Title of Invention: Work Vehicle
Technical field
[0001]
　The present invention relates to work vehicles such as tractors, for example.
Background technology
[0002]
　Conventionally, Patent Document 1 is known as a technique for automatically traveling a working machine. The traveling work machine of Patent Document 1 includes an automatic traveling control unit that executes automatic traveling, a manual traveling control unit that executes manual traveling, an aircraft state detection unit that outputs aircraft state information indicating the state of the machine, and machine state information. Based on this, the automatic driving control unit determines whether to prohibit automatic driving and whether to permit the automatic driving, and based on the aircraft state information, determines the control of the aircraft after the prohibition of automatic driving is commanded Automatic prohibition time control It has an automatic driving control unit that outputs commands.
prior art documents
patent literature
[0003]
Patent document 1: Japanese patent publication "JP 2017-47762"
SUMMARY OF THE INVENTION
Problems to be Solved by the Invention
[0004]
　As described above, in the traveling work machine of Patent Literature 1, when the machine body state detection unit detects that a manual operation has been performed, the automatic travel management section prohibits automatic travel and executes manual travel. In other words, in Patent Document 1, when a manual operation is performed, automatic travel is completely prohibited, and there is a risk that work efficiency will be reduced.
　SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work vehicle capable of continuing automatic operation while permitting manual operation of a part of the operation.
Means to solve problems
[0005]
　The technical means of the present invention for solving this technical problem are characterized by the following points.
　A work vehicle includes a traveling vehicle body, a coupling device capable of connecting a working device to the traveling vehicle body, a first automatic operation for automatically performing a plurality of operations related to the traveling vehicle body, and at least one of the plurality of operations. is set to manual, and the automatic operation control unit performs a second automatic operation in which operations other than the operation set to manual are continued as automatic operation.
[0006]
　The work vehicle includes a steering device having a steering handle for steering the traveling vehicle body, and the automatic operation control unit performs an operation of the steering device and an operation different from the operation of the steering device as the first automatic operation. As the second automatic operation, the operation of the steering device is set to manual operation, and the operation different from the operation of the steering device is continued as the automatic operation.
　The work vehicle includes a positioning device capable of positioning a vehicle body position, which is the position of the traveling vehicle body, and the automatic operation control unit determines that the vehicle body position measured by the positioning device during the first automatic operation is a predetermined position. position and the steering handle is manually operated, the first automatic operation is switched to the second automatic operation.
[0007]
　The automatic operation control unit does not switch from the first automatic operation to the second automatic operation when the vehicle body position is not at the predetermined position during the first automatic operation.
　The automatic driving control unit stops the automatic driving when the steering angle when the steering handle is manually operated is equal to or greater than a threshold.
　The coupling device is an elevating device that elevates the work device, and the automatic operation control unit performs the operation of elevating the work device by the elevating device as the different operations in the first automatic operation and the second automatic operation. .
[0008]
　A transmission that is provided on the traveling vehicle body and that performs gear shifting is provided, and the automatic operation control unit performs the gear shifting operation by the gear transmission as the different operations of the first automatic operation and the second automatic operation.
　The work vehicle includes a braking device that is provided on the traveling vehicle body and performs braking, and the automatic operation control unit performs the braking operation by the braking device as the different operations of the first automatic operation and the second automatic operation. conduct.
[0009]
　The work vehicle includes a switching device for manually switching between the first automatic operation and the second automatic operation.
Effect of the invention
[0010]
　ADVANTAGE OF THE INVENTION According to this invention, automatic operation can be continued, permitting manual operation of some operations.
Brief description of the drawing
[0011]
1 is a block diagram of a work vehicle; FIG.
2 is a diagram showing a transmission; FIG.
3 is a diagram showing a lifting device; FIG.
[Fig. 4] Fig. 4 is an explanatory diagram for explaining automatic driving and a planned driving route.
5A is a diagram showing an example of first automatic operation and second automatic operation; FIG.
5B is a diagram showing an example of a setting screen M1; FIG.
5C] A diagram showing an example of a setting screen M3. [FIG.
6 is a diagram showing an example of switching between first automatic operation and second automatic operation.
7 is a diagram showing an example of a setting screen M2; FIG.
8 is an overall side view of the tractor; FIG.
MODE FOR CARRYING OUT THE INVENTION
[0012]
　BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　FIG. 8 shows a tractor 1 as an example of a work vehicle. The working vehicle will be described using the tractor 1 as an example, but the working vehicle is not limited to a tractor, and may be a rice transplanter or a combine harvester.
　As shown in FIG. 8 , the tractor 1 includes a traveling vehicle body 3 having a traveling device 7 , a prime mover 4 and a transmission 5 . The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. Also, the rear wheel 7R may be of a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission device 5 is capable of switching the driving force of the traveling device 7 by shifting gears, and is also capable of switching the traveling device 7 between forward and reverse travel. A cabin 9 is provided in the traveling vehicle body 3, and a driver's seat 10 is provided in the cabin 9. - 特許庁
[0013]
　A coupling device is provided at the rear portion of the traveling vehicle body 3 . The connecting device is a lifting device 8 or the like that connects the working device 2 and the traveling vehicle body 3 and that is configured by a swing drawbar that does not move up and down, a three-point link mechanism, or the like that moves up and down. The working device 2 can be attached to and detached from the coupling device. By connecting the working device 2 to the connecting device, the traveling vehicle body 3 can tow the working device 2 . The work device 2 includes a tillage device for tilling, a fertilizer spreading device for spreading fertilizer, a transplanting device for planting seedlings, a watering device for watering, an agricultural chemical spraying device for spraying agricultural chemicals, a seed spraying device for spraying seeds, and a harvesting of pasture grass. a harvesting device that performs the above operations, a spreading device that spreads pasture grass, etc., a grass collecting device that collects pasture grass, a forming device that forms pasture grass, a composite device that performs a plurality of operations, and the like.
[0014]
　As shown in FIG. 2, the transmission 5 includes a main shaft (propulsion shaft) 5a, a shuttle portion 5b, a main transmission portion 5c, an auxiliary transmission portion 5d, a PTO power transmission portion 5e, a front transmission portion 5f, It has The propelling shaft 5a is rotatably supported by the housing case of the transmission 5, and power from the crankshaft of the prime mover 4 is transmitted to the propelling shaft 5a.
　The shuttle portion 5b has a shuttle shaft 5b1 and a forward/reverse switching portion 5b2. Power from the propulsion shaft 5a is transmitted to the shuttle shaft 5b1. The forward/reverse switching unit 5b2 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 5b1, that is, the forward/backward movement of the tractor 1, by turning on/off the hydraulic clutch.
[0015]
　The main transmission portion 5c is a continuously variable transmission mechanism that continuously changes the input power. The continuously variable transmission mechanism has a hydraulic pump 5c1, a hydraulic motor 5c2, and a planetary gear mechanism 5c3. The hydraulic pump 5c1 is rotated by power from the output shaft 5b3 of the shuttle portion 5b. The hydraulic pump 5c1 is, for example, a variable displacement pump having a swash plate 12. By changing the angle of the swash plate 12 (swash plate angle), the flow rate of hydraulic oil discharged from the hydraulic pump 5c1 can be changed. can be done. The hydraulic motor 5c2 is a motor that is rotated by hydraulic oil discharged from the hydraulic pump 5c1 through an oil passage circuit such as piping. By changing the swash plate angle of the hydraulic pump 5c1 or by changing the power input to the hydraulic pump 5c1, the rotation speed of the hydraulic motor 5c2 can be changed.
[0016]
　The planetary gear mechanism 5c3 is a mechanism composed of a plurality of gears (gears) and power transmission shafts such as an input shaft and an output shaft. It includes an input shaft 14 to which the power of 5c2 is input and an output shaft 15 to output the power. The planetary gear mechanism 5c3 combines the power of the hydraulic pump 5c1 and the power of the hydraulic motor 5c2 and transmits the combined power to the output shaft 15.
[0017]
　Therefore, according to the main transmission portion 5c, by changing the swash plate angle of the swash plate 12 of the hydraulic pump 5c1, the rotation speed of the prime mover 4, and the like, the power output to the sub transmission portion 5d can be changed. In addition, although the main transmission portion 5c is configured by a continuously variable transmission mechanism, it may be a stepped transmission mechanism that shifts gears.
　The subtransmission portion 5d is a transmission mechanism having a plurality of stepped gears (gears) for shifting power. , the power input to the sub-transmission portion 5d is changed and output (shifted). The auxiliary transmission portion 5d includes an input shaft 5d1, a first transmission clutch 5d2, a second transmission clutch 5d3, and an output shaft 5d4. The input shaft 5d1 is a shaft to which the power of the output shaft 15 of the planetary gear mechanism 5c3 is input, and inputs the input power to the first shift clutch 5d2 and the second shift clutch 5d3 via gears and the like. By switching engagement and disengagement of each of the first speed change clutch 5d2 and the second speed change clutch 5d3, the input power is changed and output to the output shaft 5d4. The power output to the output shaft 5d4 is transmitted to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports a rear axle 21R to which the rear wheels 7R are attached.
[0018]
　The PTO power transmission section 5e has a PTO clutch 5e1, a PTO propulsion shaft 5e2, and a PTO transmission section 5e3. The PTO clutch 5e1 is composed of, for example, a hydraulic clutch or the like, and the power of the propelling shaft 5a is transmitted to the PTO propelling shaft 5e2 and the power of the propelling shaft 5a is not transmitted to the PTO propelling shaft 5e2 by turning on/off the hydraulic clutch. state. The PTO transmission section 5e3 includes a transmission clutch, a plurality of gears, etc., and changes and outputs the power (rotational speed) input from the PTO propulsion shaft 5e2 to the PTO transmission section 5e3. The power of the PTO transmission portion 5e3 is transmitted to the PTO shaft 16 via gears and the like.
[0019]
　The front shifting portion 5f has a first front shifting clutch 5f1 and a second front shifting clutch 5f2. The first front transmission clutch 5f1 and the second front transmission clutch 5f2 can transmit power from the auxiliary transmission portion 5d, and for example, the power of the output shaft 5d4 is transmitted via gears and transmission shafts. Power from the first front transmission clutch 5f1 and the second front transmission clutch 5f2 can be transmitted to the front axle 21F via the front transmission shaft 22. As shown in FIG. Specifically, the front transmission shaft 22 is connected to a front wheel differential device 20F, and the front wheel differential device 20F rotatably supports a front axle 21F to which the front wheels 7F are attached.
[0020]
　The first front shift clutch 5f1 and the second front shift clutch 5f2 are configured by hydraulic clutches or the like. As shown in FIG. 1, an oil passage is connected to the first front shift clutch 5f1, and the oil passage is connected to a control valve 23 to which hydraulic oil discharged from a hydraulic pump is supplied. The first front shift clutch 5f1 is switched between a connected state and a disconnected state depending on the degree of opening of the control valve 23. As shown in FIG. An oil passage is connected to the second front shift clutch 5f2, and a control valve 24 is connected to the oil passage. The second front shift clutch 5f2 is switched between a connected state and a disconnected state depending on the degree of opening of the control valve 24. As shown in FIG. The control valves 23 and 24 are, for example, two-position switching valves with electromagnetic valves, and are switched between a connected state and a disconnected state by energizing or demagnetizing the solenoids of the electromagnetic valves.
[0021]
　When the first front transmission clutch 5f1 is disengaged and the second front transmission clutch 5f2 is engaged, the power of the auxiliary transmission portion 5d is transmitted to the front wheels 7F through the second front transmission clutch 5f2. As a result, four-wheel drive (4WD) is achieved in which the front and rear wheels are driven by power, and the rotational speeds of the front and rear wheels are approximately the same (4WD constant speed state). On the other hand, when the first front transmission clutch 5f1 is in the engaged state and the second front transmission clutch 5f2 is in the disengaged state, the four-wheel drive mode is adopted and the rotation speed of the front wheels becomes faster than the rotation speed of the rear wheels (4WD increase). state). Also, when the first front transmission clutch 5f1 and the second front transmission clutch 5f2 are in the engaged state, the power of the auxiliary transmission portion 5d is not applied to the front wheels 7F, so that the rear wheels are driven by the power, resulting in two-wheel drive (2WD).
[0022]
　As shown in FIG. 3, the lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d and a lift cylinder 8e. A front end portion of the lift arm 8a is supported by a rear upper portion of a case (transmission case) that houses the transmission 5 so as to be capable of swinging upward or downward. The lift arm 8a swings (moves up and down) by being driven by a lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected via a control valve 36 to a hydraulic pump. The control valve 36 is an electromagnetic valve or the like, and expands and contracts the lift cylinder 8e.
[0023]
　A front end portion of the lower link 8b is supported by a lower rear portion of the transmission 5 so as to be capable of swinging upward or downward. A front end portion of the top link 8c is supported by the rear portion of the transmission 5 above the lower link 8b so as to be able to swing upward or downward. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear portion of the lower link 8b and the rear portion of the top link 8c. When the lift cylinder 8e is driven (extended and retracted), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the work device 2 swings upward or downward (elevates) with the front portion of the lower link 8b as a fulcrum.
[0024]
　As shown in FIG. 1, the tractor 1 has a steering device 29 . The steering device 29 includes a steering handle (steering wheel) 30, a rotating shaft (steering shaft) 31 that rotates as the steering handle 30 rotates, and an auxiliary mechanism (power steering mechanism) 32 that assists the steering of the steering handle 30. ,have. The auxiliary mechanism 32 includes a hydraulic pump 33 , a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34 . The control valve 34 is an electromagnetic valve that operates based on a control signal. The control valve 34 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 can also be switched by steering the steering shaft 31 . The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.
[0025]
　Therefore, when the steering handle 30 is operated, the switching position and the opening degree of the control valve 34 are switched according to the steering handle 30, and the steering cylinder 35 is moved leftward or rightward according to the switching position and the opening degree of the control valve 34. , the steering direction of the front wheels 7F can be changed. Note that the steering device 29 described above is merely an example, and is not limited to the configuration described above.
[0026]
　The tractor 1 has a positioning device 40 . The positioning device 40 can detect its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, determines the position of the tractor 1 (for example, latitude, longitude), That is, the vehicle body position is detected. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42 . The receiving device 41 is a device that has an antenna or the like and receives a satellite signal transmitted from a positioning satellite. In this embodiment, the receiving device 41 is attached to the traveling vehicle body 3 , that is, the cabin 9 . Note that the mounting location of the receiving device 41 is not limited to the embodiment.
[0027]
　The inertial measurement device 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The roll angle, pitch angle, yaw angle, and the like of the running vehicle body 3 can be detected by an inertia measurement device 42 provided below the vehicle body 3 , for example, the driver's seat 10 .
　As shown in FIG. 1, the tractor 1 is equipped with a braking device. The braking device has a left braking device 46a and a right braking device 46b. The left braking device 46a and the right braking device 46b are disc-type braking devices, and can be switched between a braking state for braking and a released state for releasing the braking. The left braking device 46a is provided on the left side of the rear axle 21R, and the right braking device 46b is provided on the right side of the rear axle 21R. For example, a left brake pedal and a right brake pedal are provided near the driver's seat 10 . When the driver operating the tractor 1 operates (depresses) the left brake pedal, the left connecting member 47a connected to the left brake pedal moves in the braking direction, and the left braking device 46a can be brought into the braking state. When the driver operates (depresses) the right brake pedal, the right connecting member 47b connected to the right brake pedal moves in the braking direction, and the right braking device 46b can be brought into the braking state.
[0028]
　The left connecting member 47a is also connected to a left hydraulic operating portion 48a which is operated by hydraulic oil. A left brake valve 49a is connected to the left hydraulic operating portion 48a via an oil passage. The left coupling member 47a can be moved in the braking direction by operating the left hydraulic operating portion 48a with the left brake valve 49a. Further, the right connecting member 47b is connected with a right hydraulic operating portion 48b that is operated by hydraulic oil. A right braking valve 49b is connected to the right hydraulic operating portion 48b via an oil passage. The right connecting member 47b can be moved in the braking direction by operating the right hydraulic operating portion 48b with the right brake valve 49b.
[0029]
　As described above, the left braking device 46a and the right braking device 46b are operated not only by the operation of the left brake pedal and the right brake pedal, but also by the operation of the left hydraulic operating portion 48a and the right hydraulic operating portion 48b. and the right rear wheel 7R can be brought into a braking state independently.
　As shown in FIG. 1, the tractor 1 has a monitoring device 121 . The monitoring device 121 is a device that can detect objects existing around the tractor 1 . The monitoring device 121 is mounted, for example, on the side of the cabin 9 of the tractor 1, the front portion of the cabin 9 of the tractor 1, or the like. The monitoring device 121 is a camera (imaging device), laser scanner, sonar, or the like. The camera (imaging device) captures an image of the surroundings of the work device 2 with an image sensor such as a CCD or CMOS, and detects the object when the object is captured in the captured image. A laser scanner detects an object by radiating a laser beam and receiving light reflected by the irradiated laser beam that hits the object. A sonar detects an object by irradiating a sound wave and receiving the reflected sound of the emitted sound wave hitting an obstacle.
[0030]
　As shown in FIG. 1, the tractor 1 has a display device 45 . The display device 45 is installed around the driver's seat 10 . The display device 45 can display various information regarding the tractor 1 . As shown in FIG. 7, the display device 45 can set a headland area (turning area) A1 and a work area A2 in the field H1 where the tractor 1 works. When a predetermined operation is performed on the display device 45, a setting screen M2 is displayed as shown in FIG. On the area setting screen M2, a width input section 130 for inputting the headland width W1 of the headland area A1 is displayed. The inner area formed by shifting inward is set as the work area A2, and the area formed between the contour (boundary) H2 forming the work area A2 and the contour (boundary) H1 of the field is the headland area. Set to A1. The setting of the headland area A1 and the work area A2 is an example and is not limited.
[0031]
　Further, as shown in FIG. 7, the display device 45 can set a planned travel route L1 for automatic operation of the tractor 1 . When a predetermined operation is performed on the display device 45, a straight route L1a along which the tractor 1 travels straight and a turning route L1b can be set as the planned traveling route L1.
　As shown in FIG. 1, the tractor 1 has a control device 60 . The control device 60 is a device that controls a traveling system, a work system, and the like in the tractor 1 . An operation changeover switch 65 is connected to the control device 60 . The operation selector switch 65 is a switch that can be switched ON/OFF. When it is ON, the controller 60 can be set to the automatic operation mode, and when it is OFF, the controller 60 can be set to the manual operation mode. can be set.
[0032]
　The control device 60 includes an automatic operation control unit 63 that performs control related to automatic operation of the tractor 1 (the traveling vehicle body 3) based on the planned travel route. The automatic operation control unit 63 is composed of an electrical/electronic circuit provided in the control device 60, a program stored in a CPU, and the like.
　The automatic driving control unit 63 automatically drives the traveling vehicle body 3 . The automatic driving control unit 63 automatically performs a plurality of operations regarding the traveling vehicle body 3 in automatic driving. The automatic driving control unit 63, for example, operates the steering device 29 (first operation), operates the transmission 5 (second operation), operates the braking device (third operation), operates the lifting device 8 (fourth operation). ), etc. automatically.
[0033]
　The automatic driving control unit 63 starts automatic driving when the vehicle is in the automatic driving mode, and operates the steering device 29 (first operation) so that the planned travel route L1 and the vehicle body position match.
　As shown in FIG. 4, for example, when the deviation between the vehicle body position of the tractor and the planned travel route L1 is less than a threshold value, the automatic driving control unit 63 changes the rotation angle of the steering shaft (rotating shaft) 31 of the steering device 29 to maintain. If the deviation between the vehicle body position and the planned travel route L1 is greater than or equal to the threshold and the tractor 1 is positioned on the left side of the planned travel route L1, the automatic driving control unit 63 changes the steering direction of the tractor 1 to the right. The steering shaft 31 is rotated by outputting a control signal to the control valve 34 of the steering device 29 so that the steering shaft 31 is in the desired direction. When the deviation between the vehicle body position and the planned travel route L1 is greater than or equal to the threshold and the tractor 1 is positioned on the right side of the planned travel route L1, the automatic driving control unit 63 changes the steering direction of the tractor 1 to the left. The steering shaft 31 of the steering device 29 is rotated by outputting a control signal to the control valve 34 of the steering device 29 so as to set the direction.
[0034]
　In the above-described embodiment, the steering angle of the steering device 29 is changed based on the deviation between the vehicle position and the planned travel route L1. When the orientation (vehicle orientation) of the direction (traveling direction) is different, that is, when the angle of the vehicle orientation with respect to the scheduled travel route L1 is equal to or greater than the threshold value, the automatic driving control unit 63 determines that the angle is zero (vehicle orientation F1 is traveling The steering angle may be set by outputting a control signal to the control valve 34 of the steering device 29 so that the steering angle matches the direction of the planned route L1. Further, the automatic driving control unit 63 sets the final steering angle in automatic driving based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (azimuth deviation). may
[0035]
　In addition, the automatic driving control unit 63 operates the transmission 5 (second operation) so that the actual vehicle speed (actual vehicle speed) of the tractor 1 matches the vehicle speed (target vehicle speed) associated with the planned travel route L1. )I do. For example, the automatic operation control unit 63 outputs a control signal to an electric actuator that changes the swash plate 12 of the hydraulic pump 5c1 to change the main speed change of the transmission 5, or change the speed of the first speed change clutch 5d2 and the second speed change clutch 5d2. The actual vehicle speed and the target vehicle speed are matched by outputting a control signal to a hydraulic device (electromagnetic valve) or the like that operates the shift clutch 5d3 to shift the sub-shift.
[0036]
　Further, when the monitoring device 121 detects an obstacle or the like, the automatic operation control unit 63 operates the braking device (third operation) so that the tractor 1 stops in front of the obstacle. For example, the automatic driving control unit 63 determines what the object detected by the monitoring device 121 is, and if the object is an obstacle such as a person or an animal, a control signal is sent to the left braking valve 49a and the right braking valve 49b. Braking is performed by outputting , and braking is not performed when there is no obstacle.
[0037]
　In addition, the automatic operation control unit 63 operates the lifting device 8 (fourth operation) according to the planned travel route L1. For example, when the planned travel route L1 includes a straight route L1a and a turning route L1b, the automatic driving control unit 63 sends a control signal to the control valve 36 when the tractor 1 is positioned on the straight route L1a. By outputting, the working device 2 is lowered to bring the working device 2 into the working posture. When the tractor 1 reaches the turning route L1b from the straight-ahead route L1a, the automatic operation control unit 63 outputs a control signal to the control valve 36 to raise the working device 2 to the non-working posture. do. Further, when the tractor 1 reaches the straight route L1a from the turning route L1b, the automatic operation control unit 63 outputs a control signal to the control valve 36 to lower the working device 2, thereby causing the working device 2 to work again. Posture.
[0038]
　As described above, in automatic driving, the automatic driving control unit 63 performs the operation of the steering device 29 (first operation), the operation of the transmission 5 (second operation), the operation of the braking device (third operation), the lifting device 8 (fourth operation) is automatically performed.
　The automatic operation control unit 63 can perform a first automatic operation and a second automatic operation as automatic operation. The first automatic operation is an operation that automatically performs all of the multiple operations that are preset in automatic operation, and the second automatic operation is an operation that is preset in automatic operation. Some operations are set (allowed) as manual operation, and other operations excluding the operations set to manual operation are continued as automatic operation.
[0039]
　As shown in FIG. 5A, the automatic operation control unit 63 automatically performs all of the first operation, the second operation, the third operation, and the fourth operation as the first automatic operation, and automatically performs all the operations as the second automatic operation. , the first operation is set to manual operation, and the other operations, ie, the second, third and fourth operations are automatically performed. In addition, as shown in FIG. 5B, a plurality of operation items to be automatically performed in automatic operation can be set by operating the display device 45 . For example, as shown in FIG. 5B, a plurality of operation items (automatic operation items) J1, J2, J3, J4 displayed on the setting screen M1 for automatic operation can be selected as automatic operation items for automatic operation. Can be set.
[0040]
　Hereinafter, switching between the first automatic operation and the second automatic operation will be described in detail.
　As shown in FIG. 6, at the start of automatic operation, the automatic operation control unit 63 executes the first automatic operation. That is, when automatic operation is started, all of the first operation, second operation, third operation, and fourth operation are automatically performed. As shown at time point P1 in FIG. 6, when the driver manually operates the steering wheel 30 during the first automatic operation, the automatic operation control unit 63 switches from the first automatic operation to the second automatic operation and switches to the second automatic operation. Carry out autonomous driving. That is, at time point P1, the automatic driving control unit 63 sets the operation (first operation) of the steering handle 30 (steering device 29) to manual as the second automatic driving, and sets the other operations (second operation, third operation) to manual operation. operation, fourth operation) continue as automatic operation. In other words, the automatic driving control unit 63, among a plurality of operations (first operation, second operation, third operation, fourth operation), regarding the operation (first operation) of the steering handle 30 (steering device 29), When the intervention of the operation by the driver is performed, the first operation switches from automatic to manual, and the other operations continue automatic.
[0041]
　Now, in the above-described embodiment, when the first operation is performed, the automatic operation is switched from the first automatic operation to the second automatic operation. Alternatively, the first automatic operation may be switched to the second automatic operation.
　Specifically, as shown in FIG. 4, in a field H1, the positioning device 40 is set to When the measured vehicle body position is within the headland area A1 and the steering handle 30 is manually operated, the automatic operation control unit 63 switches from the first automatic operation to the second automatic operation. On the other hand, when the vehicle body position measured by the positioning device 40 during the first automatic operation is within the work area A2 and not at the predetermined position and the steering handle 30 is manually operated, the automatic operation control unit 63 Maintain the first automatic operation and do not switch to the second automatic operation. That is, the automatic driving control unit 63 performs the second automatic driving when the operation intervention by the driver is performed in the case of the headland area A1, and performs the second automatic operation in the case of the work area A2. When an operation is intervened, the second automatic operation is not performed, and all operations are automatically performed in the first automatic operation.
[0042]
　Further, when the steering angle θ1 when the steering wheel 30 is manually operated is less than the threshold value, the automatic driving control unit 63 switches from the first automatic driving to the second automatic driving, and the steering angle θ1 is If it is equal to or greater than the threshold, the automatic operation is stopped, that is, the tractor 1 (running vehicle body 3) is stopped.
　In the above-described embodiment, when the steering handle 30 is manually operated, the first automatic operation and the second automatic operation are automatically switched, but the switching may be performed manually. . The tractor 1 is equipped with a switching device 131 . The switching device 131 is a switch that can be switched between two positions, is installed around the driver's seat 10, and can be operated by the driver. When the switching device 131 is switched to one side, it switches to the first automatic operation, and when it is switched to the other side, it switches to the second automatic operation. When the switching device 131 switches to the second automatic operation, the display device 45 can be used to set the items (manual operation items) set for manual operation in the second automatic operation. For example, as shown in FIG. 5C, the display device 45 can display an automatic driving setting screen M3. A plurality of operation items J1, J2, J3, J4, . . . are displayed on the setting screen M3. can be selected.
[0043]
　The work vehicle 1 includes a traveling vehicle body 3, a coupling device capable of coupling the working device 2 to the traveling vehicle body 3, a first automatic operation for automatically performing a plurality of operations related to the traveling vehicle body 3, and at least An automatic operation control unit 63 is provided for performing a second automatic operation in which one operation is set to manual operation and other operations other than the operation set to manual operation are continued as automatic operation. According to this, since it is possible to change from the first automatic operation to the second automatic operation, it is possible to continue the automatic operation while permitting manual operation of some operations in the second automatic operation.
[0044]
　The work vehicle 1 is provided with a steering device 29 having a steering handle 30 for steering the traveling vehicle body 3, and the automatic operation control unit 63 operates the steering device 29 and an operation different from the operation of the steering device 29 as the first automatic operation. are automatically performed, and as the second automatic operation, the operation of the steering device 29 is set to manual operation, and the operation different from the operation of the steering device 29 is continued as automatic operation. According to this, for example, when the driver manually steers the steering wheel 30 during automatic driving, the automatic steering of the traveling vehicle body 3 can be switched to the steering of the steering wheel 30 by the driver. and other operations can be continued as automatic operation.
[0045]
　The work vehicle 1 includes a positioning device 40 capable of positioning the vehicle body position, which is the position of the traveling vehicle body 3, and the automatic operation control unit 63 determines in advance the vehicle body position measured by the positioning device 40 during the first automatic operation. When the vehicle is in a predetermined position and the steering handle 30 is manually operated, the first automatic operation is switched to the second automatic operation. For example, when the predetermined position is inside the field and outside the work area, steering of the steering handle 30 can be intervened, and the running performance outside the work area can be improved.
[0046]
　The automatic operation control unit 63 does not switch from the first automatic operation to the second automatic operation when the vehicle body position is not at the predetermined position during the first automatic operation. For example, when the predetermined position is within the field and within the work area, the work can be continued by automatic operation without steering intervention by the steering handle 30 .
　The automatic driving control unit 63 stops automatic driving when the steering angle when the steering wheel 30 is manually operated is greater than or equal to the threshold value. According to this, when the manual operation of the steering handle 30 is suddenly performed, it is possible to switch to manual operation or the like by stopping the automatic operation.
[0047]
　The coupling device includes a lifting device 8 that lifts and lowers the working device 2, and the automatic operation control unit 63 performs lifting and lowering of the working device 2 by the lifting device as different operations for the first automatic operation and the second automatic operation. According to this, the work device 2 can be raised and lowered as an automatic operation. For example, it can be automatically raised and lowered when the traveling vehicle body 3 turns, moves backward, and the like.
　The work vehicle 1 includes a transmission 5 that is provided on the traveling vehicle body 3 and performs gear shifting, and the automatic operation control unit 63 performs gear shifting operations by the transmission 5 as different operations for the first automatic operation and the second automatic operation. . According to this, the speed change of the transmission 5 can be performed as automatic driving. For example, it is possible to automatically shift gears when the traveling vehicle body 3 is ascending or descending in a field.
[0048]
　The work vehicle 1 is provided with braking devices 46a and 46b that are provided on the traveling vehicle body 3 and perform braking. operation. According to this, braking can be performed as automatic driving.
　The work vehicle 1 includes a switching device 131 that manually switches between the first automatic operation and the second automatic operation. According to this, it is possible to easily switch to the second automatic operation in which automatic operation is performed while intervening in some operations, and switch to the second automatic operation or switch to the first automatic operation according to various tasks. can be switched.
[0049]
　It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.
Code explanation
[0050]
1: Working vehicle (tractor)
2: Working device
3: Traveling vehicle body
5: Transmission device
8: Elevating device
29: Steering device
30: Steering handle
40: Positioning device
63: Automatic driving control unit
131: Switching device
θ1: Steering angle
The scope of the claims
[Claim 1]
　A traveling vehicle body,
　a coupling device capable of coupling a working device to the traveling vehicle body,
　a first automatic operation for automatically performing a plurality of operations related to the traveling vehicle body, and setting at least one of the plurality of operations to manual operation. and an automatic operation control unit that performs a second automatic operation in which operations other than the operation set to manual operation are continued as automatic operation
　.
[Claim 2]
　A steering device having a steering handle for steering the traveling vehicle body is provided, and the
　automatic operation control unit automatically performs an operation of the steering device and an operation different from the operation of the steering device as the first automatic operation. 2. The work vehicle according to claim 1, wherein as the second automatic operation, the operation of the steering device is set to manual operation, and the operation different from the operation of the steering device is continued as the automatic operation.
[Claim 3]
　A positioning device capable of positioning a vehicle body position, which is the position of the traveling vehicle body, is provided, and the
　automatic operation control unit is configured such that the vehicle body position measured by the positioning device during the first automatic operation is a predetermined position, and The work vehicle according to claim 2, wherein the first automatic operation is switched to the second automatic operation when the steering handle is manually operated.
[Claim 4]
　The work vehicle according to claim 3, wherein the automatic operation control unit does not switch from the first automatic operation to the second automatic operation when the vehicle body position is not at the predetermined position during the first automatic operation.
[Claim 5]
　The automatic operation control unit, when the steering angle when the manual operation of the steering handle is performed is a threshold value or more, to stop the automatic operation according to any one of claims 1 to 4 work vehicle.
[Claim 6]
　The coupling device is an elevating device that elevates the work device, and the
　automatic operation control unit performs the operation of elevating the work device by the elevating device as the different operations in the first automatic operation and the second automatic operation. The work vehicle according to any one of claims 2-5.
[Claim 7]
　2. A transmission device provided on the traveling vehicle body for shifting gears,
　wherein the automatic operation control unit performs the gear shifting operation by the transmission device as the different operations of the first automatic operation and the second automatic operation. 7. The working vehicle according to any one of 1 to 6.
[Claim 8]
　2. A braking device that is provided on the traveling vehicle body and performs braking,
　wherein the automatic operation control unit performs the braking operation by the braking device as the different operations of the first automatic operation and the second automatic operation. 8. The work vehicle according to any one of 1 to 7.
[Claim 9]
　The work vehicle according to any one of claims 1 to 8, further comprising a switching device for manually switching between the first automatic operation and the second automatic operation.