to 9.

[0238] According to the work vehicle 1 related to item 10, the worker can move the connecting part 34 or the work device 45 connected to the connecting part 34 at will by operating the operating member 54, and the control device 71 controls the drive actuator 36 in response to the operation of the operating member 54. Meanwhile, the drive actuator 36 can vibrate the work device 45 connected to the connecting part 34 or vibrate the connecting part 34 in relation to the work device 45 by vibration control.

[0239] (Item 11) The work vehicle 1 described in item 10 is equipped with an input interface 61 that receives an execution instruction for the vibration control, and when the input interface 61 receives the execution instruction, the control device 71 performs the vibration control in place of the manual operation.

[0240] According to the work vehicle 1 related to item 11, the control device 71 can perform vibration control separately from manual operation in response to execution instructions from the input interface 61. Therefore, the control device 71 can perform the vibration control appropriately.

[0241] (Item 12) The control device 71 acquires the driving state of the vehicle body 11 by the traveling device 21, and if it determines that the traveling device 21 is driving the vehicle body 11 based on the driving state, it restricts the execution of the vibration control according to one of the items 1 to 11.

[0242] According to the work vehicle 1 described in item 12, when the work vehicle 1 is moving on the travel device 21, it is possible to suppress the unintended execution of vibration control. For example, when the work vehicle 1 is performing work using a work device 45 connected to the coupling part 34, it is possible to suppress the vibration control from interfering with the work performed by the work device 45 as vibration control is executed.

[0243] (Item 13) The control device 71 acquires a predetermined position VP of the work device 45 connected to the traveling vehicle body 11 and / or the connecting part 34, and if it determines that the predetermined position VP is located in the work area E1 where work is to be performed, it restricts the upward movement of the connecting part 34 by manual operation or the vibration control of the work vehicle 1 according to item 10 or item 11.

[0244] According to the work vehicle 1 related to item 13, when the predetermined position VP is located in the work area E1, it is possible to suppress the unintentional execution of manual operation or vibration control. Therefore, when the work vehicle 1 is performing work using the work device 45 connected to the coupling part 34, it is possible to suppress the interference of manual operation or vibration control with the work device 45 as such manual operation or vibration control is performed.

[0245] (Item 14) The control device 71 acquires the driving state of the vehicle body 11 by the traveling device 21, and if it determines that the vehicle body 11 is performing a turning maneuver based on the driving state, it restricts the downward movement of the coupling portion 34 by manual operation, as described in item 10 or item 11 of the work vehicle 1.

[0246] According to the work vehicle 1 related to item 14, when the vehicle body 11 is turning, the work device 45 connected to the coupling section 34 can be prevented from moving downward by manual operation. Therefore, it is possible to avoid the work device 45 moving downward and coming into contact with the ground, which would hinder the turning of the vehicle body 11.

[0247] (Item 15) The drive actuator 36 and the travel device 21 can be driven directly or indirectly by the power discharged from the battery unit 16, and the control device 71 limits the driving of the drive actuator 36 in the vibration control according to any one of items 1 to 14.

[0248] According to the work vehicle 1 related to item 15, when the remaining capacity of the battery unit 16 is relatively low, the drive actuator 36 is driven by vibration control, thereby suppressing the consumption of the remaining capacity. In other words, it is possible to prioritize driving by the travel device 21 over vibrating the coupling part 34 or the work device 45 connected to the coupling part 34 by vibration control.

[0249] Although the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0250] 1: Work vehicle (tractor) 11: Vehicle body 16: Battery Unit 21: Running gear 34: Connecting section (lower link) 36: Drive actuator (lift cylinder) 41: Output axis (PTO axis) 45: Working equipment 54: Operating Member 61: Input Interface 71: Control device E1: Work area VP:Predetermined position α: amplitude α1: 1st amplitude α2: 2nd amplitude

Claims

1. The vehicle body and A traveling device that supports the aforementioned traveling vehicle body so that it can move, A connecting portion provided on the vehicle body, to which a work device can be connected, A drive actuator capable of raising and lowering the work device connected to the connecting portion by moving the connecting portion in the vertical direction, A control device that controls the drive actuator and performs vibration control to vibrate the connecting portion, A work vehicle equipped with the following features.

2. The control device is capable of selectively executing either the first vibration control or the second vibration control as the vibration control. The work vehicle according to claim 1, wherein the first amplitude of the connecting portion in the first vibration control is greater than the second amplitude of the connecting portion in the second vibration control.

3. The control device is capable of controlling the drive of the work device connected to the coupling portion, and the work vehicle according to claim 2, wherein the work device is driven in the first vibration control and the work device is not driven in the second vibration control.

4. The control device is capable of controlling the drive speed of the drive actuator, The work vehicle according to claim 2, wherein the drive speed in the first vibration control is faster than the drive speed in the second vibration control.

5. The working device connected to the aforementioned connecting portion is equipped with an output shaft that outputs rotational driving force, The work vehicle according to claim 1, wherein the control device is capable of controlling the rotational drive of the output shaft, and in the vibration control, it is possible to repeatedly perform at least one of the following controls: a first switching control for switching the rotational direction of the output shaft, and a second switching control for switching the start and stop of the rotational drive.

6. The work vehicle according to claim 5, wherein the control device performs the first switching control or the second switching control in accordance with the vertical movement of the connecting portion in the vibration control.

7. The work vehicle according to claim 6, wherein the control device executes the first switching control or the second switching control when the direction of movement of the connecting portion is switched in the vibration control.

8. The work vehicle according to claim 1, wherein the control device is capable of controlling the drive speed of the drive actuator, and increases the drive speed in the vibration control as the vertical movement of the connecting portion moves from the center of the amplitude toward the maximum displacement of the amplitude.

9. The control device, in the vibration control, vibrates the connecting portion with the vertical position of the connecting portion at the start of the vibration control as the center of the amplitude of the vertical movement of the connecting portion, as described in claim 1.

10. The system includes an operating member that receives an operation to move the connecting portion vertically by the drive actuator, The work vehicle according to claim 1, wherein the drive actuator is manually operated in response to the operation of the operating member.

11. It is equipped with an input interface that receives instructions to execute the vibration control, The work vehicle according to claim 10, wherein the control device, upon receiving the execution instruction from the input interface, performs the vibration control in place of the manual operation.

12. The work vehicle according to claim 1, wherein the control device acquires the driving state of the vehicle body by the traveling device, and if it determines that the traveling device is driving the vehicle body based on the driving state, it restricts the execution of the vibration control.

13. The work vehicle according to claim 10, wherein the control device acquires a predetermined position of the work device connected to the traveling vehicle body and / or the connecting part, and if it determines that the predetermined position is located in the work area where work is to be performed based on the predetermined position, it restricts the upward movement of the connecting part by manual operation or the vibration control.

14. The work vehicle according to claim 10, wherein the control device acquires the driving state of the vehicle body by the traveling device, and if it determines that the vehicle body is performing a turning maneuver based on the driving state, it restricts the downward movement of the coupling portion by manual operation.

15. The drive actuator and the travel device can be driven directly or indirectly by the power discharged from the battery unit. The work vehicle according to claim 1, wherein the control device limits the driving of the drive actuator in the vibration control when the remaining capacity of the battery unit is less than a predetermined amount.

Images