JP2021069310A - Work machine - Google Patents

Abstract

To perform automatic travel by suppressing unexpected increase of travel speed such as a dashing phenomenon.SOLUTION: An implement includes; a vehicle body having a traveling travel device, and a braking device for braking the travel device; a lifting device for connecting liftably a ground work device to the vehicle body; a position detector for detecting the position of the vehicle body; and an automatic travel control part for performing automatic travel of the vehicle body and control of the lifting device based on the position of the vehicle body detected by the position detector and on a scheduled travel route. The automatic travel control part allows the braking device to brake, while allowing the vehicle body to travel, and allowing the lifting device to lift the ground work device.SELECTED DRAWING: Figure 1

Description

The present invention relates to a working machine that automatically travels while suppressing an unexpected speed increase such as a dashing phenomenon.

Conventionally, the work machine disclosed in Patent Document 1 is a vehicle body having a traveling device for traveling and a braking device for braking the traveling device, and an elevating device for vertically connecting the ground work device to the vehicle body. The output shaft that transmits power to the ground work device, the torque measuring means that measures the rotational torque of the output shaft, and the lifting device lowers from the non-working posture to the working posture, and the ground work device moves from the non-working state. It is provided with a control device that outputs braking to a braking device based on fluctuations in rotational torque when descending to a working state.

Japanese Unexamined Patent Publication No. 2010-011745

With the working machine of Patent Document 1, the magnitude of the amount of dashing by the ground tillage device can be determined at an early stage.
However, when the work machine automatically runs based on the planned travel route, the operator does not operate the work machine, so that control against the dashing phenomenon is more important. It was necessary to suppress unexpected acceleration due to reduced resistance to work.

The present invention has been made to solve such a problem of the prior art, and provides a working machine capable of performing automatic traveling while suppressing an unexpected increase in traveling speed such as a dashing phenomenon. With the goal.

The working machine according to one aspect of the present invention includes a vehicle body having a traveling traveling device, a braking device for braking the traveling device, and an elevating device for vertically connecting the ground working device to the vehicle body. A position detection device that detects the position of the vehicle body, and an automatic travel control unit that controls the automatic travel of the vehicle body and the elevating device based on the position of the vehicle body detected by the position detection device and the planned travel route. The automatic traveling control unit brakes the braking device while traveling the vehicle body and raising and lowering the ground work device on the elevating device.

Further, the elevating device can switch between a non-working posture in which the ground working device is not grounded and a working posture in which the ground working device is grounded to perform work by raising and lowering the ground working device. The automatic traveling control unit brakes the braking device until the elevating device stabilizes from the non-working posture to the working posture.
Further, the automatic traveling control unit uses the braking device until the elevating device switches from the non-working posture to the working posture and the vertical position of the working unit of the ground work device with respect to the field reaches a predetermined position. Braking.

Further, the elevating device can switch between a non-working posture in which the ground working device is not grounded and a working posture in which the ground working device is grounded to perform work by raising and lowering the ground working device. The automatic traveling control unit brakes the braking device until the elevating device stabilizes from the working posture to the non-working posture.
Further, the automatic traveling control unit uses the braking device until the elevating device switches from the working posture to the non-working posture and the vertical position of the working unit of the ground work device with respect to the field reaches a predetermined position. Braking.

Further, the ground work device is a rotary tiller having a tilling claw for rotating and tilling and a tilling cover for covering the tilling claw, and the tilling cover is swingably attached and is attached. The lower end portion can be grounded to the field, an angle detection unit for detecting the swing angle of the tillage cover is provided, and the automatic traveling control unit performs the braking when the swing angle of the tillage cover is less than a predetermined value. Braking the device.

Further, the elevating device is provided with a load detection unit that detects a load applied from the vehicle body and / or the ground work device, and the automatic traveling control unit is a load change amount detected by the load detection unit. Is greater than or equal to a predetermined value, the braking device is braked.
Further, the automatic traveling control unit includes an acceleration acquisition unit that acquires the acceleration of the traveling speed of the vehicle body, and the automatic traveling control unit brakes the braking device when the acceleration acquired by the acceleration acquisition unit is equal to or higher than a predetermined value.

Further, the automatic traveling control unit includes a pitch angle acquisition unit that acquires the pitch angle of the vehicle body and the ground work device, and the automatic traveling control unit uses the braking device when the pitch angle acquired by the pitch angle acquisition unit is equal to or greater than a predetermined value. Braking.
Further, the traveling device includes a load detecting unit for detecting a load applied to the traveling device, the traveling device has wheels and an axle supporting the wheels, and the load detecting unit is attached to the axle. , The load applied to the wheel is detected based on the deformation of the axle, and the automatic traveling control unit brakes the braking device when the load detected by the load detection unit decreases by a predetermined value or more.

According to the above-mentioned working machine, it is possible to suppress an unexpected increase in traveling speed such as a dashing phenomenon and perform automatic traveling.

It is a figure which shows the block diagram of the working machine, the braking device, and the like. It is a perspective view which shows the elevating device. It is a figure which shows the operation of a lifting device. It is a figure explaining the planned traveling route. It is a figure explaining automatic driving. It is a left side view explaining the case where the lifting device lowers a rotary tilling device. It is a left side view explaining the case where the lifting device raises a towed tillage device. It is a figure explaining a series of flow of control of a braking device by an automatic driving control part. It is a figure which shows the block diagram of the work machine in the 1st modification. It is a figure explaining a series of flow of control of a braking device by an automatic traveling control part in 1st modification. It is a figure which shows the block diagram of the work machine in the 2nd modification. It is a figure explaining a series of flow of control of a braking device by an automatic traveling control part in 2nd modification. It is a figure which shows the block diagram of the work machine in the 3rd modification. It is a figure explaining a series of flow of control of a braking device by an automatic traveling control part in 3rd modification. It is a figure which shows the block diagram of the working machine in 4th modification. It is a figure explaining a series of flow of control of a braking device by an automatic traveling control part in 4th modification. It is a figure which shows the block diagram of the work machine in the 5th modification. It is a figure explaining a series of flow of control of a braking device by an automatic traveling control part in 5th modification. It is a side view of the working machine which connected the rotary tiller as a working device. It is a side view of the working machine which connected the tow type tilling device as a working device.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
First, a tractor, which is one of the working machines 1, will be described. As shown in FIGS. 12A and 12B, the working machine 1 includes a vehicle body (traveling vehicle) 3 having a traveling device 7, a prime mover 4, and a transmission device 5.
And have. The vehicle body 3 is provided with a driver's seat 10. In the following description, the front side of the driver seated in the driver's seat 10 of the work machine 1 (direction of arrow A1 in FIGS. 12A and 12B) is forward, and the rear side of the driver (direction of arrow A2 in FIGS. 12A and 12B) is forward. Will be described as the rear, the left side of the driver (front side of FIGS. 12A and 12B) as the left side, and the right side of the driver (back side of FIGS. 12A and 12B) as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction, will be described as the vehicle body width direction.

The traveling device 7 is a device having rotating wheels (front wheels 7F and rear wheels 7R). The wheels 7F and 7R are supported by the axle 21, the front wheels 7F are supported by the front axle 21F, and the rear wheels 7R are supported by the rear axle 21R, as shown in FIG. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type.

The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward. In the present embodiment, the transmission 5 is a continuously variable transmission, particularly a hydraulic mechanical transmission (HMT). The vehicle body 3 includes an output shaft (PTO shaft) 6 that transmits power from the prime mover 4. The output shaft 6 projects rearward from the rear portion of the vehicle body 3.

Further, as shown in FIGS. 12A and 12B, the vehicle body 3 has a lifting device 8 to which the working device 2 can be attached and detached and which can be raised and lowered. Specifically, an elevating device 8 composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. As a result, the vehicle body 3 can connect the working device 2. The vehicle body 3 can tow the work device 2 by connecting the work device 2 to the elevating device 8.

The work device 2 performs digging device for digging potatoes and carrots, cultivating device for cultivating, fertilizer spraying device for spraying fertilizer, pesticide spraying device for spraying pesticides, harvesting device for harvesting, cutting of grass and the like. These include a digging device, a spreading device for spreading grass and the like, a grass collecting device for collecting grass and the like, a molding device for molding grass and the like, and the like. In the present embodiment, the work device 2 is a ground work device 30 that performs ground work (cultivation work) in the field, and in particular, a rotary tillage device 31 and a traction type tillage device 41. The ground work device 30 has work units 33 and 42 that perform ground work on the field, and the work units 33 and 42 are driven by power input from the outside or towed by the vehicle body 3. Then, perform ground work such as excavation. Note that FIG. 12A shows an example in which the rotary tillage device 31 is connected to the elevating device 8 as the working device 2, and FIG. 12B shows an example in which the towed tilling device 41 is connected to the elevating device 8 as the working device 2. .. The rotary tillage device 31 is a work device 2 that is driven by the power transmitted from the output shaft 6 to perform ground work, and the towed tillage device 41 is a subsoiler that performs ground work by being towed by the vehicle body 3. Plow, cultivator.

As shown in FIG. 1, the working machine 1 includes a steering device 11. The steering device 11 includes a steering wheel (steering wheel) 11a, a rotation shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. doing. The auxiliary mechanism 11c includes a hydraulic pump 12, a control valve 13 to which hydraulic oil discharged from the hydraulic pump 12 is supplied, and a steering cylinder 14 operated by the control valve 13. The control valve 13 is a solenoid valve that operates based on a control signal. The control valve 13 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 13 can also be switched by steering the steering shaft 11b. The steering cylinder 14 is connected to an arm (knuckle arm) 15 that changes the direction of the front wheels 7F.

Therefore, when the handle 11a is operated, the switching position and opening degree of the control valve 13 are switched according to the handle 11a, and the steering cylinder 14 expands and contracts to the left or right according to the switching position and opening degree of the control valve 13. By doing so, the steering direction of the front wheels 7F can be changed. The steering device 11 described above is an example, and is not limited to the configuration described above.
As shown in FIG. 1, the working machine 1 includes a braking device 25. The braking device 25 has a left braking device 25a and a right braking device 25b. Left braking device 25a and right braking device 25
Reference numeral b denotes a disc-type braking device 25, which can switch between a braking state for braking and a release state for releasing braking. The left braking device 25a is provided on the left side of the rear axle 21R, and the right braking device 25b is provided on the right side of the rear axle 21R. For example, a left brake pedal and a right brake pedal are provided in the vicinity of the driver's seat 10. When the operator operating the work machine 1 operates (depresses) the left brake pedal, the left connecting member 26a connected to the left brake pedal moves in the braking direction, and the left braking device 25a can be put into a braking state. When the operator operates (depresses) the right brake pedal, the right connecting member 26b connected to the right brake pedal moves in the braking direction, and the right braking device 25b can be put into the braking state.

Further, a left hydraulic actuating portion 27a that is actuated by hydraulic oil is connected to the left connecting member 26a. A first actuating valve (left braking valve) 28a is connected to the left hydraulic actuating portion 27a via an oil passage. By operating the left hydraulically actuated portion 27a by the first actuating valve 28a, the left connecting member 26a can be moved in the braking direction. Further, a right hydraulic actuating portion 27b operated by hydraulic oil is connected to the right connecting member 26b. A second actuating valve (right braking valve) 28b is connected to the right hydraulic actuating portion 27b via an oil passage. By operating the right hydraulically actuated portion 27b by the second actuating valve 28b, the right connecting member 26b can be moved in the braking direction.

As described above, in the left braking device 25a and the right braking device 25b, the left rear wheel 7R is not only operated by the left brake pedal and the right brake pedal, but also by the operation of the left hydraulically actuated portion 27a and the right hydraulically actuated portion 27b. And each of the right rear wheel 7R can be put into a braking state independently. In the present embodiment, the left braking device 25a is provided on the left side of the rear axle 21R, the right braking device 25b is provided on the right side of the rear axle 21R, and the braking device 25 is the rear wheel of the wheels 7F and 7R. The braking device 25 may be provided in place of or in addition to the left braking device 25a and the right braking device 25b on the left and right sides of the front axle 21F to brake the front wheels 7F.

Of the ground work devices 30, the rotary tillage device 31 will be described as an example. The ground work device 30 is detachably connected to the lifting device 8 via a mounting structure such as a connecting structure 20 or directly. As shown in FIG. 12, the ground work device 30 includes a machine frame 32, a work unit (ground work unit) 33, and a tillage cover 34. The machine frame 32 is a portion connected to the lifting device 8 of the working machine 1. The work unit 33 is a portion for performing ground work, and in the present embodiment, the tillage work is performed. The working portion 33 has a claw shaft 33a and a tilling claw 33b. Power is transmitted from the output shaft 6 of the claw shaft 33a by a transmission mechanism 35 provided in the rotary tillage device 31. The tilling claw 33b is attached to the claw shaft 33a and rotates around the axis of the claw shaft 33a to cultivate and crush the soil. The tillage claw 33b rotates counterclockwise in the same rotation direction as the rotation direction of the wheels 7F and 7R when the vehicle body 3 moves forward, that is, when viewed from the left side. The tilling claw 33b is arranged from one side (left side) to the other side (right side) of the claw shaft 33a in the vehicle body width direction, and extends outward from the axial center of the claw shaft 33a.

As shown in FIG. 12A, the tillage cover 34 is a cover that covers the working portion 33. The tillage cover 34 covers the upper side and the rear side of the working portion 33, and the rear side of both sides of the working portion 33 in the vehicle body width direction, and a ground leveling cover is detachably attached to the lower end side. The tillage cover 34 is rotatably supported around a pivot shaft extending in the width direction of the vehicle body. Specifically, the upper end side of the tillage cover 34 is pivotally supported by a side plate fixed to the transmission mechanism 35, and can swing in the vertical direction. The tillage cover 34 is urged downward by the bulleting device 36 provided in the ground work device 30.

Further, the traction type tilling device 41 will be described by taking a plow as an example. The working portion 42 of the plow has a tilling claw 42a extending downward from the base end portion, and is pulled by the working machine 1 to raise the plow. To do. When the plow is towed by the work machine 1, the tilling claw 42a enters the field, inverts the soil, and plows up the field.
Explaining the lifting device 8 in detail, as shown in FIG. 2, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e, as shown in FIG. In addition, the ground work device 30 can be raised and lowered to switch between a non-working posture in which the ground work device 30 is not in contact with the ground and a work posture in which the ground work device 30 is in contact with the work. The front end portion of the lift arm 8a is swingably supported above or below the rear upper portion of the case (mission case) accommodating the transmission 5. The lift arm 8a swings (elevates) by being driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to the hydraulic pump 12 via a control valve 16. The control valve 16 is a solenoid valve or the like, and expands and contracts the lift cylinder 8e.

As shown in FIGS. 2 and 3, the front end portion of the lower link 8b is swingably supported above or below the rear lower portion of the transmission 5. The front end portion of the top link 8c is swingably supported above or below the rear portion of the transmission 5 above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear part of the lower link 8b and the rear part of the top link 8c. As shown in FIG. 3, when the lift cylinder 8e is driven (expanded / contracted), 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 elevating device 8 can be switched between a non-working posture and a working posture, and the working device 2 swings (elevates) upward or downward with the front portion of the lower link 8b as a fulcrum.

The work machine 1 can automatically travel and move the elevating device 8 up and down based on a preset planned travel route L to perform the work.
As shown in FIG. 1, the working machine 1 includes a position detecting device 50. The position detection device 50 is a device that detects the position of the vehicle body 3. In the present embodiment, the position detection device 50 is, for example, a positioning device. The position detection device 50 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the position detection device 50 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the working machine 1 (for example, latitude, longitude). ), That is, the vehicle body position W1 is detected. As shown in FIG. 1, the position detecting device 50 includes a receiving device 51 and an inertial measurement unit (IMU) 52. The receiving device 51 is a device having an antenna or the like and receiving a satellite signal transmitted from the positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 52. In this embodiment, the receiving device 51 is attached to the upper part of the rops provided on the vehicle body 3. The mounting position of the receiving device 51 is not limited to the above position, and may be the central portion of the bonnet, and when the vehicle body 3 is provided with a protective mechanism such as a cabin, it may be the upper portion of the protective mechanism. Good.

The inertial measurement unit 52 includes an acceleration sensor that detects the acceleration α of the vehicle body 3, a gyro sensor that detects the angular velocity of the vehicle body 3, and the like. The vehicle body 3, for example, provided below the driver's seat 10, can detect the roll angle, pitch angle θ2, yaw angle, and the like of the vehicle body 3 by the inertial measurement unit 52.
In the present embodiment, the position detection device 50 is a position detection device 50 that detects the position of the vehicle body 3 based on a satellite signal, but the position detection device 50 only needs to be able to detect the position of the vehicle body 3. The position of the vehicle body 3 may be detected based on the acceleration α detected by the inertial measurement unit 52 and the predetermined position information, and the present invention is not limited to the above configuration.

As shown in FIG. 1, the working machine 1 includes a control device 60 and a storage unit 62. The control device 60 is a device that controls the traveling system, the working system, and the like in the working machine 1. The storage unit 62 is a non-volatile memory or the like, and stores various information related to the control of the control device 60.
As shown in FIG. 1, the steering device 11 has an automatic steering device 17. The automatic steering device 17 is a mechanism for automatically steering the vehicle body 3, and automatically steers the vehicle body 3 based on the planned travel route L and the position (traveling position) of the vehicle body 3 detected by the position detection device 50. To do. The automatic steering device 17 includes a steering motor 17a and a gear mechanism 17b. The steering motor 17a is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the traveling position. The gear mechanism 17b includes a gear provided on the steering shaft 11b and rotating around the steering shaft 11b, and a gear provided on the rotating shaft of the steering motor 17a and rotating around the rotating shaft. When the rotation shaft of the steering motor 17a rotates, the steering shaft 11b automatically rotates (rotates) via the gear mechanism 17b, and the steering direction of the front wheels 7F is changed so that the traveling position matches the planned traveling route R. Can be changed.

As shown in FIG. 1, the control device 60 has an automatic traveling control unit 60a that controls the automatic traveling of the work machine 1. The automatic driving control unit 60a is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The automatic traveling control unit 60a can perform the shift stage of the transmission 5, the rotation speed of the prime mover 4, the braking control of the braking device 25, and the ascending / descending control of the elevating device 8. Based on the position and the planned travel route L, the automatic travel of the vehicle body 3 and the work by the ground work device 30 are controlled. Specifically, for example, the automatic traveling control unit 60a controls the braking device 25 separately from the operation of the left brake pedal and the right brake pedal. The automatic traveling control unit 60a controls the first operating valve 28a and operates the left hydraulic operating unit 27a to move the left connecting member 26a in the braking direction. On the other hand, the automatic traveling control unit 60a controls the second operating valve 28b and operates the right hydraulic operating unit 27b to move the right connecting member 26b in the braking direction.

When the automatic driving starts, the automatic driving control unit 60a controls the steering motor 17a so that the vehicle body 3 travels along the planned traveling route L. When the automatic running control unit 60a starts automatic running, the automatic running control unit 60a automatically changes the speed change stage of the transmission 5, the rotation speed of the prime mover 4, the braking control of the braking device 25, etc., so that the vehicle speed (running speed) of the work machine 1 ) Is controlled. Further, the automatic traveling control unit 60a controls the elevating device 8 to elevate and lower the working device 2 according to the planned traveling route L.

FIG. 4A shows an example of the planned travel route L of the work machine 1. The planned travel route L includes a straight-ahead portion L1 for rotating the work machine 1 and a swivel portion L2 for turning the work machine 1. When the automatic traveling is started, the automatic traveling control unit 60a controls different traveling speeds in the straight traveling unit L1 and the turning unit L2. For example, in the straight-ahead unit L1, the automatic traveling control unit 60a sets the traveling speed to the speed v1. On the other hand, in the turning unit L2, the automatic traveling control unit 60a sets the traveling speed to a speed v2 (v2> v1) slower than the speed v1. The automatic traveling control unit 60a may divide the straight traveling unit L1 into a plurality of sections and set different traveling speeds for each section, and the control of the traveling speed is not limited to the above configuration.

Further, when the automatic traveling control unit 60a starts automatic traveling, the straight traveling unit L1 controls the elevating device 8 to lower the working device 2 to switch to the working posture, and the turning unit L2 controls the elevating device 8 to perform the work. The device 2 is raised to switch to the non-working posture. The automatic traveling control unit 60a may control the elevating device 8 according to the planned traveling route L, and the position for raising the working device 2 and the position for lowering the working device 2 are not limited to the above positions.

As shown in FIG. 4B, when the deviation between the vehicle body position W1 and the planned travel route L is less than the threshold value in the situation where the working machine 1 is automatically traveling, the automatic traveling control unit 60a rotates the steering shaft (rotation). Axis) Maintains the rotation angle of 11b. When the deviation between the vehicle body position W1 and the planned travel route L is equal to or greater than the threshold value and the work machine 1 is located on the left side of the planned travel route L, the automatic travel control unit 60a steers the work machine 1. The steering shaft 11b is rotated so that the direction is to the right. When the deviation between the vehicle body position W1 and the planned travel route L is equal to or greater than the threshold value and the work machine 1 is located on the right side of the planned travel route L, the automatic travel control unit 60a steers the work machine 1. The steering shaft 11b is rotated so that the direction is to the left. In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position W1 and the planned travel route L, but the direction of the planned travel route L and the working machine 1 (vehicle body 3) When the direction (vehicle body direction) F1 in the traveling direction (traveling direction) is different, that is, when the angle θg of the vehicle body direction F1 with respect to the planned traveling route L is equal to or greater than the threshold value, the automatic traveling control unit 60a has an angle θg of zero ( The steering angle may be set so that the vehicle body direction F1 matches the direction of the planned travel route L). Further, the automatic traveling control unit 60a sets the final steering angle in the automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the direction (direction deviation). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.

The elevating device 8 raises and lowers the ground work device 30 and switches between a working posture and a non-working posture. However, when the working postures 33 and 42 of the ground working device 30 touch the ground in switching between the working posture and the non-working posture. The phenomenon that the traveling speed of the work machine 1 unexpectedly increases and the vehicle body 3 jumps forward due to fluctuations in the resistance (excavation resistance) of the work units 33 and 42 to the ground work and the reaction force due to the resistance. (Hereinafter referred to as acceleration phenomenon) may occur. Specifically, as shown in FIG. 5A, when the rotary tillage device 31 is connected to the elevating device 8, the elevating device 8 is lowered and the tilling claw 33b (working portion 33) of the rotary tillage device 31 is brought into the field. By touching the ground, the rotary tillage device 31 pushes the vehicle body 3 forward via the elevating device 8 by receiving a reaction force due to the excavation resistance of the rotary-driven tillage claw 33b.

On the other hand, as shown in FIG. 5B, when the traction type tilling device 41 is connected to the elevating device 8, the elevating device 8 rises and the cultivating claw 42a (working portion 42) of the traction type tilling device 41 is removed from the field. As a result, the excavation resistance of the tillage claw 42a is reduced, and the vehicle body 3 pops out forward. Further, when the elevating device 8 is raised and the tilling claw 42a is removed from the field, the load f2 on the rear wheel 7R side is increased due to the resistance to the removal operation. As a result, traction is applied to the rear wheels 7R, which are the driving wheels, so that the vehicle body 3 jumps forward.

The automatic traveling control unit 60a suppresses the speed increasing phenomenon by braking the braking device 25 while traveling the vehicle body 3 and raising and lowering the ground work device 30 on the elevating device 8. In the automatic traveling control unit 60a, at least when the rotary tillage device 31 is connected to the elevating device 8, the elevating device 8 lowers the ground work device 30 until the elevating device 8 stabilizes from the non-working posture to the working posture. During that time, the braking device 25 is braked. On the other hand, in the automatic traveling control unit 60a, when the traction type tilling device 41 is connected to at least the elevating device 8, the elevating device 8 raises the ground work device 30, and the elevating device 8 stabilizes from the working posture to the non-working posture. Until this is done, the braking device 25 is braked.

The automatic traveling control unit 60a detects the acceleration phenomenon in advance based on a predetermined condition, and brakes the braking device 25 while traveling the vehicle body 3 and raising and lowering the ground work device 30 on the elevating device 8. Specifically, the automatic traveling control unit 60a detects the vertical positions of the working units 33 and 42 with respect to the field (see tillage depth X, FIGS. 5A and 5B), and an acceleration phenomenon occurs based on the tillage depth X. This is detected in advance, and the braking device 25 is braked. As shown in FIG. 1, the working machine 1 includes a plowing depth detecting unit 63. The plowing depth detecting unit 63 can detect the plowing depth X of the working units 33 and 42. The tillage detection unit has, for example, a distance sensor 63a and an inclination sensor 63b. The distance sensor 63a is a sensor that measures the distance from the distance sensor 63a to the field. The distance sensor 63a is composed of, for example, a laser sensor. The distance sensor 63a has a laser irradiation unit, and measures the distance from the laser irradiation unit to the field by receiving the laser light emitted from the laser irradiation unit and reflected in the field. The distance sensor 63a is not limited to the laser sensor as long as it can detect the distance to the field. The inclination sensor 63b is a sensor that detects the inclination of the ground work device 30, and measures the inclination angle of the ground work device 30 with respect to the horizontal (ground).

As shown in FIG. 1, the control device 60 has a tillage depth calculation unit 60b that calculates the tillage depth X based on the distance measured by the distance sensor 63a and the inclination angle detected by the inclination sensor 63b. The plowing depth calculation unit 60b is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The distance sensor 63a and the inclination sensor 63b are connected to the control device 60 (cultivation depth calculation unit 60b), and the cultivation depth calculation unit 60b acquires the distance measured by the distance sensor 63a and the inclination angle detected by the inclination sensor 63b. To do. The plowing depth calculation unit 60b calculates the vertical position of the working units 33 and 42 with respect to the field based on the distance measured by the distance sensor 63a, the inclination angle detected by the inclination sensor 63b, and a predetermined calculation formula. The plowing depth calculation unit 60b only needs to be able to calculate the vertical position of the work units 33 and 42 with respect to the field, and is provided in front of the work units 33 and 42 and is provided from the ground work units 33 and 42 to the field before the ground work. Using a distance sensor 63a that detects the distance to the work unit 33a and a distance sensor 63a that is provided behind the work units 33 and 42 and detects the distance from the ground work unit 33 and 42 to the field after the ground work. The configuration may be such that the vertical positions of 33 and 42 with respect to the field are calculated, and the configuration is not limited to the above configuration.

As shown in FIG. 1, the control device 60 has a device acquisition unit 60c that acquires whether the ground work device 30 connected to the elevating device 8 is either the rotary tillage device 31 or the traction type tillage device 41. doing. The device acquisition unit 60c is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The device acquisition unit 60c is connected to the elevating device 8 based on the information regarding the type of the ground work device 30 (either the rotary tillage device 31 or the traction type tillage device 41) automatically or manually input by the operator. The type of the ground work device 30 is acquired.

For example, to explain the case where the type of the ground work device 30 is automatically input to the control device 60 without the manual operation of the worker, the work machine 1 includes a communication device 65 and an acquisition device 66. The communication device 65 is a wireless tag, that is, an RFID tag (Radio Frequency Identification). The communication device 65 stores the type of the ground work device 30 as the information of the ground work device 30. The acquisition device 66 is composed of electrical, electronic components, programs, and the like. Specifically, the acquisition device 66 is a wireless tag reader that receives the type of the ground work device 30 of the communication device 65, that is, an RFID reader. That is, the device acquisition unit 60c acquires the type of the ground work device 30 connected to the elevating device 8 based on the information regarding the type of the ground work device 30 acquired by the acquisition device 66.

On the other hand, the case where the worker manually selects the type of the ground work device 30 will be described. For example, the work machine 1 includes a switching device 67 that can be selected and operated and a display device 68 that can be operated. By operating the switching device 67 and the display device 68, the operator selects and operates the type of the ground work device 30 connected to the elevating device 8. The switching device 67 and the display device 68 are connected to the control device 60 (device acquisition unit 60c), and the device acquisition unit 60c determines the type of the ground work device 30 based on the operation information of the switching device 67 and the display device 68. get.

In the above-described embodiment, the device acquisition unit 60c acquires the type of the ground work device 30, but the device acquisition unit 60c only needs to acquire at least the type of the ground work device 30, and the type of the ground work device 30. A more detailed classification, that is, the type and model of the ground work apparatus 30 may be acquired.
Hereinafter, a series of flow of control of the braking device 25 by the automatic traveling control unit 60a will be described.

As shown in FIG. 6, after starting the prime mover 4 of the work machine 1, the device acquisition unit 60c acquires the type of the ground work device 30 connected to the elevating device 8 (S1). When the device acquisition unit 60c acquires the type of the ground work device 30, the control device 60 determines whether or not the instruction to start the automatic traveling of the work machine 1 has been acquired (S2).
When it is determined that the control device 60 has acquired the instruction to start the automatic running of the working machine 1 (S2, Yes), the automatic running control unit 60a starts the automatic running of the working machine 1 (S3). The control device 60 acquires an automatic traveling start instruction from a mobile terminal such as a personal computer (PC), a smartphone (multifunctional mobile phone), or a computer such as a tablet, which is communicatively connected to the work machine 1. The control device 60 may acquire a start instruction and start automatic driving at a predetermined time, and the acquisition source of the start instruction is not limited to the above configuration. When the automatic driving starts, the automatic driving control unit 60a controls the control valve 13 of the steering device 11 so that the vehicle body 3 travels along the planned traveling route L. Further, when the automatic traveling control unit 60a starts automatic traveling, the automatic traveling control unit 60a automatically changes the speed change stage of the transmission 5 and the rotation speed of the prime mover 4, the braking control of the braking device 25, and the like, thereby causing the working machine 1 (vehicle body 3). ) Controls the vehicle speed (running speed). Further, the automatic traveling control unit 60a controls the elevating device 8 and elevates and elevates the elevating device 8 based on the planned traveling route L to switch to either a working posture or a non-working posture.

When the automatic traveling control unit 60a starts automatic traveling, the automatic traveling control unit 60a determines whether the type of the ground work device 30 acquired by the device acquisition unit 60c is the rotary tillage device 31 (S4). When the automatic traveling control unit 60a determines that the type of the ground work device 30 is the rotary tillage device 31 (S4, Yes), and switches the lifting device 8 from the non-working posture to the working posture based on the planned traveling route L. (S5, Yes), the tillage depth detection unit 63 detects the tillage depth X (S5).
6). When the tillage depth detection unit 63 detects the tillage depth X (S6), the automatic traveling control unit 60a switches the braking device 25 to the braking state according to the tillage depth X and controls to reduce the traveling speed of the work machine 1. ..

Specifically, when the tillage depth detection unit 63 detects the tillage depth X (S6), the automatic traveling control unit 60a has the first threshold value M1 or more in which the tillage depth X detected by the tillage depth detection unit 63 is set in advance (S6). It is determined whether the plowing depth X ≧ first threshold value M1) (S7). When the tillage depth X is less than the first threshold value M1 (cultivation depth X <first threshold value M1) (S7, No), the automatic travel control unit 60a has a predetermined position (S7, No), that is, the vertical position of the work units 33 and 42 with respect to the field. Until the first threshold value M1) is reached, the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 (S8). That is, the automatic travel control unit 60a travels the vehicle body 3 and lowers the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the non-working posture to the working posture.

On the other hand, the automatic traveling control unit 60a determines that the type of the ground work device 30 is the traction type tilling device 41 (S4, No), and changes the lifting device 8 from the working posture to the non-working posture based on the planned traveling route L. When switching (S9, Yes), the plowing depth detecting unit 63 detects the plowing depth X of the working units 33 and 42 (S10). When the tillage depth detection unit 63 detects the tillage depth X of the work units 33 and 42 (S10), the automatic traveling control unit 60a switches the braking device 25 to the braking state according to the tillage depth X of the work units 33 and 42. Control to reduce the traveling speed of the work equipment 1.

Specifically, when the automatic traveling control unit 60a switches the elevating device 8 from the working posture to the non-working posture (S9, Yes), the tilling depth X of the working units 33 and 42 detected by the tilling depth detecting unit 63 is set in advance. It is determined whether or not the set second threshold value M2 or less (cultivation depth X ≦ second threshold value M2) is satisfied (S11). The automatic traveling control unit 60a is in the case where the tillage depth X of the work units 33 and 42 exceeds the second threshold value M2 (cultivation depth X> second threshold value M2) (S10, No), that is, the work units 33 and 42. Until the vertical position with respect to the field reaches a predetermined position, the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 (S8). That is, the automatic traveling control unit 60a travels the vehicle body 3 and raises the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the working posture to the non-working posture.

In the above-described embodiment, the automatic traveling control unit 60a is a braking device 25 regardless of whether the ground work device 30 connected to the elevating device 8 is a rotary tillage device 31 or a traction type tillage device 41. Braking control is performed to suppress the acceleration phenomenon, but in the automatic traveling control unit 60a, the ground work device 30 connected to the elevating device 8 is a rotary tillage device 31 and a traction type tillage device 41. The acceleration phenomenon may be suppressed in any one of the above cases, and the configuration is not limited to the above-described embodiment. For example, the automatic traveling control unit 60a detects the acceleration phenomenon in advance based on the vertical swing angle θ1 (see FIG. 5A) of the tillage cover 34 of the rotary tillage device 31, and controls the braking of the braking device 25. It may have such a configuration. In the following description, the swing angle θ1 is an angle formed by a vertical line passing through the swing fulcrum of the tillage cover 34 and a straight line connecting the fulcrum and the lower end of the tillage cover 34.

As shown in FIG. 7A, the working machine 1 includes an angle detecting unit 70 that detects the swing angle θ1 of the tillage cover 34. The angle detection unit 70 is a sensor such as a potentiometer, and is attached to, for example, the upper end of the tillage cover 34 (near the swing fulcrum) to detect the actual swing angle θ1 of the tillage cover 34 as a signal. The angle detection unit 70 is wirelessly or wiredly connected to the control device 60 in a communicable manner.

As shown in FIG. 7A, the control device 60 has an angle calculation unit 60d. The angle calculation unit 60d calculates the actual swing angle θ1 of the tillage cover 34 based on the signal output by the angle detection unit 70. The angle calculation unit 60d is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. Since the lower end of the tillage cover 34 is in contact with the field, the control device 60 determines the tillage depth X of the ground work device 30, that is, the work portion 33, based on the swing angle θ1 of the tillage cover 34 calculated by the angle calculation unit 60d. It is possible to detect the vertical position of the field with respect to the field.

Hereinafter, a series of flow of control of the braking device 25 by the automatic traveling control unit 60a will be described.
As shown in FIG. 7B, after starting the prime mover 4 of the work machine 1, it is determined whether the control device 60 has acquired the instruction to start the automatic running of the work machine 1 (S20). When it is determined that the control device 60 has acquired the instruction to start the automatic running of the working machine 1 (S20, Yes), the automatic running control unit 60a starts the automatic running of the working machine 1 (S21).

When the automatic traveling control unit 60a switches the elevating device 8 from the non-working posture to the working posture based on the planned traveling route L when the automatic traveling is started (S22, Yes), the angle calculation unit 60d is the angle calculation unit 60d. The swing angle θ1 of the tillage cover 34 is calculated based on the detection signal (S23). The automatic traveling control unit 60a switches the braking device 25 to the braking state according to the swing angle θ1 and controls the braking device 25 to reduce the traveling speed of the working machine 1.

Specifically, when the angle calculation unit 60d calculates the swing angle θ1 of the tillage cover 34 (S23), the automatic traveling control unit 60a has the third swing angle θ1 calculated by the angle calculation unit 60d set in advance. It is determined whether or not the threshold value is M3 or more (θ1 ≧ third threshold value M3) (S24). When the swing angle θ1 is less than the third threshold value M3 (θ1 <third threshold value M3) (S24, No), the automatic traveling control unit 60a is until the swing angle θ1 becomes the third threshold value M3 or more. That is, the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 until the vertical positions of the working units 33 and 42 with respect to the field reach a predetermined position (S25). That is, the automatic travel control unit 60a travels the vehicle body 3 and lowers the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the non-working posture to the working posture.

Further, in the above-described embodiment, the automatic traveling control unit 60a controls the braking of the braking device 25 according to the swing angle θ1 of the tillage cover 34 to suppress the acceleration phenomenon, but the automatic traveling control unit 60a suppresses the acceleration phenomenon. The conditions for braking control of the braking device 25 are not limited to the above conditions as long as the acceleration phenomenon can be suppressed. For example, the automatic traveling control unit 60a detects in advance the acceleration phenomenon based on the amount of change in the load f1 provided to the elevating device 8 and applied to the elevating device 8 from the vehicle body 3 and / or the ground work device 30. , The braking device 25 may be configured to perform braking control.

As shown in FIG. 8A, the work machine 1 includes a load detection unit 71 that detects a load f1 applied to the elevating device 8 from the vehicle body 3 and / or the ground work device 30. Specifically, the load detection unit 71 detects the load f1 applied to the vehicle body 3 from the ground work device 30 toward the vehicle body side, in other words, the load f1 when the ground work device 30 pushes out the vehicle body 3. Further, the load detection unit 71 applies a load f1 applied to the vehicle body 3 from the ground work device 30 toward the opposite side of the vehicle body 3 due to the resistance of the ground work device 30, in other words, the vehicle body 3 moving forward. On the other hand, the load f1 applied to the reverse movement, that is, the load f1 that the ground work device 30 hinders the progress of the vehicle body 3 is detected.

The load detection unit 71 is, for example, a strain gauge provided on the elevating device 8. The strain gauge is provided along the extension direction of the lift arm 8a, the lower link 8b, the top link 8c, etc. of the lifting device 8, and the load applied to the lifting device 8 from the vehicle body 3 and / or the ground work device 30. Deformation of the lift arm 8a, lower link 8b, top link 8c, etc. due to f1 is detected. The strain gauge is connected to the control device 60, and the load f1 applied to the elevating device 8 from the vehicle body 3 and / or the ground work device 30 detected by the strain gauge (load detection unit 71) is a signal of the control device 60. Is entered in.

For example, in switching from the non-working posture to the working posture, when the ground working device 30 pushes out the vehicle body 3, the lift arm 8a, the lower link 8b, the top link 8c, and the like are deformed in the contraction direction. The strain gauge deforms in the contraction direction with the deformation of the lift arm 8a, the lower link 8b, the top link 8c, and the like, so that the electric resistance decreases.
On the other hand, in the switching from the non-working posture to the working posture, when the ground working device 30 hinders the progress of the vehicle body 3 due to the resistance of the ground work, the lift arm 8a, the lower link 8b, the top link 8c and the like are deformed in the extension direction. To do. With the deformation of the lift arm 8a, the lower link 8b, the top link 8c, etc., the strain gauge is deformed in the extension direction, so that the electric resistance increases.

As shown in FIG. 8A, the control device 60 has a load calculation unit 60e. The load calculation unit 60e calculates the load f1 applied to the elevating device 8 based on the signal output by the load detection unit 71. The load calculation unit 60e is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The load calculation unit 60e determines the signal output by the load detection unit 71, that is, the electric resistance of the strain gauge, and the load f1 applied to the lifting device 8 from the vehicle body 3 and / or the ground work device 30 based on a predetermined calculation formula. calculate.

Hereinafter, a series of flow of control of the braking device 25 by the automatic traveling control unit 60a will be described.
As shown in FIG. 8B, after starting the prime mover 4 of the work machine 1, the device acquisition unit 60c acquires the type of the ground work device 30 connected to the elevating device 8 (S30). When the device acquisition unit 60c acquires the type of the ground work device 30, it is determined whether the control device 60 has acquired the automatic traveling start instruction of the work machine 1 (S31).

When it is determined that the control device 60 has acquired the instruction to start the automatic running of the working machine 1 (S31, Yes), the automatic running control unit 60a starts the automatic running of the working machine 1 (S32).
When the automatic traveling control unit 60a starts automatic traveling, the automatic traveling control unit 60a determines whether the type of the ground work device 30 acquired by the device acquisition unit 60c is the rotary tillage device 31 (S33). When the automatic traveling control unit 60a determines that the type of the ground work device 30 is the rotary tillage device 31 (S33, Yes) and switches the lifting device 8 from the non-working posture to the working posture based on the planned traveling route L. (S34, Yes), the load calculation unit 60e calculates the load f1 applied to the elevating device 8 based on the signal detected by the load detection unit 71 (S35). When the load calculation unit 60e calculates the load f1 (S35), the automatic traveling control unit 60a switches and controls the braking device 25 to the braking state according to the amount of change Δf of the load f1 per predetermined time, and controls the work machine 1. Decelerate the running speed of.

Specifically, when the load calculation unit 60e calculates the load f1 based on the signal (electrical resistance) detected by the load detection unit 71 (S35), the automatic travel control unit 60a has a negative change amount Δf set in advance. It is determined whether or not the fourth threshold value M4 or more (Δf ≧ fourth threshold value M4), which is the value of (S36). In the automatic traveling control unit 60a, when the change amount Δf of the load f1 is less than the fourth threshold value M4 (Δf <fourth threshold value M4) (S36, No), that is, the vertical positions of the working units 33 and 42 with respect to the field are predetermined positions. When the ground work device 30 pushes the vehicle body 3 forward, the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the work machine 1 (S37). That is, the automatic travel control unit 60a travels the vehicle body 3 and lowers the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the non-working posture to the working posture.

On the other hand, the automatic traveling control unit 60a determines that the type of the ground work device 30 is the traction type tilling device 41 (S33, No), and changes the lifting device 8 from the working posture to the non-working posture based on the planned traveling route L. When switching (S38, Yes), the load calculation unit 60e calculates the load f1 based on the signal detected by the load detection unit 71 (S39). When the load calculation unit 60e calculates the load f1 (S39), the automatic travel control unit 60a switches and controls the braking device 25 to the braking state according to the change amount Δf of the load f1 to reduce the travel speed of the work machine 1. ..

Specifically, when the load calculation unit 60e calculates the load f1 applied to the elevating device 8 based on the signal (electrical resistance) detected by the load detection unit 71 (S39), the automatic traveling control unit 60a changes. It is determined whether the amount Δf is equal to or less than the fifth threshold value M5 (Δf ≦ the fifth threshold value M5), which is a preset positive value (S40). In the automatic traveling control unit 60a, when the amount of change Δf of the load f1 exceeds the fifth threshold value M5 (Δf> fifth threshold value M5) (S40, No), that is, the vertical positions of the working units 33 and 42 with respect to the field are When the ground work device 30 hinders the progress of the vehicle body 3 due to the resistance of the ground work until the predetermined position is reached, the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the work machine 1 ( S37). That is, the automatic traveling control unit 60a travels the vehicle body 3 and raises the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the working posture to the non-working posture.

Further, in the above-described embodiment, the automatic traveling control unit 60a detects the acceleration phenomenon based on the load f1 applied to the elevating device 8 from the vehicle body 3 and / or the ground work device 30, and controls the braking of the braking device 25. However, the automatic traveling control unit 60a may detect the acceleration phenomenon in advance based on other conditions. For example, the automatic traveling control unit 60a may be configured to detect the acceleration phenomenon in advance based on the acceleration α of the traveling speed of the vehicle body 3 and perform braking control of the braking device 25.

The automatic traveling control unit 60a detects the acceleration phenomenon based on the acceleration α detected by the inertial measurement unit 52 provided in the work machine 1, for example. Specifically, the automatic traveling control unit 60a compares the traveling speed (target speed V1) associated with the planned traveling route L with the actual traveling speed (actual traveling speed V2), and the actual traveling speed V2 is the target. When the acceleration α is positive (α> 0) when the speed is V1 or more (V2 ≧ V2) (the running speed is increased even though the actual running speed V2 exceeds the target speed V1). Case), or when the acceleration α is compared with the preset acceleration α (sixth threshold M6) and the acceleration α exceeds the sixth threshold M6 (α> sixth threshold M6), the acceleration phenomenon occurs. Is detected.

As shown in FIG. 9A, the control device 60 includes a target speed acquisition unit 60f, an actual running speed acquisition unit 60g, and an acceleration acquisition unit 60h. The target speed acquisition unit 60f, the actual running speed acquisition unit 60g, and the acceleration acquisition unit 60h are composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, or the like.
The target speed acquisition unit 60f acquires the target speed V1 stored in the storage unit 62 and associated with the planned travel route L. The actual traveling speed acquisition unit 60g acquires the actual traveling speed V2 based on the signal output from the speed detection sensor 72 provided on the vehicle body 3 and detecting the traveling speed of the vehicle body 3. The actual traveling speed acquisition unit 60g only needs to be able to acquire the actual traveling speed V2 of the vehicle body 3, and acquires the actual traveling speed V2 of the vehicle body 3 based on the position information and the elapsed time of the vehicle body 3 detected by the position detection device 50. The method is not limited to the above method.

The acceleration acquisition unit 60h acquires the acceleration α based on the signal output from the inertial measurement unit 52. The acceleration acquisition unit 60h only needs to be able to acquire the acceleration α of the vehicle body 3, and acquires the acceleration α of the vehicle body 3 based on the actual traveling speed V2 of the vehicle body 3 acquired by the actual traveling speed acquisition unit 60g and the elapsed time. It may be something like that.
For example, in switching from the non-working posture to the working posture, the vertical position of the working unit 33 of the ground work device 30 with respect to the field reaches a predetermined position, and the lifting device 8 stabilizes from the non-working posture to the working posture. When the ground work device 30 pushes out the vehicle body 3, the ground work device 30 pushes out the vehicle body 3, so that the actual traveling speed V2 is faster than the target speed V1 and the acceleration α of the vehicle body 3 becomes relatively large.

On the other hand, in the switching from the non-working posture to the working posture, the vertical position of the working portion 42 of the ground working device 30 with respect to the field reaches a predetermined position, and the lifting device 8 stabilizes from the working posture to the non-working posture. When the ground work device 30 hinders the progress of the vehicle body 3 due to the resistance of the ground work, the resistance is reduced and the traction on the rear wheel 7R side is increased, so that the actual traveling speed V2 is faster than the target speed V1. Or, the acceleration α of the vehicle body 3 becomes relatively large.

Hereinafter, a series of flow of control of the braking device 25 by the automatic traveling control unit 60a will be described.
As shown in FIG. 9B, after starting the prime mover 4 of the work machine 1, it is determined whether the control device 60 has acquired the instruction to start the automatic running of the work machine 1 (S50).
When it is determined that the control device 60 has acquired the instruction to start the automatic running of the working machine 1 (S50, Yes), the automatic running control unit 60a starts the automatic running of the working machine 1 (S51).

When the automatic traveling control unit 60a starts automatic traveling, the automatic traveling control unit 60a confirms the posture of the lifting device 8 and changes the posture (working posture and non-working posture) of the lifting device 8 based on the planned travel route L. When switching (S52, Yes), the automatic traveling control unit 60a has the target speed V1 acquired by the target speed acquisition unit 60f and the actual traveling speed V acquired by the actual traveling speed acquisition unit 60g.
2 is compared (S53), and the braking device 25 is switched to the braking state according to the target speed V1 and the actual running speed V2 and controlled to reduce the running speed of the working machine 1.

Specifically, when the automatic traveling control unit 60a compares the target speed V1 and the actual traveling speed V2 (S53) and the actual traveling speed V2 is the target speed V1 or more (V2 ≧ V1) (S53, Yes). The automatic traveling control unit 60a determines whether the acceleration α acquired by the acceleration acquisition unit 60h is positive (α> 0), that is, whether the traveling speed is increasing (S54). In the automatic traveling control unit 60a, when the acceleration α is positive (α> 0) (S54, Yes), that is, the vertical positions of the working units 33 and 42 with respect to the field reach a predetermined position, and the acceleration α is 0 or less (α ≦). Until 0), the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 (S55). That is, the automatic travel control unit 60a travels the vehicle body 3 and raises and lowers the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. When a speed increasing phenomenon occurs between the non-working posture and the working posture, or from the working posture to the non-working posture, the elevating device 8 brakes the braking device 25.

On the other hand, when the automatic running control unit 60a compares the target speed V1 with the actual running speed V2 (S53) and the actual running speed V2 is less than the target speed V1 (V2 <V1) (S53, No), the automatic running control The unit 60a determines whether the acceleration α acquired by the acceleration acquisition unit 60h exceeds the preset sixth threshold value M6 (α> sixth threshold value M6) (S56). When the acceleration α exceeds the sixth threshold value M6 (α> sixth threshold value M6) (S56, Yes), that is, the vertical position of the working units 33 and 42 with respect to the field reaches a predetermined position. Until the acceleration α becomes the sixth threshold value M6 or less (α ≦ the sixth threshold value M6), the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 (S55). That is, the automatic travel control unit 60a travels the vehicle body 3 and lowers the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. When a speed increasing phenomenon occurs between the non-working posture and the working posture, or from the non-working posture to the working posture, the lifting device 8 brakes the braking device 25.

Further, in the above-described embodiment, the automatic traveling control unit 60a detects the acceleration phenomenon in advance based on the acceleration α of the traveling speed of the vehicle body 3, controls the braking of the braking device 25, and suppresses the acceleration phenomenon. , The automatic traveling control unit 60a may detect the acceleration phenomenon in advance based on other conditions. For example, the automatic traveling control unit 60a may be configured to detect the acceleration phenomenon in advance based on the pitch angle of the vehicle body 3 and perform braking control of the braking device 25.

The automatic traveling control unit 60a detects the acceleration phenomenon based on the pitch angle θ2 (see FIGS. 5A and 5B) detected by the inertial measurement unit 52 provided in the work machine 1, for example. In the following description, the case where the vehicle body 3 is in the horizontal state is used as a reference (θ2 = 0), and when the vehicle body 3 is in the forward leaning posture, the pitch angle θ2 is positive (θ2> 0, see the figure below in FIG. 5A). When the vehicle body 3 is in a backward leaning posture, the pitch angle θ2 will be described as negative (θ2 <0, see the figure below in FIG. 5B).

As shown in FIG. 10A, the control device 60 has a pitch angle acquisition unit 60i. The pitch angle acquisition unit 60i is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The pitch angle acquisition unit 60i acquires the pitch angle θ2 based on the signal output from the inertial measurement unit 52. The pitch angle acquisition unit 60i only needs to be able to acquire the pitch angle θ2 of the vehicle body 3, and acquires the pitch angle θ2 based on the signal output from the sensor that detects the pitch angle θ2 separately from the inertial measurement unit 52. It may be something like.

As shown in FIG. 5A, when switching from the non-working posture to the working posture, the vertical positions of the working portions 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position, and the lifting device 8 moves from the non-working posture to the working posture. When the ground work device 30 pushes out the vehicle body 3 until it stabilizes, the vehicle body 3 is in a forward leaning posture. That is, when the ground work device 30 pushes out the vehicle body 3, the pitch angle θ2 of the vehicle body 3 increases so as to exceed 0.

On the other hand, as shown in FIG. 5B, when switching from the non-working posture to the working posture, the vertical position of the working parts 33 and 42 of the ground work device 30 with respect to the field reaches a predetermined position, and the lifting device 8 is not changed from the working posture. Ground work device 30 due to resistance to ground work until the work posture stabilizes
When the vehicle body 3 hinders the progress of the vehicle body 3, the vehicle body 3 is in a backward leaning posture. As a result, the pitch angle θ2 of the vehicle body 3 is reduced to less than 0.

Hereinafter, a series of flow of control of the braking device 25 by the automatic traveling control unit 60a will be described.
As shown in FIG. 10B, after starting the prime mover 4 of the work machine 1, the device acquisition unit 60c acquires the type of the ground work device 30 connected to the elevating device 8 (S60). When the device acquisition unit 60c acquires the type of the ground work device 30, the control device 60 determines whether or not the automatic travel start instruction of the work machine 1 has been acquired (S61).

When it is determined that the control device 60 has acquired the instruction to start the automatic running of the working machine 1 (S61, Yes), the automatic running control unit 60a starts the automatic running of the working machine 1 (S62).
When the automatic traveling control unit 60a starts automatic traveling, the automatic traveling control unit 60a determines whether the type of the ground work device 30 acquired by the device acquisition unit 60c is the rotary tillage device 31 (S63). When the automatic traveling control unit 60a determines that the type of the ground work device 30 is the rotary tillage device 31 (S63, Yes) and switches the lifting device 8 from the non-working posture to the working posture based on the planned traveling route L. (S64, Yes), the pitch angle acquisition unit 60i acquires the pitch angle θ2 detected by the inertial measurement unit 52 (S65). When the pitch angle acquisition unit 60i acquires the pitch angle θ2 (S65), the automatic traveling control unit 60a switches the braking device 25 to the braking state according to the pitch angle θ2 and controls the braking device 25 to reduce the traveling speed of the working machine 1. ..

Specifically, when the pitch angle acquisition unit 60i acquires the pitch angle θ2 (S65), the automatic traveling control unit 60a has the pitch angle θ2 equal to or higher than the preset seventh threshold value M7 (θ2 ≧ 7th threshold value M7). Is determined (S66). The seventh threshold value M7 is a value stored in the storage unit 62 in advance, and is at least a positive value (seventh threshold value M7> 0). That is, when the pitch angle θ2 is equal to or greater than the seventh threshold value M7, the vehicle body 3 is in a forward leaning posture. When the pitch angle θ2 of the automatic traveling control unit 60a is equal to or higher than the seventh threshold value M7 (θ2 ≧ seventh threshold value M7) (S66, Yes), that is, the vertical positions of the working units 33 and 42 with respect to the field reach a predetermined position. Until the pitch angle θ2 becomes less than the seventh threshold value M7 (θ2 <seventh threshold value M7), the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 (S67). Therefore, the automatic travel control unit 60a travels the vehicle body 3 and lowers the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the non-working posture to the working posture.

On the other hand, the automatic traveling control unit 60a determines that the type of the ground work device 30 is the traction type tilling device 41 (S63, No), and changes the lifting device 8 from the working posture to the non-working posture based on the planned traveling route L. When switching (S68, Yes), the pitch angle acquisition unit 60i acquires the pitch angle θ2 detected by the inertial measurement unit 52 (S69). When the pitch angle acquisition unit 60i acquires the pitch angle θ2 (S69), the automatic traveling control unit 60a switches and controls the braking device 25 to the braking state according to the pitch angle θ2 to reduce the traveling speed of the working machine 1. ..

Specifically, when the pitch angle acquisition unit 60i acquires the pitch angle θ2 (S69), the automatic traveling control unit 60a has the pitch angle θ2 equal to or less than the preset eighth threshold value M8 (θ2 ≦ eighth threshold value M8). Is determined (S70). The eighth threshold value M8 is a value stored in the storage unit 62 in advance, and is at least a negative value (eighth threshold value M8 <0). That is, when the pitch angle θ2 is equal to or less than the eighth threshold value M8, the vehicle body 3 is in the backward leaning posture. When the pitch angle θ2 of the automatic traveling control unit 60a is equal to or less than the eighth threshold value M8 (θ2 ≦ eighth threshold value M8) (S70, Yes), that is, the vertical positions of the working units 33 and 42 with respect to the field reach a predetermined position. Until the pitch angle θ2 exceeds the eighth threshold value M8 (θ2> eighth threshold value M8), the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 (S67). Therefore, the automatic travel control unit 60a travels the vehicle body 3 and raises the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the working posture to the non-working posture.

Further, in the above-described embodiment, the automatic traveling control unit 60a detects the acceleration phenomenon based on the inclination angle (pitch angle θ2) of the vehicle body 3, controls the braking of the braking device 25, and suppresses the acceleration phenomenon. , The automatic traveling control unit 60a may detect the acceleration phenomenon in advance based on other conditions. For example, the automatic traveling control unit 60a may be configured to detect the acceleration phenomenon based on the load f2 applied to the wheels 7F and 7R and perform braking control of the braking device 25.

As shown in FIG. 11A, the working machine 1 includes a load detecting unit 73. The load detection unit 73 detects the load f2 applied to the wheels 7F and 7R. The load detection unit 73 is attached to the axle 21 that supports the wheels 7F and 7R, and detects the load f2 applied to the wheels 7F and 7R based on the deformation of the axle 21. In the present embodiment, the load detection unit 73 is attached to the rear axle 21R of the axle 21 and detects the load f2 applied to the rear wheel 7R.

The load detection unit 73 is, for example, a strain gauge attached to the axle 21. The strain gauge is provided along the extension direction of the axle 21 and detects the deformation of the axle 21 caused by the load f2 applied to the vehicle body 3. The strain gauge is connected to the control device 60, and the deformation of the axle 21 detected by the strain gauge (load detection unit 71), that is, the load f2 applied to the wheels 7F and 7R is output to the control device 60 as a signal. ..

As shown in FIG. 11A, the control device 60 has a load calculation unit 60j that calculates the load f2 applied to the wheels 7F and 7R based on the signal output by the load detection unit 73. The load calculation unit 60j is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The load calculation unit 60j calculates the signal output by the load detection unit 73, that is, the electric resistance of the strain gauge, and the load f2 applied to the wheels 7F and 7R based on a predetermined calculation formula.

For example, as shown in FIG. 5A, when the ground work device 30 pushes out the vehicle body 3 in the switching from the non-working posture to the working posture, the load f2 of the rear wheel 7R is reduced. As a result, the amount of deformation of the rear axle 21R is reduced, the strain gauge attached to the rear axle 21R is deformed in the contraction direction, and the electrical resistance of the strain gauge is reduced.
On the other hand, as shown in FIG. 5B, when the ground work device 30 hinders the progress of the vehicle body 3 due to the resistance of the ground work in the switching from the non-working posture to the working posture, the vehicle body 3 is in the backward leaning posture and the rear wheels 7R The load f2 increases. As a result, the amount of deformation of the rear axle 21R increases, the strain gauge attached to the rear axle 21R deforms in the extension direction, and the electrical resistance of the strain gauge increases.

In the above-described embodiment, the load detection unit 73 is attached to the rear axle 21R to detect the load f2 applied to the rear wheel 7R, but the load detection unit 73 is attached to the front axle 21F and the front wheel 7F. It may be configured to detect the load f2 applied to the. In such a case, for example, in switching from the non-working posture to the working posture, when the ground working device 30 pushes out the vehicle body 3, the load f2 of the front wheels 7F of the wheels 7F and 7R increases. As a result, when the amount of deformation of the front axle 21F increases, the strain gauge attached to the front axle 21F deforms in the extension direction, and the electrical resistance of the strain gauge increases.

On the other hand, in switching from the non-working posture to the working posture, when the ground working device 30 hinders the progress of the vehicle body 3 due to the resistance of the ground work, the vehicle body 3 is in the backward leaning posture and the load f2 of the front wheels 7F is reduced. As a result, the amount of deformation of the front axle 21F is reduced, the strain gauge attached to the front axle 21F is deformed in the contraction direction, and the electrical resistance of the strain gauge is reduced.
Hereinafter, a series of flow of control of the braking device 25 by the automatic traveling control unit 60a will be described.

As shown in FIG. 11A, after starting the prime mover 4 of the work machine 1, the device acquisition unit 60c acquires the type of the ground work device 30 connected to the elevating device 8 (S70). When the device acquisition unit 60c acquires the type of the ground work device 30, the control device 60 determines whether or not the instruction to start the automatic traveling of the work machine 1 has been acquired (S71).
When it is determined that the control device 60 has acquired the instruction to start the automatic running of the working machine 1 (S71, Yes), the automatic running control unit 60a starts the automatic running of the working machine 1 (S72).

When the automatic traveling control unit 60a starts automatic traveling, the automatic traveling control unit 60a determines whether the type of the ground work device 30 acquired by the device acquisition unit 60c is the rotary tillage device 31 (S73). When the automatic travel control unit 60a determines that the type of the ground work device 30 is the rotary tillage device 31 (S73, Yes), and switches the lifting device 8 from the non-working posture to the working posture based on the planned travel route L. (S74, Yes), the load calculation unit 60j calculates the load f2 applied to the wheels 7F and 7R based on the signal detected by the load detection unit 73 (S75). When the load calculation unit 60j calculates the load f2 applied to the wheels 7F and 7R (S75), the automatic traveling control unit 60a puts the braking device 25 in the braking state according to the load f2 applied to the wheels 7F and 7R. Switching control is performed to reduce the traveling speed of the work equipment 1.

Specifically, when the load calculation unit 60j calculates the load f2 applied to the wheels 7F and 7R (S75), the automatic traveling control unit 60a finds that the load f2 applied to the rear wheels 7R is among the loads f2. It is determined whether or not the preset ninth threshold value M9 or more (F2 ≧ ninth threshold value M9) is satisfied (S76). When the load f2 applied to the rear wheel 7R is less than the ninth threshold value M9 (F2 <9th threshold value M9) (S76, No), the automatic travel control unit 60a is positioned vertically with respect to the field of the working units 33 and 42. The braking device 25 is switched to the braking state and controlled by the work machine 1 until the load f2 applied to the rear wheel 7R reaches the predetermined position and the load f2 is equal to or higher than the ninth threshold value M9 (F2 ≧ 9th threshold value M9). The traveling speed is reduced (S77). That is, the automatic travel control unit 60a travels the vehicle body 3 and lowers the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the non-working posture to the working posture.

On the other hand, the automatic traveling control unit 60a determines that the type of the ground work device 30 is the traction type tilling device 41 (S73, No), and changes the lifting device 8 from the working posture to the non-working posture based on the planned traveling route L. When switching (S78, Yes), the load calculation unit 60j calculates the load f2 applied to the wheels 7F and 7R based on the signal detected by the load detection unit 73 (S79). When the load calculation unit 60j calculates the load f2 applied to the wheels 7F and 7R (S79), the automatic traveling control unit 60a puts the braking device 25 in the braking state according to the load f2 applied to the wheels 7F and 7R. Switching control is performed to reduce the traveling speed of the work equipment 1.

Specifically, when the load calculation unit 60j calculates the load f2 applied to the wheels 7F and 7R (S79), the automatic traveling control unit 60a finds that the load f2 applied to the rear wheels 7R is among the loads f2. It is determined whether or not the preset 10th threshold value M10 or less (F2 ≦ 10th threshold value M10) is satisfied (S80). When the load f2 applied to the rear wheel 7R exceeds the tenth threshold value M10 (S80, No), that is, the vertical positions of the working units 33 and 42 with respect to the field of the automatic traveling control unit 60a reach a predetermined position. Until the load f2 applied to the rear wheel 7R becomes 10th threshold value M10 or less (F2 ≦ 10th threshold value M10), the braking device 25 is switched to the braking state and controlled to reduce the traveling speed of the working machine 1 ( S77). That is, the automatic traveling control unit 60a travels the vehicle body 3 and raises the ground work device 30 to the elevating device 8, while the vertical positions of the work units 33 and 42 of the ground work device 30 with respect to the field reach a predetermined position. The braking device 25 is braked until the elevating device 8 stabilizes from the working posture to the non-working posture.

In the above-described embodiment, the conditions for braking control of the braking device 25 by the automatic traveling control unit 60a have been described individually, but the automatic traveling control unit 60a detects the acceleration phenomenon in advance or causes the acceleration phenomenon. The occurrence may be detected and the braking control of the braking device 25 may be performed, and the conditions may be arbitrarily combined.
The above-mentioned working machine 1 includes a vehicle body 3 having a traveling traveling device 7 and a braking device 25 for braking the traveling device 7, and an elevating device 8 for connecting the ground work device 30 to the vehicle body 3 so as to be able to move up and down. A position detection device 50 that detects the position of the vehicle body 3, and an automatic travel control unit that controls the automatic travel of the vehicle body 3 and the elevating device 8 based on the position of the vehicle body 3 detected by the position detection device 50 and the planned travel route L. 60a, and the automatic traveling control unit 60a brakes the braking device 25 while traveling the vehicle body 3 and raising and lowering the ground work device 30 on the elevating device 8. According to the above configuration, by raising and lowering the ground work device 30, the resistance of the ground work device 30 to the ground work and the reaction force of the resistance fluctuate, and the traveling speed of the work machine 1 unexpectedly increases. It is possible to perform automatic driving while suppressing it.

Further, the elevating device 8 can raise and lower the ground work device 30 and switch between a non-working posture in which the ground work device 30 is not grounded and a working posture in which the ground work device 30 is in contact with the ground for work, and is automatic. The travel control unit 60a brakes the braking device 25 until the elevating device 8 stabilizes from the non-working posture to the working posture. According to the above configuration, when the elevating device 8 shifts from the non-working posture to the working posture, the lifting device 8 is not stable in the working posture and receives a reaction force of resistance to the ground work of the ground work device 30, and the traveling speed of the work machine 1 is received. Can be suppressed from increasing unexpectedly.

Further, the automatic traveling control unit 60a brakes the braking device 25 until the elevating device 8 switches from the non-working posture to the working posture and the vertical position of the working unit 33 of the ground work device 30 with respect to the field reaches a predetermined position. Let me. According to the above configuration, it is possible to suppress an unexpected increase in the traveling speed of the work machine 1 until the work unit 33 reaches a predetermined position and the reaction force of the resistance to the ground work of the ground work device 30 stabilizes. ..

Further, the elevating device 8 can raise and lower the ground work device 30 and switch between a non-working posture in which the ground work device 30 is not grounded and a working posture in which the ground work device 30 is in contact with the ground for work, and is automatic. The travel control unit 60a brakes the braking device 25 until the elevating device 8 stabilizes from the working posture to the non-working posture. According to the above configuration, when the elevating device 8 shifts from the working posture to the non-working posture, the lifting device 8 is not stable in the non-working posture, and the resistance of the ground working device 30 to the ground work is reduced, so that the traveling speed of the working machine 1 is increased. It is possible to suppress the unexpected increase.

Further, the automatic traveling control unit 60a brakes the braking device 25 until the elevating device 8 switches from the working posture to the non-working posture and the vertical position of the working unit 42 of the ground work device 30 with respect to the field reaches a predetermined position. Let me. According to the above configuration, it is possible to suppress an unexpected increase in the traveling speed of the work machine 1 until the work unit 42 reaches a predetermined position and the reaction force of the resistance to the ground work of the ground work device 30 stabilizes. ..

Further, the ground work device 30 is a rotary tiller having a tilling claw 33b for rotating and tilling and a tilling cover 34 for covering the tilling claw 33b, and the tilling cover 34 is swingably attached. In addition, the lower end portion can touch the field, an angle detection unit 70 for detecting the swing angle θ1 of the tillage cover 34 is provided, and the automatic traveling control unit 60a has a swing angle θ1 of the tillage cover 34 less than a predetermined value. If, the braking device 25 is braked. According to the above configuration, the swing angle θ1 of the tillage cover 34 is less than a predetermined value, and the tillage claw 33b can be prevented from rotating to advance the ground work device 30 and push out the vehicle body 3.

Further, the elevating device 8 is provided with a load detection unit 71 for detecting the load f1 applied from the vehicle body 3 and / or the ground work device 30, and the automatic traveling control unit 60a is provided with the load f1 detected by the load detection unit 71. When the amount of change Δf of is equal to or greater than a predetermined value, the braking device 25 is braked. According to the above configuration, the change amount Δf of the load f1 detected by the load detection unit 71 is equal to or more than a predetermined value, that is, the ground work device 30 pushes out the vehicle body 3 via the elevating device 8, and the load f1 detected by the load detection unit 71. When the increase amount is more than a predetermined amount, or when the resistance force between the ground work device 30 and the field is reduced and the decrease amount of the load f1 detected by the load detection unit 71 is more than a predetermined amount, the work machine 1 It is possible to suppress an unexpected increase in traveling speed.

Further, an acceleration acquisition unit 60h for acquiring the acceleration α of the traveling speed of the vehicle body 3 is provided, and the automatic traveling control unit 60a brakes the braking device 25 when the acceleration α detected by the acceleration α detection unit is equal to or higher than a predetermined value. According to the above configuration, it is possible to prevent the working machine 1 from suddenly accelerating when the acceleration α is equal to or higher than a predetermined value.
Further, a pitch angle acquisition unit 60i for acquiring the pitch angle of the vehicle body 3 and the ground work device 30 is provided, and the automatic traveling control unit 60a is a braking device 25 when the pitch angle acquired by the pitch angle acquisition unit 60i is equal to or greater than a predetermined value. To brake. According to the above configuration, when the vehicle body 3 is tilted and becomes unstable with respect to the field, it is possible to prevent the driving force of the working machine 1 from fluctuating and suddenly increasing the speed.

Further, the traveling device 7 includes a load detecting unit 73 for detecting the load f2 applied to the traveling device 7, and the traveling device 7 has wheels 7F and 7R and an axle 21 for supporting the wheels 7F and 7R. The 73 is attached to the axle 21 and detects the load f2 applied to the wheels 7F and 7R based on the deformation of the axle 21, and the automatic traveling control unit 60a detects the load f2 detected by the load detection unit 73 to be equal to or greater than a predetermined value. When it decreases, the braking device 25 is braked. According to the above configuration, it is possible to prevent the load f2 of some of the wheels 7F and 7R from decreasing, the traction of the other wheels 7F and 7R from increasing, and the traveling speed of the working machine 1 from suddenly increasing.

The first threshold value M1 to the tenth threshold value M10 are preset values, and operate a terminal connected to the work machine 1 so as to be able to communicate wirelessly or by wire, for example, a display device 68 provided in the work machine 1. By doing so, the value may be set arbitrarily.
Although the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Working machine (tractor)
2 Work equipment 3 Body (running vehicle)
7 Traveling device 8 Lifting device 21 Axle 25 Braking device 30 Ground work device 33 Work section (ground work section)
33b Tillage claw 34 Tillage cover 42 Working part 42a Tillage claw 50 Position detection device (positioning device)
60a Automatic driving control unit 60h Acceleration acquisition unit 60i Pitch angle acquisition unit 70 Angle detection unit 71 Load detection unit 73 Load detection unit R Scheduled travel route

Claims (10)

A vehicle body having a traveling device for traveling and a braking device for braking the traveling device.
An elevating device that connects the ground work device to the vehicle body so that it can be elevated
A position detection device that detects the position of the vehicle body and
An automatic traveling control unit that automatically travels the vehicle body and controls the elevating device based on the position of the vehicle body detected by the position detection device and the planned travel route.
With
The automatic traveling control unit is a working machine that brakes the braking device while traveling the vehicle body and raising and lowering the ground work device on the elevating device. The elevating device can be switched between a non-working posture in which the ground working device is not grounded and a working posture in which the ground working device is grounded to perform work by raising and lowering the ground working device.
The working machine according to claim 1, wherein the automatic traveling control unit brakes the braking device until the elevating device stabilizes from the non-working posture to the working posture. The automatic traveling control unit brakes the braking device until the elevating device switches from the non-working posture to the working posture and the vertical position of the working unit of the ground work device with respect to the field reaches a predetermined position. The working machine according to claim 2. The elevating device can be switched between a non-working posture in which the ground working device is not grounded and a working posture in which the ground working device is grounded to perform work by raising and lowering the ground working device.
The working machine according to claim 1, wherein the automatic traveling control unit brakes the braking device until the lifting device stabilizes from the working posture to the non-working posture. The automatic traveling control unit brakes the braking device until the elevating device switches from the working posture to the non-working posture and the vertical position of the working unit of the ground work device with respect to the field reaches a predetermined position. The working machine according to claim 4. The ground work device is a rotary tiller having a tilling claw for rotating and tilling and a tilling cover for covering the tilling claw.
The tillage cover is swingably attached, the lower end portion can be grounded to the field, and an angle detection unit for detecting the swing angle of the tillage cover is provided.
The working machine according to claim 3, wherein the automatic traveling control unit brakes the braking device when the swing angle of the tillage cover is less than a predetermined value. The elevating device is provided with a load detecting unit that detects a load applied from the vehicle body and / or the ground work device.
The working machine according to claim 3 or 5, wherein the automatic traveling control unit brakes the braking device when the amount of change in the load detected by the load detecting unit is equal to or greater than a predetermined value. It is provided with an acceleration acquisition unit that acquires the acceleration of the traveling speed of the vehicle body.
The working machine according to claim 3 or 5, wherein the automatic traveling control unit brakes the braking device when the acceleration acquired by the acceleration acquisition unit is equal to or higher than a predetermined value. A pitch angle acquisition unit for acquiring the pitch angle of the vehicle body and the ground work device is provided.
The working machine according to claim 3 or 5, wherein the automatic traveling control unit brakes the braking device when the pitch angle acquired by the pitch angle acquisition unit is equal to or greater than a predetermined value. A load detection unit for detecting the load applied to the traveling device is provided.
The traveling device has wheels and an axle that supports the wheels.
The load detecting unit is attached to the axle and detects the load applied to the wheel based on the deformation of the axle.
The working machine according to claim 3 or 5, wherein the automatic traveling control unit brakes the braking device when the load detected by the load detecting unit decreases by a predetermined value or more.

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