JP2019126284A - Work vehicle - Google Patents

Abstract

To easily create a travelling condition for a vehicle body.SOLUTION: A work vehicle includes a vehicle body capable of travelling, a steering handle for steering the vehicle body, and a display device capable of displaying a guidance screen for at least displaying a command to create a travelling condition for the vehicle body. The vehicle body is capable of travelling either by manual steering by the steering handle or by automatic steering by the steering handle on the basis of a travelling planned line. The display device displays the guidance screen before the automatic steering is started, and displays a steering instruction part indicating a steering direction of the vehicle body corresponding to the travelling condition on the guidance screen.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work vehicle, for example.

  DESCRIPTION OF RELATED ART Conventionally, patent document 1 is known as a farm work machine. The agricultural work machine of Patent Document 1 has a traveling machine body capable of switching between manual traveling by manual steering and automatic traveling traveling by automatic steering along a set traveling line set parallel to a reference traveling line, manual traveling and automatic It is equipped with a changeover switch that can switch between traveling and the like. In addition, the farm work machine presses the right instruction button while traveling along the weir, and then the start point of the reference traveling line is set, and the end point of the reference traveling line is set by pressing the left instruction button while traveling. That is, the reference travel line is set before automatic steering.

JP 2017-123803 A

  In the agricultural work machine of Patent Document 1, before the automatic steering, in the agricultural work machine of Patent Document 1, the reference travel line is set by operating the right instruction button, the left instruction button, etc., or the reference travel line is being set. After aligning the aircraft using the index line drawn on the surface by the marker device and the center mascot, automatic steering along the set travel line is started. It is necessary for the driver to understand matters related to traveling such as steering of the vehicle in setting before start of automatic steering, and when the matters related to traveling can not be grasped, setting of the reference traveling line, reference traveling Traveling at the time of setting the line, positioning of the aircraft, etc. are difficult.

  In view of the above problems, an object of the present invention is to provide a work vehicle that can easily adjust the traveling conditions of the vehicle body.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The work vehicle includes a vehicle body that can travel, a steering handle that steers the vehicle body, and a display device that can display at least a guidance screen that displays a command for adjusting the travel conditions of the vehicle body.
The vehicle body can travel by either manual steering with the steering wheel or automatic steering of the steering wheel based on a planned travel line, and the display device displays the guidance screen before the start of the automatic steering. And a steering instruction unit indicating a steering direction of the vehicle corresponding to the traveling condition is displayed on the guidance screen.

  The vehicle body can be driven by either manual steering by the steering handle or automatic steering of the steering handle based on a planned travel line, and the display device displays the guidance screen before the start of the automatic steering. In addition, a steering wheel display unit indicating the steering handle facing the steering direction of the vehicle body corresponding to the traveling condition is displayed on the guidance screen.

The work vehicle is provided with a steering selector switch that switches between the manual steering and the automatic steering, and the display device instructs the guidance screen to switch the steering selector switch to the automatic steering when traveling conditions in the traveling are satisfied. indicate.
The display device displays driving information of the vehicle body on the guidance screen at the time of the automatic steering.

The display device displays a condition for maintaining the traveling when the traveling is started after the traveling condition of the vehicle body is adjusted.
The display device displays a condition for maintaining the automatic steering as a condition for maintaining the traveling after the start of the automatic steering.
The work vehicle is provided on the vehicle body, and a position detection device that detects the position of the vehicle body based on a signal of a positioning satellite, and a correction switch that instructs correction of the position of the vehicle body detected by the position detection device A correction vehicle position which is a position of the vehicle corrected by the operation of the steering switch, and an automatic steering mechanism which automatically steers the vehicle based on a planned travel line, and the display device is configured by the correction switch The correction amount of the position of the vehicle body is displayed on the guidance screen.

  According to the present invention, the traveling conditions of the vehicle body can be easily adjusted.

It is a figure which shows the structure and control block diagram of a tractor. It is an explanatory view explaining automatic steering. It is an explanatory view explaining the amount of correction in a push switch. It is an explanatory view explaining the amendment amount in a slide switch. It is a figure which shows the 1st correction | amendment part and 2nd correction | amendment part in a push switch. It is a figure which shows the 1st correction | amendment part and 2nd correction | amendment part in a slide switch. It shows a state in which the calculated vehicle body position is shifted to the right while traveling straight ahead during automatic steering. It shows a state in which the calculated vehicle body position is shifted to the left while traveling straight during automatic steering. It is a figure showing operation screen M1. It is a figure showing operation screen M2. It is a figure which shows the driving | operation screen M2 at the time of the unset of a driving | running | working reference line. It is a figure which shows the driving | operation screen M2 after the setting of the starting point of a driving | running | working reference line. It is a figure which shows the driving | operation screen M2 after the setting of the end point of a driving | running | working reference line. It is a figure which shows driving | running | working of the tractor at the time of adjusting the conditions of driving | running | working. It is a figure which shows the guidance screen M3 which displayed the command which steers a vehicle body to the right. It is a figure which shows the guidance screen M3 which displayed the command which steers a vehicle body left. It is a figure which shows the guidance screen M3 which displayed the command which hold | maintains a vehicle body straight. It is a figure which shows the guidance screen M3 in case the straight advance distance of a vehicle body is below predetermined. It is a figure showing operation screen M2 at the time of automatic steering. FIG. 7 is a diagram showing a driving screen M2 when the correction amount on the left side of the vehicle body is set at the time of automatic steering. FIG. 7 is a view showing a driving screen M2 when the correction amount on the right side of the vehicle body is set at the time of automatic steering. It is a figure which shows the modification of a correction | amendment display part. It is a figure which shows the guidance screen M4 before activating a setting mode. It is a figure which shows the guidance screen M4 at the time of setting of the starting point of a driving | running | working reference line. It is a figure which shows the guidance screen M4 at the time of setting of the end point of a driving | running | working reference line. It is a figure which shows the screen in process of warming up. It is a figure which shows the guidance screen M4 immediately after the conditions of automatic steering are satisfied. It is a figure which shows the guidance screen M4 when the correction amount of the left side of the vehicle body is set at the time of an automatic steering. It is a figure which shows the guidance screen M4 when the correction amount of the right side of the vehicle body is set at the time of an automatic steering. It is a figure which shows the guidance screen M4 when the vehicle speed becomes more than predetermined at the time of an automatic steering. It is a figure which shows the guidance screen M4 when the vehicle speed becomes zero at the time of an automatic steering. It is a figure which shows the modification of the guidance screen M3. It is a figure which shows the guidance screen M3 after FIG. 16A. It is an explanatory view explaining automatic steering. It is the figure which looked at the front cover of the driver's seat from the driver's seat side. It is a figure which shows the control block diagram in the modification of the working vehicle provided with the steering switch. It is a general view of a tractor.

Hereinafter, embodiments of the present invention will be described based on the drawings.
<Outline of work vehicle>
FIG. 20 is a side view showing one embodiment of the work vehicle 1 and FIG. 20 is a plan view showing one embodiment of the work vehicle 1. In the case of the present embodiment, the work vehicle 1 is a tractor. However, the work vehicle 1 is not limited to a tractor, and may be an agricultural machine (agricultural vehicle) such as a combine or a transplant machine, or a construction machine (a construction vehicle) such as a loader work machine.

  Hereinafter, the front side (in the direction of arrow A1 in FIG. 20) of the driver seated on the driver's seat 10 of the tractor (work vehicle) 1 is the front side, the rear side of the driver (in the direction of arrow A2 in FIG. The explanation will be made assuming that the direction (arrow B1 in FIG. 20) is on the left and the right side of the driver (direction arrow B2 in FIG. 20) is on the right. A horizontal direction (direction of arrow B3 in FIG. 20) which is a direction orthogonal to the front-rear direction of the work vehicle 1 will be described as the vehicle body width direction.

As shown in FIG. 20, the tractor 1 includes a vehicle body 3, a motor 4 and a transmission 5. The vehicle body 3 has a traveling device 7 and can travel. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. The rear wheel 7R may also be of a tire type or a crawler type.
The prime mover 4 is a diesel engine, an electric motor or the like, and in this embodiment, is constituted by a diesel engine. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can switch between forward and reverse traveling of the traveling device 7. A driver's seat 10 is provided on the vehicle body 3.

  Further, a connecting portion 8 constituted by a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. The working device can be attached to and detached from the connecting portion 8. The work device can be pulled by the vehicle body 3 by connecting the work device to the connecting portion 8. Working equipment includes tillage equipment for cultivating, fertilizer application equipment for applying fertilizer, pesticide application apparatus for applying pesticides, harvesting apparatus for harvesting, harvesting apparatus for harvesting grass, etc., diffusion apparatus for spreading grass, etc., grass Such as a grass collecting apparatus for collecting grass and the like, and a molding apparatus for molding grass and the like.

  As shown in FIG. 1, the transmission 5 includes a main shaft (promotion shaft) 5a, a main transmission unit 5b, an auxiliary transmission unit 5c, a shuttle unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. Is equipped. The propulsion shaft 5a is rotatably supported by a housing case (mission case) of the transmission 5, and power from the crankshaft of the engine 4 is transmitted to the propulsion shaft 5a. The main transmission unit 5 b includes a plurality of gears and a shifter that changes the connection of the gears. The main transmission unit 5b changes and outputs the rotation input from the propulsion shaft 5a by changing the connection (meshing) of the plurality of gears appropriately with a shifter.

Similar to the main transmission unit 5b, the auxiliary transmission unit 5c includes a plurality of gears and a shifter that changes the connection of the gears. The auxiliary transmission unit 5 c changes and outputs the rotation input from the main transmission unit 5 b by appropriately changing the connection (meshing) of the plurality of gears with a shifter.
The shuttle unit 5 d has a shuttle shaft 12 and a forward / reverse switching unit 13. The power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via a gear or the like. The forward and reverse travel switching unit 13 is formed of, for example, a hydraulic clutch, and switches the rotational direction of the shuttle shaft 12, that is, forward and reverse travel of the tractor 1 by turning on and off the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports a rear axle 21R to which the rear wheel 7R is attached.

  The PTO power transmission unit 5 e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is formed of, for example, a hydraulic clutch etc., and does not transmit the power of the propulsion shaft 5a to the PTO propulsion shaft 14 and the state of transmitting the power of the propulsion shaft 5a to the PTO propulsion shaft 14 by turning on and off the hydraulic clutch Switch to the state.

  The front transmission unit 5 f includes a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch can transmit the power from the propulsion shaft 5a. For example, the power of the shuttle shaft 12 is transmitted via the gear and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20R rotatably supports a front axle 21F to which the front wheel 7F is attached.

  The first clutch 17 and the second clutch 18 are constituted by hydraulic clutches or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operation valve 25 to which hydraulic fluid discharged from a hydraulic pump is supplied. The first clutch 17 switches between the connected state and the disconnected state according to the degree of opening of the first actuating valve 25. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operation valve 26. The second clutch 18 switches between the connected state and the disconnected state according to the degree of opening of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves, and are switched to the connected state or the disconnected state by exciting or demagnetizing solenoids of the solenoid valves.

When the first clutch 17 is in the disconnected state and the second clutch 18 is in the connected state, the power of the shuttle shaft 12 is transmitted to the front wheel 7F through the second clutch 18. As a result, in the four-wheel drive (4WD) in which the front wheels and the rear wheels are driven by power, the rotational speeds of the front wheels and the rear wheels become substantially the same (4WD constant speed state). On the other hand, when the first clutch 17 is in the connected state and the second clutch 18 is in the disconnected state, four-wheel drive is performed and the rotational speed of the front wheel is faster than the rotational speed of the rear wheel (4WD acceleration state). In addition, when the first clutch 17 and the second clutch 18 are in the connected state, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, and thus the rear wheels become two-wheel drive (2WD).
<Overview of position detection device>
The tractor 1 is provided with a position detection device 40. The position detection device 40 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, Michibiki and the like. That is, the position detection device 40 receives a reception signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (for example, latitude, longitude) based on the reception signal. The position detection device 40 includes a reception device 41 and an inertial measurement unit (IMU). The receiving device 41 has an antenna or the like and receives a received signal transmitted from a positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement device 42. In this embodiment, the receiving device 41 is attached to a rope provided on the vehicle body 3. In addition, the attachment location of the receiver 41 is not limited to embodiment.

The inertial measurement device 42 includes an acceleration sensor that detects an acceleration, a gyro sensor that detects an angular velocity, and the like. A roll angle, a pitch angle, a yaw angle, and the like of the vehicle body 3 can be detected by the inertial measurement device 42 provided below the vehicle body 3, for example, the driver's seat 10.
<Outline of steering device, manual steering, automatic steering>
As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 is a device capable of performing a manual steering that steers the vehicle body 3 by a driver's operation and an automatic steering that automatically steers the vehicle 3 regardless of the driver's operation.

  The steering device 11 includes a steering handle (steering wheel) 30 and a steering shaft (rotational shaft) 31 that rotatably supports the steering handle 30. The steering device 11 also has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic fluid discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like, and switches according to the steering direction (rotational direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheel 7F.

  Therefore, when the driver grips the steering handle 30 and operates it in one direction or the other, the switching position and the opening degree of the control valve 34 are switched corresponding to the rotation direction of the steering handle 30, and the control valve 34 is switched. The steering direction of the front wheel 7F can be changed by extending or retracting the steering cylinder 35 to the left or right according to the switching position and opening degree. That is, the vehicle body 3 can change the traveling direction to the left or right by the manual steering of the steering wheel 30.

Next, automatic steering will be described.
As shown in FIG. 2, when performing the automatic steering, first, the traveling reference line L1 is set before performing the automatic steering. Automatic steering can be performed by setting the planned traveling line L2 parallel to the traveling reference line L1 after setting the traveling reference line L1. In the automatic steering, the steering of the traveling direction of the tractor 1 (the vehicle body 3) is automatically performed so that the vehicle position measured by the position detection device 40 and the planned traveling line coincide with L2.

  Specifically, the tractor 1 (vehicle body 3) is moved to a predetermined position in the field before automatic steering (S1), and the driver operates the steering selector switch 52 provided on the tractor 1 at the predetermined position. When this is done (S2), the vehicle body position measured by the position detection device 40 is set to the starting point P10 of the travel reference line L1 (S3). Also, when the tractor 1 (vehicle body 3) is moved from the start point P10 of the travel reference line L1 (S4) and the driver operates the steering selector switch 52 at a predetermined position (S5), the position detection device 40 measures The vehicle body position is set to the end point P11 of the traveling reference line L1 (S6). Therefore, a straight line connecting the start point P10 and the end point P11 is set as the travel reference line L1.

  After setting the traveling reference line L1 (after S6), for example, move the tractor 1 (vehicle body 3) to a place different from the place where the traveling reference line L1 is set (S7), and the driver operates the steering selector switch 52 (S8), a planned travel line L2 that is a straight line parallel to the travel reference line L1 is set (S9). After setting of the planned travel line L2, automatic steering is started, and the traveling direction of the tractor 1 (vehicle body 3) is changed to be along the planned travel line L2. For example, if the current vehicle position is on the left with respect to the planned travel line L2, the front wheel 7F is steered to the right, and if the current vehicle position is on the right with respect to the planned travel line L2, the front wheel 7F is Is steered to the left. During automatic steering, the traveling speed (vehicle speed) of the tractor 1 (vehicle body 3) allows the driver to manually change the operation amount of the accelerator member (accelerator pedal, accelerator lever) provided on the tractor 1, or The change can be made by changing the speed position of the transmission.

  In addition, after the start of the automatic steering, when the driver operates the steering switch 52 at an arbitrary point, the automatic steering can be ended. That is, the end point of the planned travel line L2 can be set by the end of the automatic steering by the operation of the steering change switch 52. That is, the length from the start point to the end point of the planned travel line L2 can be set longer or shorter than the travel reference line L1. In other words, the planned travel line L2 is not associated with the length of the travel reference line L1, and the travel planned line L2 can travel while automatically steering a distance longer than the length of the travel reference line L1.

As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that performs automatic steering of the vehicle body 3, and automatically steers the vehicle body 3 based on the position (vehicle body position) of the vehicle body 3 detected by the position detection device 40. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotational direction, rotational speed, rotational angle, etc. can be controlled based on the vehicle position. The gear mechanism 37 includes a gear provided on the steering shaft 31 and rotating with the steering shaft 31, and a gear provided on the rotation shaft of the steering motor 38 and rotating with the rotation shaft. When the rotation shaft of the steering motor 38 rotates, the steering shaft 31 is automatically rotated (rotated) via the gear mechanism 37, and the steering direction of the front wheel 7F is set so that the vehicle position coincides with the planned travel line L2. It can be changed.
<Overview of Display Device>
As shown in FIGS. 1 and 20, the tractor 1 includes a display device 45. The display device 45 is a device capable of displaying various information related to the tractor 1, and can display at least operation information of the tractor 1. The display device 45 is provided in front of the driver's seat 10.
<Overview of setting switch and steering selector switch>
As shown in FIG. 1, the tractor 1 includes a setting switch 51. The setting switch 51 is a switch for switching to a setting mode for performing setting at least before the start of the automatic steering. The setting mode is a mode in which various settings regarding the automatic steering are performed before starting the automatic steering, and for example, a mode in which the start point and the end point of the traveling reference line L1 are set.

  The setting switch 51 can be switched to ON or OFF, and outputs a signal indicating that the setting mode is valid if it is ON, and outputs a signal indicating that the setting mode is invalid if it is OFF. When the setting switch 51 is ON, a signal indicating that the setting mode is valid is output to the display device 45. When the setting switch 51 is indicating OFF, a signal indicating that the setting mode is invalid is output to the display device 45.

The tractor 1 is provided with a steering change switch 52. The steering changeover switch 52 is a switch for switching the start or end of the automatic steering. Specifically, the steering changeover switch 52 can be switched from the neutral position up, down, front and back, and when the setting mode is in effect, automatic steering is started when switched from the neutral position to the lower side. It outputs, and when it is switched from the neutral position to the upper side in the state where the setting mode is effective, the end of the automatic steering is output. Further, when the steering mode switch 52 is switched from the neutral position later in a state where the setting mode is effective, the steering mode switch 52 outputs that the current vehicle position is set to the start point P10 of the traveling reference line L1. When the setting mode is switched to the previous position from the neutral position in the state where the setting mode is effective, setting of the current vehicle position to the end point P11 of the traveling reference line L1 is output.
<Overview of Correction Switch>
The tractor 1 is provided with a correction switch 53. The correction switch 53 is a switch that corrects the vehicle body position (latitude, longitude) measured by the position detection device 40. That is, the correction switch 53 is a vehicle position (computed vehicle position) calculated by the received signal (position of positioning satellite, transmission time, correction information, etc.) and measurement information (acceleration, angular velocity) measured by the inertial measurement device 42. ) Is a switch that corrects

The correction switch 53 is configured of a pushable push switch or a slidable slide switch. Hereinafter, the case where the correction switch 53 is a push switch and a slide switch will be described.
When the correction switch 53 is a push switch, the correction amount is set based on the number of operations of the push switch. The amount of correction is determined by the amount of correction = number of operations × the amount of correction per number of operations. For example, as shown in FIG. 3A, each time the push switch is operated, the correction amount is increased by several centimeters or several tens of centimeters. The number of times of operation of the push switch is input to the first control device 60A, and the first control device 60A sets (calculates) the correction amount based on the number of times of operation.

  When the correction switch 53 is a slide switch, the correction amount is set based on the operation amount (displacement amount) of the slide switch. For example, the correction amount is determined by the correction amount = the amount of displacement from the predetermined position. For example, as shown in FIG. 3B, each time the displacement of the slide switch increases by 5 mm, the correction amount increases by several centimeters or several tens of centimeters. The operation amount (displacement amount) of the slide switch is input to the first control device 60A, and the first control device 60A sets (calculates) the correction amount based on the displacement amount. In addition, the increase method of the correction amount mentioned above and the ratio of increase are not limited to the numerical value mentioned above.

  Specifically, as shown in FIGS. 4A and 4B, the correction switch 53 includes a first correction unit 53A and a second correction unit 53B. The first correction unit 53A is a part that instructs correction of the vehicle body position corresponding to one side in the width direction of the vehicle body 3, that is, the left side. The second correction unit 53B is a part that instructs the correction of the vehicle body position corresponding to the other side in the width direction of the vehicle body 3, that is, the right side.

  As shown in FIG. 4A, when the correction switch 53 is a push switch, the first correction unit 53A and the second correction unit 53B are ON or OFF switches that automatically return each time an operation is performed. The switch constituting the first correction unit 53A and the switch constituting the second correction unit 53B are integrated. The switch that constitutes the first correction unit 53A and the switch that constitutes the second correction unit 53B may be arranged separately from each other. As shown in FIG. 3A, each time the first correction portion 53A is pressed, the correction amount (left correction amount) corresponding to the left side of the vehicle body 3 increases. In addition, each time the second correction unit 53B is pressed, the correction amount (right correction amount) corresponding to the right side of the vehicle body 3 increases.

  As shown in FIG. 4B, when the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B include a knob 55 that moves to the left or right along the longitudinal direction of the long hole. Yes. When the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B are disposed apart from each other in the width direction. As shown in FIG. 3B, when the knob 55 is gradually displaced to the left from a predetermined reference position, the left correction amount increases according to the displacement amount. In addition, when the knob 55 is gradually displaced to the right from a predetermined reference position, the right correction amount increases according to the displacement amount. As shown in FIG. 4B, in the case of a slide switch, the first correction unit 53A and the second correction unit 53B are integrally formed, the reference position of the knob 55 is set at the center, and from the reference position The left correction amount may be set when moving to the left, and the right correction amount may be set when moving the knob 55 from the intermediate position to the right.

Next, the relationship between the correction amount (left correction amount, right correction amount) by the correction switch 53, the planned traveling route L2, and the behavior (traveling locus) of the tractor 1 (vehicle body 3) will be described.
FIG. 5A shows a state in which the calculated vehicle body position W1 is shifted to the right while traveling straight during automatic steering. As shown in FIG. 5A, in the state where the automatic steering is started, the actual position (actual position W2) of the tractor 1 (the vehicle body 3) matches the calculated vehicle position W1, and the actual position W2 and the planned traveling route. When L2 matches, the tractor 1 travels along the planned travel route L2. That is, the tractor 1 follows the planned traveling route L2 in the section P1 in which there is no error in the positioning of the position detection device 40 and the vehicle position (computed vehicle position W1) detected by the position detection device 40 is the same as the actual position W2. Run. When there is no error in the positioning of the position detection device 40 and no correction is performed, the calculated vehicle body position W1 and the corrected vehicle position (corrected vehicle position) W3 corrected by the correction amount have the same value. The corrected vehicle body position W3 is corrected vehicle body position W3 = calculated vehicle body position W1−correction amount.

  Here, in the vicinity of the position P20, although the actual position W2 is not shifted from the planned travel route L2, an error occurs in the positioning of the position detection device 40 due to various effects, and the position detection device 40 If the detected vehicle body position W1 shifts to the right with respect to the planned travel route L2 (actual position W2), and the displacement amount W4 is maintained, the tractor 1 moves to the calculated vehicle body position W1 and the planned travel route L2. It is determined that a shift has occurred, and the tractor 1 is steered to the left so as to eliminate the shift amount W4 between the calculated vehicle body position W1 and the planned travel route L2. Then, the actual position W2 of the tractor 1 is shifted to the planned travel route L2 by the left steering. Thereafter, it is assumed that the driver notices that the tractor 1 deviates from the planned travel route L2, and steers the second correction unit 53B at the position P21 to increase the right correction amount from zero. The right correction amount is added to the calculated vehicle position W1, and the corrected vehicle position (corrected vehicle position) W3 can be made substantially the same as the actual position W2. That is, by setting the right correction amount by the second correction unit 53B, it is possible to correct the vehicle position of the position detection device 40 in the direction of eliminating the displacement amount W4 generated near the position P20. As shown at position P21 in FIG. 5A, after correction of the vehicle position, when the actual position W2 of the tractor 1 is separated from the planned travel route L2 to the left, the tractor 1 is steered to the right. The actual position W2 can be made to coincide with the planned travel route L2.

  FIG. 5B shows a state where the calculated vehicle body position W1 is shifted to the left during automatic steering and straight ahead. As shown in FIG. 5B, in the case where the actual position W2 matches the calculated vehicle body position W1 and the actual position W2 matches the planned travel route L2 in the state where automatic steering is started, FIG. Similarly, the tractor 1 travels along the planned travel route L2. That is, as in FIG. 5A, the tractor 1 travels along the planned travel route L2 in the section P2 in which there is no error in the positioning of the position detection device 40. Further, as in FIG. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 have the same value.

Here, at the position P22, various influences cause an error in positioning of the position detection device 40, and the vehicle position W1 detected by the position detection device 40 shifts to the left with respect to the actual position W2, and the shift amount W5 is If maintained, the tractor 1 steers the tractor 1 to the right so as to eliminate the amount of deviation W5 between the calculated vehicle body position W1 and the planned travel route L2. Thereafter, it is assumed that the driver notices that the tractor 1 deviates from the planned travel route L2, and the driver steers the first correction unit 53A at the position P23 to increase the left correction amount from zero. Then, the left correction amount is added to the calculated vehicle position W1, and the corrected vehicle position (corrected vehicle position) W3 can be made substantially the same as the actual position W2. That is, by setting the left correction amount by the first correction unit 53A, it is possible to correct the vehicle position of the position detection device 40 in the direction of eliminating the displacement amount W5 generated near the position P22. As shown at position P23 in FIG. 5B, after correction of the vehicle position, when the actual position W2 of the tractor 1 is away from the planned travel route L2 to the right, the tractor 1 is steered to the left. The actual position W2 can be made to coincide with the planned travel route L2.
<Arrangement of setting switch, steering selector switch, correction switch>
Next, the setting switch 51, the correction switch 53, and the screen changeover switch 54 will be described.

As shown in FIG. 18, the outer periphery of the steering shaft 31 is covered by a steering post 180. The outer periphery of the steering post 180 is covered by a cover 177. The cover 177 is provided in front of the driver's seat 10. The cover 177 includes a panel cover 178 and a column cover 179.
The panel cover 178 supports the display device 45. The upper plate portion 178 a of the panel cover 178 is provided with a support portion 178 e for supporting the display device 45. The support portion 178 e supports the display device 45 in front of the steering shaft 31 and below the steering handle 30. Further, the upper plate portion 178a has a mounting surface 178f to which the setting switch 51, the correction switch 53, and the screen switching switch 54 are attached. The mounting surface 178 f is provided behind the support portion 178 e and below the steering handle 30. The support portion 178e and the mounting surface 178f are continuous, the support portion 178e is located at the front of the upper plate portion 178a, and the mounting surface 178f is located at the rear of the upper plate portion 178a. The setting switch 51, the correction switch 53, and the screen switching switch 54 are attached to the mounting surface 178f. Thus, the setting switch 51, the correction switch 53, and the screen switching switch 54 are disposed around the steering shaft 31.

  A shuttle lever 181 protrudes from the left plate portion 178 b of the panel cover 178. The shuttle lever 181 is a member for switching the traveling direction of the vehicle body 3. More specifically, by operating (swinging) the shuttle lever 181 forward, the forward / reverse switching unit 13 outputs a forward power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the forward direction. Further, by operating (swinging) the shuttle lever 181 rearward, the forward / reverse switching unit 13 outputs a reverse power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the backward direction. When the shuttle lever 181 is in the neutral position, power is not output to the traveling device 7.

  The column cover 179 is disposed below the steering handle 30 and covers the periphery of the upper portion of the steering shaft 31. The column cover 179 is formed in a substantially square cylindrical shape and protrudes upward from the mounting surface 178 f of the panel cover 178. That is, the mounting surface 178 f is provided around the column cover 179. Therefore, the setting switch 51, the correction switch 53, and the screen switching switch 54 attached to the mounting surface 178f are disposed around the column cover 179.

Next, the arrangement of the setting switch 51, the steering switch 52, the correction switch 53, and the screen switch 54 will be described in detail. As shown in FIG. 18, the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54 are disposed around the steering shaft 31.
The setting switch 51 is disposed on one side (left side) of the steering shaft 31. The steering changeover switch 52 is disposed on one side (left side) of the steering shaft 31. In the case of the present embodiment, the steering changeover switch 52 is composed of a pivotable lever. The steering changeover switch 52 is pivotable about a base end provided on the steering shaft 31 side. The base end of the steering selector switch 52 is provided inside the column cover 179. The steering changeover switch 52 protrudes to one side (left side) of the column cover 179.

  The correction switch 53 is disposed on the other side (right side) of the steering shaft 31. More specifically, the correction switch 53 is disposed to the right and to the rear of the steering shaft 31 (oblique right rear). The correction switch 53 is disposed on the right side and the rear (diagonal right rear) of the column cover 179 in the positional relationship with the column cover 179. The correction switch 53 is disposed at the right rear of the mounting surface 178f in positional relationship with the mounting surface 178f of the panel cover 178. By arranging the correction switch 53 at the rear of the inclined mounting surface 178f, a long distance between the correction switch 53 and the steering wheel 30 can be secured. Thereby, the operation of the correction switch 53 and the steering of the steering wheel 30 which are not intended can be prevented more reliably.

  The screen switching switch 54 is disposed on the other side (right side) of the steering shaft 31. More specifically, the screen switching switch 54 is disposed on the right side and in front of the steering shaft 31 (diagonal right front). The screen switching switch 54 is disposed on the right side and in front of the column cover 179 (diagonal right front) in the positional relationship with the column cover 179. The screen switching switch 54 is disposed on the right front of the mounting surface 178 f in positional relationship with the mounting surface 178 f of the panel cover 178. The screen switching switch 54 is disposed in front of the correction switch 53.

  As described above, the setting switch 51, the steering switch 52, the correction switch 53, and the screen switch 54 are disposed around the steering shaft 31. In other words, the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54 are collectively present around the steering shaft 31. Therefore, the driver can grasp the position of each switch at a glance. In addition, the driver can operate each switch without changing the posture while sitting on the driver's seat 10. Therefore, operability can be improved and erroneous operation can be prevented. Moreover, the harnesses (wirings) arranged from each switch can be shortened.

In the arrangement of the switches described above, left and right may be interchanged. That is, one side may be left and the other side may be right, or one side may be right and the other side may be left. Specifically, for example, the setting switch 51 and the steering changeover switch 52 may be disposed to the right of the steering shaft 31, and the correction switch 53 may be disposed to the left of the steering shaft 31.
<Outline of control device>
As shown in FIG. 1, the tractor 1 is provided with a plurality of control devices 60. The plurality of control devices 60 are devices that perform control of a traveling system in the tractor 1, control of a working system, calculation of a vehicle position, and the like. The plurality of control devices 60 are a first control device 60A, a second control device 60B, and a third control device 60C.

  The first control device 60A receives the reception signal (reception information) received by the reception device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertia measurement device 42, and the vehicle position based on the reception information and the measurement information. Ask for For example, when the correction amount by the correction switch 53 is zero, that is, when the correction of the vehicle body position by the correction switch 53 is not instructed, the first control device 60A calculates the calculated vehicle body by the reception information and the measurement information. The correction is not performed on the position W1, and the calculated vehicle body position W1 is determined to be the vehicle body position to be used at the time of automatic steering. On the other hand, when the correction of the vehicle position by the correction switch 53 is instructed, the first control device 60A determines the vehicle position based on either the number of times the correction switch 53 is operated or the operation amount (displacement amount) of the correction switch 53. A correction amount is set, and a corrected vehicle body position W3 obtained by correcting the calculated vehicle body position W1 with the correction amount is determined as the vehicle body position used at the time of automatic steering.

  The first control device 60A sets a control signal based on the vehicle body position (calculated vehicle body position W1, corrected vehicle body position W3) and the planned travel line L2, and outputs the control signal to the second control device 60B. The second control device 60B controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned travel line L2 based on the control signal output from the first control device 60A.

  As shown in FIG. 17, when the deviation between the vehicle body position and the planned travel line L2 is less than the threshold value, the second control device 60B maintains the rotation angle of the rotation shaft of the steering motor 38. When the deviation between the vehicle position and the planned travel line L2 is equal to or greater than the threshold and the tractor 1 is positioned on the left side with respect to the planned travel line L2, the second control device 60B causes the steering direction of the tractor 1 to be right The rotation shaft of the steering motor 38 is rotated to be in the direction. When the deviation between the vehicle body position and the planned travel line L2 is equal to or greater than the threshold and the tractor 1 is positioned on the right with respect to the planned travel line L2, the second control device 60B causes the steering direction of the tractor 1 to be left The rotation shaft of the steering motor 38 is rotated to be in the direction. In the embodiment described above, the steering angle of the steering device 11 is changed based on the deviation between the vehicle position and the planned travel line L2, but the direction of the planned travel line L2 and the traveling direction of the tractor 1 (vehicle body 3) If the direction (vehicle direction) F1 of (travel direction) is different, that is, if the angle θ of the vehicle direction F1 with respect to the planned travel line L2 is equal to or greater than the threshold, the second control device 60B determines that the angle θ is zero (vehicle direction The steering angle may be set such that F1 coincides with the heading of the planned travel line L2. Further, the second control device 60B sets the final steering angle in automatic steering based on the steering angle calculated based on the deviation (positional deviation) and the steering angle calculated based on the azimuth (azimuth deviation θ). You may The setting of the steering angle in the automatic steering in the embodiment described above is an example and is not limited.

The third control device 60 </ b> C raises and lowers the connecting portion 8 in accordance with the operation of the operation member provided around the driver's seat 10. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Further, the control of the traveling system, the control of the working system, and the calculation of the vehicle body position described above are not limited.
<Details of Display Device>
The setting relating to the travel of the vehicle body 3 can be performed by the display device 45.

Hereinafter, the details of the display device 45 will be described.
As shown in FIG. 1, the display device 45 can acquire various information detected by the detection device 47 via an in-vehicle network or the like. The detection device 47 is an accelerator pedal sensor, shift lever detection sensor, crank position sensor, fuel sensor, water temperature sensor, motor rotation sensor, steering angle sensor, oil temperature sensor, axle rotation sensor, and the like. For example, the display device 45 can display, as operation information, the remaining amount of fuel detected by the fuel sensor, the water temperature value detected by the water temperature sensor, the number of revolutions of the motor, etc. detected by the motor rotation sensor.

  Further, the display device 45 can acquire information of various switches, for example, information of the setting switch 51, the steering switch 52, and the correction switch 53. The display device 45 acquires information of ON or OFF of the setting switch 51, information of start and end of automatic steering in the steering changeover switch 52, and information of commands of the start point P10 and end point P11 of the travel reference line L1 in the steering changeover switch 52. can do.

As shown in FIG. 18, the display device 45 includes a display unit 46 that displays various information. The display unit 46 includes a fixed display unit 46A that displays a warning and the like, and a variable display unit 46B that can change information to be displayed. The fixed display unit 46A includes a panel in which a graphic such as a warning is shown, and an irradiation unit such as an LED that irradiates a light source to the graphic on the panel. Further, the variable display unit 46B is configured of a panel such as an organic EL, a liquid crystal, etc., and displays various information related to the operation (traveling) of the tractor 1 and the like.
<About the operation screen M1>
FIG. 6A shows an operation screen M1 of the tractor 1. The operation screen M1 is a screen displayed on the variable display unit 46B when the setting switch 51 is OFF, that is, when the setting mode is invalid.

  The display device 45, that is, the driving screen M1 has a driving display unit 61 that shows driving information. The operation display unit 61 includes a rotation display unit 62 that displays the number of rotations of the motor 4 (motor rotation speed) as the operation information. The rotation display unit 62 includes a level display unit 63. The level display unit 63 is a part that displays the motor rotation speed in stages. For example, the level display unit 63 includes a scale unit 65 and an indicator unit 80. The scale unit 65 includes, for example, a first line 65A and a plurality of second lines 65B assigned at predetermined intervals along the first line 65A. Moreover, the scale part 65 has the 1st line 65A and the 3rd line 65C spaced apart by predetermined spacing. The first line 65A and the third line 65C are formed in, for example, a semicircular shape, with one end side (for example, the left side) being the minimum value and the other end side (for example the right side) being the maximum value .

  The index unit 80 is a bar whose length changes in accordance with the size of the motor rotation speed. For example, the index unit 80 is positioned between the first line 65A and the third line 65C, and when the value of the motor rotation speed is the minimum value of zero, the index unit 80 of the first line 65A and the third line 65C. When the length is the shortest and the value of the motor rotation speed is the maximum value located at one end side (left side), the first line 65A and the first line 65A from one end side (left side) of the first line 65A and the third line 65C. It extends to the other end side (right side) of the third line 65C and has the longest length. The rotation display unit 62 includes a number display unit 64. The numeral display unit 64 displays the number of revolutions of the motor as a number. For example, the rotary display unit 62 is disposed inside the semicircle of the first line 65A and the third line 65C.

Therefore, according to the operation display unit 61, the motor display rotational speed such as the engine rotational speed can be displayed stepwise by the level display unit 63 and can be displayed by the numerical display by the rotational display unit 62.
The driving screen M1 includes an icon display unit 67 that displays a plurality of icon units 66. The icon display unit 67 is a portion that shows various information by the icon unit 66. That is, the setting regarding traveling such as automatic steering, for example, the setting state set in the setting mode is displayed by the icon section 66. The icon display unit 67 is disposed at a position different from that of the operation display unit 61, for example, at the upper part of the operation screen M1.

  The plurality of icon parts 66 include a first icon part 66A, a second icon part 66B, a third icon part 66C, a fourth icon part 66D, a fifth icon part 66E, a sixth icon part 66F, a seventh icon part 66G, 8 icon portion 66H. The operation screen M1 does not have to include all of the plurality of icon portions 66 (66A, 66B, 66C, 66D, 66E, 66F, 66G, 66H), and is not limited to the above-described embodiment.

The first icon portion 66A is displayed when a warning occurs. The second icon portion 66B is displayed when the start point P10 of the traveling reference line L1 is set. The third icon portion 66C is displayed when the end point P11 of the traveling reference line L1 is set.
The fourth icon portion 66D is displayed when the conditions for automatic steering are satisfied. For example, the fourth icon portion 66D is displayed when the setting mode is valid, the setting of the travel reference line L1 is completed, and the planned travel line L2 can be set.

The fifth icon portion 66E is displayed when the connecting portion 8 is in the elevating state. The sixth icon portion 66F is displayed in the 4WD acceleration state. The seventh icon portion 66 </ b> G changes color and the like according to the reception sensitivity of the reception signal of the reception device 41.
The display of the eighth icon portion 66H changes in accordance with the conditions of the automatic steering. If the eighth icon portion 66H is in a state where the automatic steering can not be performed for some reason, for example, if the setting mode is invalid and the reception sensitivity of the reception signal of the reception device 41 is low and the vehicle position can not be detected, the traveling reference line L1 For example, when the setting is not made, it becomes gray to indicate that automatic steering can not be performed. When the eighth icon portion 66H is in a state where automatic steering can be performed for some reason, for example, the setting mode is valid, and the reception sensitivity of the reception signal of the reception device 41 can detect the vehicle body position with a predetermined sensitivity or more. When the driving reference line L1 is set, the green color indicates that automatic steering can be performed. The display form in the eighth icon portion 66H is not limited to the display form described above.
<About the operation screen M2>
FIG. 6B shows the operation screen M2 of the tractor 1. The operation screen M2 is a screen displayed on the variable display unit 46B when the setting switch 51 is ON, that is, when the setting mode is valid. Similarly to the operation screen M1, the operation screen M2 also includes the operation display unit 61 and the icon display unit 67. In other words, the driving screen M2 is a screen capable of displaying the same information as the driving screen M1 at least for the driving information. The operation display unit 61 and the icon display unit 67 are the same as the operation screen M1, and thus the description thereof is omitted.

When the setting mode becomes invalid from being invalidated, the display device 45 changes the display state of the operation display unit 61 of the operation screen M2 to a display mode different from the display state of the operation display unit 61 of the operation screen M1. . That is, when the setting mode is valid, the display device 45 makes the display state of the driving display unit 61 at the time of validation different from the display mode of the driving display unit 61 at the disabling time.
The display device 45 sets the color (coloring) indicating the operation display unit 61 in the operation screen M2 to a color different from the color (coloring) indicating the operation display unit 61 in the operation screen M1. Specifically, the display device 45 sets the color of the scale portion 65 of the level display unit 63 in the operation screen M2, that is, the colors of the first line 65A, the second line 65B and the third line 65C to the same color as the operation screen M1. Meanwhile, the color of the indicator portion 80 of the operation screen M2 is different from that of the operation screen M1. That is, when the setting mode is enabled, the color of the index unit 80 is different from the color of the index unit 80 in which the setting mode is disabled.

Further, the display device 45 sets the color of the numeral display portion 64 in the operation screen M2, that is, the color of the number indicating the motor rotation speed to a color different from that of the operation screen M1. That is, when the setting mode is enabled, the color of the number display unit 64 is different from the color of the number display unit 64 where the setting mode is disabled.
In the operation screen M2, since the setting mode is set, the setting before the start of the automatic steering can be performed. FIGS. 7A to 7C show the transition of the operation screen M2 at the time of setting the start point P10 and the end point P11 of the travel reference line L1 as the setting before the start of the automatic steering. As shown in FIG. 7A, when the setting of the travel reference line L1 is not performed, the second icon portion 66B and the third icon portion 66C are not displayed on the driving screen M2. When the driver sets the start point P10 of the traveling reference line L1 by operating the steering selector switch 52, a second icon portion 66B is displayed on the driving screen M2, as shown in FIG. 7B. Further, when the driver sets the end point P11 of the traveling reference line L1 by operating the steering selector switch 52, a third icon portion 66C is displayed on the driving screen M2, as shown in FIG. 7C.

Therefore, it is possible to set the start point P10 and the end point P11 of the travel reference line L1 by operating the steering selector switch 52 while traveling the tractor 1 with the operation screen M2 displayed. In addition, the driver sees whether or not the second icon portion 66B and the third icon portion 66C are displayed on the driving screen M2, thereby setting the driving reference line L1 on the driving screen M2. You can check.
<About the guidance screen M3>
Now, after the setting of the travel reference line L1, in order to perform the automatic steering, it is necessary to adjust the conditions of the automatic steering. For example, as shown in FIG. 8, when the direction (traveling direction) of the tractor 1 is not parallel to the traveling reference line L1 after turning the tractor 1, along the planned traveling line L2 parallel to the traveling reference line L1. It is difficult to steer the tractor 1, and in such a case, it is determined that the conditions for automatic steering are not satisfied. As described above, when the conditions for automatic steering are not satisfied after setting the driving reference line L1 by the driving screen M2, as shown in FIGS. 9A to 9D, the display device 45 displays the screen displayed on the variable display unit 46B. Is switched from the operation screen M2 to the guidance screen M3.

  The guidance screen M3 is a screen for displaying an instruction (content) related to traveling of the vehicle body 3. In other words, the guidance screen M3 is a screen on which settings relating to traveling can be made. For example, the guidance screen M3 is a screen for displaying an instruction (content) for adjusting traveling conditions such as automatic steering. For example, as shown in FIGS. 9A and 9B, the guidance screen M3 is a screen for instructing a change in the direction of the vehicle body 3 at least before the start of the automatic steering. For example, as shown in FIG. 9A, the direction of the vehicle body 3 Is directed to the right, and as shown in FIG. 9B, it is a screen for instructing to turn the direction of the vehicle body 3 to the left. The instruction to turn the vehicle body 3 to the right or to turn the vehicle body 3 to the left is determined by the current traveling direction of the vehicle body 3. The traveling direction of the vehicle body 3 can be detected by the position detection device 40.

  As shown in FIG. 8, when the traveling direction of the vehicle body 3 is oblique to the right with respect to the direction (longitudinal direction) in which the travel reference line L1 extends, the guidance screen M3 turns the vehicle body 3 to the left. Give instructions. Further, as shown in FIG. 8, when the traveling direction of the vehicle body 3 is oblique to the left with respect to the longitudinal direction of the traveling reference line L1, the guidance screen M3 instructs the vehicle 3 to turn to the right. Do.

The guidance screen M3 includes a message display unit 70. The message display unit 70 is a portion for explaining the steering of the vehicle body 3 by characters (messages). That is, the message display unit 70 is a portion that indicates the steering direction of the vehicle body 3 with characters as a travel command (content).
As shown in FIG. 9A, when it is necessary to turn the traveling direction of the vehicle body 3 to the right, the message display unit 70 displays characters to the effect that the vehicle body 3 is directed to the right. As shown in FIG. 9B, when it is necessary to turn the traveling direction of the vehicle body 3 to the left, the message display unit 70 displays a character to turn the vehicle body 3 to the left.

  As shown in FIG. 9C, the message display unit 70 displays characters indicating that the vehicle body 3 is going straight (straight) when the traveling direction of the vehicle body 3 is maintained. As shown in FIG. 9D, the message display unit 70 displays that the straight distance has not reached the predetermined distance when the vehicle 3 needs to be moved straight by the predetermined distance and the straight distance does not reach the predetermined distance. I do. In FIG. 9D, the message display unit 70 may display that the vehicle 3 is allowed to travel straight a predetermined distance.

  The guidance screen M3 includes a steering instruction unit 69. The steering instruction unit 69 is a portion that indicates the steering direction of the vehicle body 3. As shown in FIG. 9A, when it is necessary to turn the traveling direction of the vehicle body 3 to the right, the steering instruction unit 69 displays an arrow to turn the traveling direction of the vehicle body 3 to the right. As shown in FIG. 9B, when it is necessary to turn the traveling direction of the vehicle body 3 to the left, the steering instruction unit 69 displays an arrow to turn the traveling direction of the vehicle body 3 to the left. As shown in FIG. 9C, when the traveling direction of the vehicle body 3 is maintained, displaying a pair of arrows facing each other indicates that the vehicle body 3 is made to go straight (straight).

  The guidance screen M3 includes an operation display unit 61 and a handle display unit 68. That is, in the guidance screen M3, the operation display unit 61 and the handle display unit 68 are displayed on the same screen (the same screen). In detail, in the guidance screen M3, the operation display unit 61 and the handle display unit 68 are displayed on the portion (range) MA1 for changing the description. The driving display unit 61 in the guidance screen M3 is a part that displays driving information as in the driving screens M1 and M2, and displays at least a part of the driving information indicated by the driving screens M1 and M2. In this embodiment, the operation display unit 61 in the guidance screen M3 includes a number display unit 64 that indicates the prime mover rotation number by numbers, and displays the engine rotation speed and the like. The operation display unit 61 in the guidance screen M3 may include the rotation display unit 62 indicated by the operation screens M1 and M2. Alternatively, the operation display unit 61 in the guidance screen M3 may include both of the numeral display unit 64 and the rotation display unit 62 indicated by the operation screens M1 and M2.

The steering wheel display unit 68 is a portion that shows the steering wheel 30 by a graphic or the like. The operation display unit 61 is displayed on one side or the other side of the steering wheel display unit 68. The steering wheel display unit 68 and the steering instruction unit 69 are displayed apart from each other. The steering wheel display unit 68 and the steering instruction unit 69 may be displayed overlapping each other.
The handle display unit 68 has a circular grip portion 68A which the driver grips on the steering handle 30, and a connecting portion 68B for connecting the grip portion 68A. The steering direction of the steering wheel display unit 68 is changed in accordance with the instruction of the steering direction of the vehicle body 3.

  For example, when the steering wheel display unit 68 and the message display unit 70 are displayed on the same screen, that is, the guidance screen M3, the steering direction of the steering wheel display unit 68 is changed according to the steering direction indicated by the message display unit 70. . Alternatively, when the steering wheel display unit 68 and the steering instruction unit 69 are displayed on the same screen, ie, the guidance screen M3, the steering direction of the steering wheel display unit 68 is changed according to the steering direction indicated by the steering instruction unit 69. . Alternatively, when the steering wheel display unit 68, the message display unit 70 and the steering instruction unit 69 are displayed on the same screen, the guidance screen M3, the steering direction of the steering wheel display unit 68 is indicated by the message display unit 70 and the steering instruction unit 69. It changes according to the steering direction.

  As shown in FIG. 9A, when it is necessary to turn the traveling direction of the vehicle body 3 to the right as shown in FIG. 9A, the grip portion 68A and the connecting portion 68B should be rotated right around the center of the grip portion 68A. Indicates that the steering direction is right. As shown in FIG. 9B, when it is necessary to turn the traveling direction of the vehicle body 3 to the left, the handlebar display unit 68 rotates the grip 68A and the connection 68B to the left around the center of the grip 68. Indicates that the steering direction is left. As shown in FIG. 9C, when the traveling direction of the vehicle body 3 is maintained, it is shown that the steering direction is straight by not rotating the gripping portion 68A and the connecting portion 68B.

  16A and 16B show a modification of the guidance screen M3. The guidance screen M3 includes a plurality of condition display units indicating traveling conditions. The plurality of condition display units are a first condition display unit 101 indicating a first condition and a second condition display unit 102 indicating a second condition. In this embodiment, a condition display unit indicating two conditions is described as an example, but the number of condition display units is not limited to the embodiment.

  The first condition display unit 101 displays, as an automatic steering condition, an indication that the traveling direction of the tractor 1 (vehicle body 3) is parallel to the reference travel line L1, for example, “please be parallel to the reference line”. The second condition display unit 102 displays, for example, “Please go straight ahead by 3 m” as a condition for automatic steering, to make the tractor 1 (vehicle body 3) go straight ahead by a predetermined distance. In the guidance screen M3, among the plurality of condition display units, the condition display unit (condition satisfied display unit) in which the traveling condition is satisfied changes the display form with the condition display unit (condition not satisfied display unit) in which the traveling condition is not satisfied. Do. For example, as shown in FIG. 16B, in the automatic steering, when the traveling direction of the tractor 1 (the vehicle body 3) is parallel to the reference traveling line L1 and the rectilinear distance is less than a predetermined distance, the first condition display unit The color 101 is colored to a color with low saturation (for example, white, gray, etc.), and the color of the second condition display unit 102 is colored to a color with high saturation. Specifically, the display device 45 sets the saturation of the characters of the condition satisfaction display unit to be lower than the saturation of the characters of the condition non-metition display unit. As a result, the driver can easily grasp items that satisfy the traveling condition and items that do not satisfy the traveling condition.

  As described above, according to the guidance screen M3, since the command (contents) for adjusting the traveling condition of the tractor 1 (vehicle body 3) is displayed, the driver sees the command shown on the guidance screen M3, While steering and traveling, the tractor 1 (vehicle body 3) can be adjusted in traveling conditions. Since driving information is displayed on the guidance screen M3, when traveling of the tractor 1 is necessary to adjust traveling conditions, traveling of the tractor 1 while traveling the tractor 1 while looking at the operating information of the tractor 1 It can be in a state of meeting the conditions. Further, since both the steering wheel display unit 68 and the driving display unit 61 are displayed on the guidance screen M3, for example, the tractor 1 is allowed to travel while grasping both the driving information and the steering direction of the steering wheel 30. Can.

  As shown in FIG. 8, when the traveling direction of the tractor 1 (vehicle body 3) is substantially parallel to the travel reference line L1 and the automatic steering conditions are satisfied, the display device 45 displays a screen to be displayed on the variable display unit 46B. The guidance screen M3 is returned to the driving screen M2. Here, when the driver operates the steering selector switch 52 and automatic steering is started, automatic steering can be performed while displaying driving information on the driving screen M2, as shown in FIG. 10A. Under the situation where automatic steering is performed, when the correction switch 53 is operated, the display device 45 displays the correction amount of the vehicle body position on the driving screen M2. As shown in FIGS. 10B and 10C, the operation display unit 61 in the operation screen M2 includes a correction display unit 71. The correction display unit 71 is a portion that displays the correction amount of the vehicle body position as the driving information. That is, the display device 45 displays the correction display unit 71 when the setting mode is valid.

As shown in FIGS. 10B and 10C, the number indicated by the correction display unit 71 indicates the number of operations of the correction switch 53, and the correction display unit 71 displays the number of operations as a correction amount. As described above, since the correction amount corresponds to the number of times of operation, the driver can grasp the amount of correction stepwise by looking at the number of times of operation.
Specifically, the correction display unit 71 includes a first correction display unit 72 and a second correction display unit 73. The first correction display unit 72 is a portion that displays the correction amount (left correction amount) of the vehicle body position on one side in the width direction of the vehicle body 3, that is, the left side. The second correction display unit 73 is a portion that displays the correction amount (right correction amount) of the vehicle body position on the other side in the width direction of the vehicle body 3, that is, the right side. When the correction switch 53 is operated, one of the first correction display unit 72 and the second correction display unit 73 is displayed on the operation screen M2.

  As shown in FIG. 10B, the first correction display unit 72 is displayed on the left side of the level display unit 63 when the first correction unit 53A is operated during automatic steering. As shown in FIG. 10C, the second correction display unit 73 is displayed on the right side of the level display unit 63 when the second correction unit 53B is operated during automatic steering. That is, the first correction display unit 72 is displayed on the left side corresponding to the first correction unit 53A, and the second correction display unit 73 is displayed on the right side corresponding to the second correction unit 53B.

  The first correction display unit 72 includes an arrow portion 74A and a numerical portion 75A. The arrow portion 74A indicates the corrected direction, that is, one side (left side) in the width direction of the vehicle body 3. The numerical part 75A indicates the number of operations of the first correction part 53A, and the numerical value is counted up as the number of operations increases. The second correction display unit 73 includes an arrow portion 74B and a numerical portion 75B. The arrow 74B indicates the corrected direction, that is, the other side (right side) in the width direction of the vehicle body 3. The numerical part 75B indicates the number of operations of the second correction part 53B, and the numerical value is counted up as the number of operations increases.

  In the above-described embodiment, the correction display unit 71 displays the number of operations as the correction amount to indicate the magnitude of the correction amount in a stepwise manner. Instead, the correction display unit 71 indicates the correction amount in a stepwise manner. In some cases, as shown in FIG. 11, the lengths of the arrow portions 74A and 74B are changed based on the correction amount of the vehicle body position, or a plurality of levels (index portions) 76 are provided on the arrow portions 74A and 74B. The level 76 may be changed according to the amount of correction. In the index unit 76, for example, the number of display increases as the number of times of operation of the correction switch 53 increases, or the number of display increases as the amount of steering of the correction switch 53 increases. Further, the correction display unit 71 may indicate the correction amount itself by a number.

In the situation where the operation screen M2 of any of FIGS. 10A to 10C is displayed, the display device 45 performs the operation of the steering changeover switch 52 and ends the automatic steering. Is displayed, and the screen returns to either the operation screen M2 shown in FIG. 9C or the operation screen M1 shown in FIG. 6A.
As described above, since the correction display unit 71 is displayed on the driving screen M2, the driver looks at the correction display unit 71 during automatic steering to perform the correction amount by the correction switch 53 and the correction amount in either direction. You can easily grasp the
<About the guidance screen M4>
In the embodiment described above, when the setting switch 51 is switched from OFF to ON while the operation screen M1 is displayed on the display device 45, the guidance for displaying a command related to the travel of the vehicle body 3 via the operation screen M2. Although the screen M3 is displayed, when the screen changeover switch 54 is operated from the state where the operation screen M1 is displayed or when the screen changeover switch 54 is operated from the state where the operation screen M2 is displayed, it is shown in FIGS. 12A to 12C. Such a guidance screen M4 can be displayed. The guidance screen M4 is a screen for performing setting relating to traveling, and is a screen for displaying, for example, setting of the traveling reference line L1 and an instruction (content) for adjusting the traveling condition of the vehicle body 3. In other words, the guidance screen M4 is a screen on which navigation for adjusting the traveling conditions can be displayed.

As shown in FIGS. 12A to 12C, the guidance screen M4 includes a message display unit 77, an operation display unit 61, and a handle display unit 68. That is, also in the guidance screen M3, the operation display unit 61 and the handle display unit 68 are displayed on the same screen (the same screen).
The message display unit 77 displays various commands in characters, and as shown in FIG. 12A, when the setting mode is set to be invalid, the message display unit 77 turns on the setting switch 51. Of, for example, "Please go to GS mode" is displayed. As shown in FIG. 12B, when the setting mode is set to be effective, the message display unit 77 displays a message indicating that the starting point P10 of the traveling reference line L1 is to be set, for example, “please register the starting point”. . Further, as shown in FIG. 12C, the message display unit 77 displays a message indicating that the start point P11 of the traveling reference line L1 is to be set, for example, "Please register an end point".

  Similarly to the operation screens M1 and M2, the operation display unit 61 on the guidance screen M4 is a part for displaying operation information, and displays at least a part of the operation information shown on the operation screens M1 and M2. In the guidance screen M4, the operation display unit 61 is displayed on a part (range) MA2 for changing the description. In this embodiment, the operation display unit 61 in the guidance screen M4 includes a number display unit 64 that indicates the prime mover rotation number by a number, and displays the engine rotation speed and the like. The operation display unit 61 in the guidance screen M4 may also include the rotation display unit 62 indicated by the operation screens M1 and M2. Alternatively, the operation display unit 61 in the guidance screen M4 may also include both of the numeral display unit 64 and the rotation display unit 62 indicated by the operation screens M1 and M2.

  The handle display unit 68 in the guidance screen M4 also has a gripping unit 68A and a connecting unit 68B. Further, the steering wheel display unit 68 in the guidance screen M4 shows a switching display unit 78 in which the steering switch 52 is shown graphically. As shown in FIG. 12B, the switching display unit 78 shows the operation position when setting the starting point P10 of the traveling reference line L1, and the tip of the switching display unit 78 is below the grip portion 68A than the neutral position. Located on the side. As shown in FIG. 12C, the switching display unit 78 indicates the operation position when setting the end point P11 of the traveling reference line L1, and the tip of the switching display unit 78 is the upper side of the gripping portion 68A than the neutral position. It is located in Further, when setting the start point P10 and the end point P11 of the traveling reference line L1, the guidance screen M4 indicates the operation direction of the steering changeover switch 52 by the arrow portion 79 corresponding to the changeover display unit 78. In the guidance screen M4, a second icon 66B indicating the start point P10 of the travel reference line L1 and an end point P11 of the travel reference line L1 are provided at a position different from the icon display portion 67, ie, at the center in the width direction. A third icon portion 66C is displayed.

When it is necessary to warm up the position detection device 40 when the screen switching switch 54 is operated, a warm-up screen indicating warm-up as shown in FIG. 13 is displayed on the display device 45. When the warm-up is completed, the display device 45 switches to the guidance screen M4 shown in FIG. 12A.
As described above, in the guidance screen M4, the setting of the traveling reference line L1 can be performed with an explanation. That is, although the driving reference line L1 can be set also on the driving screen M2, the display device 45 displays the guidance screen M4 separately from the driving screen M4, so the driver does not know the setting of the automatic steering. However, the driving reference line L1 can be set on the guidance screen M4.

When the driving reference line L1 and the like are set by the instruction regarding driving on the guidance screen M4, the operation screen M1 and M2 are switched to the driving screen M1 and M2, respectively. The fact that the start point P10 has been set and the end point P11 has been set is displayed by the second icon portion 66B and the third icon portion 66C.
In addition, as shown in FIGS. 12A to 12C, when the automatic steering conditions are not satisfied after setting the travel reference line L1 on the guidance screen M4, the display device 45 is displayed as shown in FIGS. 9A to 9D. Then, the screen displayed on the variable display section 46B is switched from the guidance screen M4 to the guidance screen M3. In addition, after the display device 45 switches the screen displayed on the variable display unit 46B from the guidance screen M4 to the guidance screen M3, if the conditions for automatic steering are satisfied, as shown in FIG. 14A, the guidance screen M4 is displayed again. Display

  As shown in FIG. 14A, when the driving reference line L1 is set and the automatic steering conditions are satisfied, the fourth icon portion 66D is displayed on the guidance screen M4 in addition to the second icon portion 66B and the third icon portion 66C. Is done. Also, in the situation where the start of the automatic steering is not performed, the message display section 77 of the guidance screen M4 indicates that the automatic steering can be started by the steering changeover switch 52, for example, "turn on the GS function "Is displayed. Also, in the situation where the start of the automatic steering is not performed, an arrow portion 83 is displayed on the guidance screen M4. An arrow portion 83 is located in the vicinity of the steering wheel display portion 68 and the switching display portion 78, and indicates the operation direction of the steering switching switch 52 for instructing the start of the automatic steering. As shown in FIG. 14A, in the situation where the conditions for automatic steering are satisfied and the start of automatic steering is not performed, the message display unit 77 and the arrow portion 83 shown on the guidance screen M4 It becomes an instruction display unit indicating that the start is possible. In addition, the display method of the message display part 77 and the arrow part 83 is not limited to embodiment mentioned above. Although both the message display unit 77 and the arrow portion 83 are shown as the instruction display unit, the instruction display unit may be either the message display unit 77 or the arrow portion 83.

When the driver starts the automatic steering by operating the steering selector switch 52, the display state of the guidance screen M4 changes to the state shown in FIGS. 14B and 14C. As shown in FIGS. 14B and 14C, the driving display unit 61 and the steering wheel display unit 68 are displayed on the guidance screen M4 even after the automatic steering is started.
As shown in FIGS. 14B and 14C, after the start of the automatic steering, a message display unit 82 is displayed on the guidance screen M4 in addition to the message display unit 77. The message display unit 82 displays that the automatic steering is to be stopped (ended) by operating the steering changeover switch 52, for example, "function stop on lever operation" is displayed. After the start of the automatic steering, an arrow portion 81 is displayed on the guidance screen M4. An arrow portion 81 is located in the vicinity of the steering wheel display portion 68 and the switching display portion 78, and indicates the operation direction of the steering switching switch 52 for instructing the end of the automatic steering.

  Further, when the correction switch 53 is operated in a situation where automatic steering is being performed, the display device 45 displays the correction amount of the vehicle body position, that is, the correction display unit 71 on the guidance screen M4. The correction display unit 71 displayed on the guidance screen M4 is the same as the correction display unit 71 displayed on the operation screen M2, and displays the number of operations as a correction amount. Further, the correction display unit 71 displayed on the guidance screen M4 also includes the first correction display unit 72 and the second correction display unit 73. As shown in FIG. 14B, the first correction display unit 72 of the guidance screen M4 is displayed on the left side of the message display unit 82 when the first correction unit 53A is operated during automatic steering. As shown in FIG. 14C, the second correction display unit 73 is displayed on the right side of the message display unit 82 when the second correction unit 53B is operated during automatic steering. Although the first correction display unit 72 of the guidance screen M4 includes the arrow portion 74A and the numerical value portion 75A, the second correction display portion 73 of the guidance screen M4 includes the arrow portion 74B and the numerical value portion 75B. Since the operation screen is the same as the operation screen M2, the description is omitted.

When the operation of the steering changeover switch 52 is performed and automatic steering is finished in a state where the display device 45 displays either the guidance screen M4 of FIG. 14B or 14C, the automatic steering is finished on the guidance screen M4. A message is displayed to return to either the guidance screen M4 shown in FIG. 14A or the operation screen M1 shown in FIG. 6A.
Now, as described above, the display device 45 can display the conditions for maintaining the traveling such as the automatic steering after the traveling conditions such as the automatic steering are satisfied. Specifically, the display device 45 displays a guidance screen M4 for maintaining the automatic steering during the automatic steering. As shown in FIGS. 14B and 14C, when the vehicle speed of the tractor 1 (the vehicle body 3) becomes equal to or more than a predetermined speed in a situation where automatic steering is performed while displaying the guidance screen M4 shown in FIGS. 14B and 14C. The guidance screen M4 is switched to the guidance screen M4 of FIG. 15A. The message display unit 77 of the guidance screen M4 in FIG. 15A displays the state of the tractor 1 during automatic steering, that is, the fact that the vehicle speed is exceeded. Further, the message display unit 82 of the guidance screen M4 displays a message indicating that the vehicle speed is to be decreased, "speed is over. Please decrease the speed," as a condition for maintaining the automatic steering. Further, the driving display unit 61 of the guidance screen M4 includes a vehicle speed display unit 90. The vehicle speed display unit 90 displays the current vehicle speed, that is, the vehicle speed during automatic steering in numbers. When the driver decreases the vehicle speed of the tractor 1 (the vehicle body 3) to the vehicle speed or less determined by the automatic steering by the operation of the accelerator or the like, the guidance screen M4 switches to the guidance screen M4 shown in FIGS. 14B and 14C again. .

  When the vehicle speed of the tractor 1 (the vehicle body 3) becomes zero in a situation where automatic steering is performed while displaying the guidance screen M4 shown in FIGS. 14B and 14C, the guidance screen M4 shown in FIGS. 14B and 14C. Switches to the guidance screen M4 of FIG. 15B. The message display unit 77 of the guidance screen M4 in FIG. 15B displays the state of the tractor 1 during automatic steering, that is, the fact that the vehicle speed is zero. In addition, the message display unit 82 of the guidance screen M4 displays a message that the vehicle speed is set to be greater than zero as a condition for maintaining the automatic steering, and displays "the vehicle is stopped. Please recover the speed". When the driver makes the vehicle speed of the tractor 1 (the vehicle body 3) greater than zero by an operation such as an accelerator, the guidance screen M4 switches to the guidance screen M4 shown in FIGS. 14B and 14C again.

  In the embodiment described above, while the guidance screen M4 displayed after the start of the automatic steering is displayed, FIGS. 15A and 15B are shown as the screens showing the conditions for maintaining the automatic steering, but the driving of FIGS. When automatic steering is performed while the screen M2 is displayed, when the vehicle speed exceeds a predetermined speed or when the vehicle speed becomes zero, the screen displayed on the variable display unit 46B is displayed from the driving screen M2. You may switch to the guidance screen M4 of 15A or the guidance screen M4 of FIG. 15B. After the screen displayed on the variable display unit 46B is switched to the guidance screen M4 of FIG. 15A and the guidance screen M4 of FIG. 15B, when the conditions for maintaining the automatic steering are satisfied, the guidance screen M4 is switched to the driving screen M2.

  The work vehicle 1 includes a travelable vehicle body 3, a steering handle 30 for steering the vehicle body 3 by a rotation operation, and a position detection that is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on a positioning satellite signal. Device 40, correction switch 53 for commanding correction of the position of vehicle body 3 detected by position detection device 40, corrected vehicle body position that is the position of vehicle body 3 corrected by operation of correction switch 53, and planned travel line L2 And an automatic steering mechanism 37 for automatically steering the vehicle body 3 based on the above. According to this, when the position (computed car body position W1) of the car body 3 detected by the position detection device 40 deviates from the actual position W2 of the working vehicle 1 (car body 3) such as the actual tractor 1 due to various influences. Even if it is, by correcting the position of the vehicle body 3 (vehicle body position) by the correction switch 53 after the start of the automatic steering, it is possible to travel along the vehicle body 3 and the planned travel line L2. That is, since the calculated vehicle body position W1 can be corrected by the correction switch 53, the influence of the detection accuracy by the position detection device 40 can be reduced.

  The correction switch 53 includes a first correction unit 53A that commands correction of the position of the vehicle body 3 on one side in the width direction of the vehicle body 3, and a second that commands correction of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. The correction part 53 is included. According to this, even when the calculated vehicle body position W1 shifts to one side or the other side, the first correction unit 53A and the second correction unit 53B easily calculate the calculated vehicle position W1 in the direction of the shift. It can be corrected.

The correction switch 53 is connected, and the control device 60 controls the automatic steering mechanism 37. The control device 60 sets the correction amount of the position of the vehicle body 3 based on the number of times of operation of the correction switch 53. According to this, the driver can change the correction amount only by increasing or decreasing the number of times the correction switch 53 is operated.
The control device 60 sets the correction amount of the position of the vehicle body 3 based on the operation amount of the correction switch 53. According to this, the driver can change the correction amount only by adjusting the operation amount of the correction switch 53.

The work vehicle 1 is provided with a steering changeover switch 52 that switches between automatic steering and manual steering. According to this, it is possible to simplify switching between automatic steering for causing the vehicle body 3 to travel along the planned travel line L2 and manual steering for causing the driver to travel the vehicle body 3 using the steering wheel 30.
In addition, the work vehicle 1 includes a steering handle 30, a vehicle body 3 capable of traveling by manual steering by the steering handle 30, and automatic steering of the steering handle 30 based on a planned travel line, and at least before start of the automatic steering. A setting switch 51 for switching the setting mode for setting to valid or invalid, and a driving display unit 61 for displaying driving information when the vehicle body 3 travels, and the driving display unit when the setting mode is effectively switched And a display device 45 for changing the display state of the display unit 61 to a display state different from that of the setting mode being invalid. According to this, in the vehicle body 3 capable of performing the manual steering and the automatic steering, the driver can easily perform the setting before the automatic steering only by looking at the driving display unit 61. It can be easily grasped.

  The work vehicle 1 includes the prime mover 4, the operation display unit 61 includes a rotation display unit 62 that displays the number of rotations of the prime mover as operation information, and the display device 45 sets the color of the rotation display unit 62 in the setting mode. Change the mode to a different color from disabled. According to this, it is possible to indicate whether the setting mode is effective or invalid depending on the difference in color of the number of rotations of the prime mover that the driver pays particular attention to when driving. In other words, it is possible to quickly make the driver notice that the setting mode is effective.

The rotation display unit 62 includes a level display unit 63 that displays the number of rotations of the motor stepwise and a number display unit 64 that displays the number of rotations of the motor by numbers. According to this, the driver can easily grasp whether the setting mode is valid or invalid when looking at at least any one of the level display unit 63 and the number of revolutions of the prime mover.
The work vehicle 1 is provided on a vehicle body 3 and a position detection device 40 for detecting the position of the vehicle body 3 based on a signal of a positioning satellite, and a correction switch 53 for correcting the position of the vehicle body 3 detected by the position detection device 40 And the drive display unit 61 includes a correction display unit 71 that displays the correction amount of the position of the vehicle body 3 by the correction switch 53 as the drive information, and the display device 45 displays the correction display unit 71 in the setting mode. . According to this, the driver can simultaneously grasp the driving information displayed on the driving display unit 61 and the correction amount displayed on the correction display unit 71, and can easily grasp the state of automatic steering.

  The correction display unit 71 displays the number of operations of the correction switch 53 as a correction amount. According to this, it is possible to easily grasp how much the calculated vehicle body position W1 is corrected only by looking at the number of times of operation of the correction switch 53 displayed on the correction display unit 71 by the driver. The correction display unit 71 displays the magnitude of the correction amount in stages. According to this, it is possible to easily grasp how much the calculated vehicle body position W1 has been corrected only by looking at the step of the magnitude of the correction amount displayed on the correction display unit 71 by the driver.

  The correction display unit 71 displays the correction amount of the position of the vehicle body 3 on the one side in the width direction of the vehicle body 3 and the correction amount of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. And a second correction display unit 73 to be displayed. According to this, the operating correction amount W1 for one side or the other side in the width direction of the vehicle body 3 is only when the driver looks at either the first correction display portion 72 or the second correction display portion 73. You can easily understand what you are doing.

  The work vehicle 1 includes a display device 45. The display device 45 includes a steering wheel display portion 68 indicating the steering wheel 30, and a driving display portion 61 displaying driving information when the vehicle body 3 is traveling, and the steering wheel The display unit 68 and the operation display unit 61 are displayed on the same screen. According to this, since the steering wheel display unit 68 and the driving display unit 61 are displayed on the same screen, when performing either automatic steering or manual steering, the state and driving information regarding the steering wheel 30 can be grasped simultaneously can do. That is, the driver can easily grasp the steering of the steering wheel. For example, by looking at the driving display unit and the steering wheel display unit displayed on the same screen, the driver can check the driving information at the time of driving and the steering wheel steering at the time of either manual steering or automatic steering. You can maneuver while grasping both.

  The steering wheel display unit 68 and the driving display unit 61 are displayed on a guidance screen that instructs to change the direction of the vehicle body 3 at least before the start of automatic steering. According to this, when it is necessary to change the direction of the vehicle body 3 before the start of the automatic steering, the driver steers the steering wheel 30 while looking at the steering wheel display portion 68 while steering the steering wheel 30 The driving information of the above can be determined from the driving display unit 61.

  The display device 45 has a steering instruction unit 69 which is displayed on the same screen and which indicates the steering direction of the vehicle body 3. According to this, the driver can view the steering wheel indicator 68 and the steering indicator 69 simultaneously on the same screen, and it is necessary to steer the steering wheel 30 from the steering wheel indicator 68, and the steering direction of the steering wheel 30 Can easily grasp which direction it is.

  The display device 45 includes a message display unit 70 that displays a message that is displayed on the same screen and that explains the steering of the vehicle body 3. According to this, the driver can simultaneously view the steering wheel display unit 68 and the message display unit 70 on the same screen, and it is necessary to steer the steering wheel 30 from the steering wheel display unit 68, the steering of the message display unit 70 You can easily understand about

The steering direction of the steering wheel display unit 68 is changed in accordance with an instruction of the steering direction. According to this, the driver can grasp the steering direction of the steering wheel 30 only by looking at the steering wheel indicator 68.
The work vehicle 1 is provided with a setting switch 51 for switching to at least a setting mode for performing setting before starting automatic steering, and in the setting mode, the steering wheel display unit 68 and the operation display unit 61 are displayed on the same screen. According to this, the setting before the start of the automatic steering can be easily performed while looking at the steering wheel display unit 68 and the operation display unit 61.

  The display device 45 includes a steering changeover switch 52 that switches the start or end of automatic steering in the setting mode, and the display device 45 includes an instruction display unit that indicates that the steering changeover switch 52 can start automatic steering. ing. According to this, the driver can grasp whether or not the automatic steering can be performed only by looking at the instruction display unit displayed on the display device 45, and the automatic steering can be performed. In this case, the start of the automatic steering can be easily switched by the steering changeover switch 52.

  The work vehicle 1 includes a vehicle body 3 that can travel, a steering handle 30 that steers the vehicle body 3, a driving screen that displays driving information when the vehicle body 3 is traveling, and a guidance screen that displays commands related to traveling of the vehicle body 3. The display device 45 displays at least a part of the operation information displayed on the operation screen on the guidance screen. According to this, when the driver performs setting relating to traveling of the vehicle body 3 while viewing the guidance screen, the driving information is displayed on the guidance screen, so that setting relating to traveling can be easily performed. In other words, even while looking at the guidance screen, the driver can easily drive.

The work vehicle 1 includes the motor 4, and the display device 45 displays the number of rotations of the motor as driving information on the guidance screen. According to this, since the number of rotations of the prime mover important for driving the work vehicle 1 is displayed on the guidance screen, the driver can drive the work vehicle 1 while seeing the number of rotations of the prime mover on the guidance screen. .
The work vehicle 1 includes a driver's seat 10, and the display device 45 is provided in front of the driver's seat 10 and at a position corresponding to the steering wheel 30. According to this, in a state where the driver usually sits in the driver's seat 10 to drive, it is possible to see the guidance screen displayed on the display device 45, and it is possible to drive while grasping the information on the guidance screen. .

The display device 45 displays on the guidance screen message display units 70 and 77 indicating commands (contents) in characters and a driving display unit 61 indicating driving information. According to this, it is possible to perform the operation corresponding to the message display units 70 and 77 while looking at both the information of the message display units 70 and 77 and the operation information displayed on the operation display unit 61.
The work vehicle 1 includes a vehicle body 3 capable of traveling, a steering handle 30 for steering the vehicle body 3, and a display device 45 capable of displaying a guidance screen for displaying a command for adjusting the traveling condition of the vehicle body 3 at least. . According to this, when it is necessary to prepare traveling conditions in the work vehicle 1 and travel, the driver can easily arrange the traveling conditions only by looking at the guidance screen.

  The display device 45 displays a guidance screen before the start of automatic steering, and displays a steering instruction unit 69 indicating the steering direction of the vehicle body 3 corresponding to the traveling condition on the guidance screen. According to this, when it is necessary to adjust the traveling conditions before the start of the automatic steering, the driver can steer the vehicle in order to adjust the traveling conditions of the automatic steering only by looking at the steering instruction unit 69 displayed on the guidance screen. It can be carried out.

  The display device 45 displays a guidance screen before the start of automatic steering, and displays a steering wheel display unit 68 indicating the steering handle 30 facing the steering direction of the vehicle body 3 corresponding to the traveling condition on the guidance screen. According to this, when it is necessary to adjust the traveling conditions before the start of the automatic steering, the driver simply looks at the steering wheel display portion 68 of the guidance screen, and the steering wheel is steered in the steering direction indicated by the steering wheel display portion 68 It can be easily grasped that the steering condition of the automatic steering can be adjusted by steering 30 and it is easy to set the traveling condition of the automatic steering.

  The work vehicle 1 is provided with a steering switching switch 52 for switching between manual steering and automatic steering, and the display device 45 displays on the guidance screen a command to switch the steering switching switch 52 to automatic steering when traveling conditions in traveling are satisfied. . According to this, the driver can easily grasp that the automatic steering can be performed at the stage when the command to switch the steering selector switch 52 to the automatic steering is displayed.

When traveling is started after the traveling conditions of the vehicle body 3 are adjusted, the display device 45 displays the conditions for maintaining the traveling. According to this, even after the traveling of the vehicle body 3 is started, the condition for maintaining the traveling can be adjusted.
The display device 45 displays a condition for maintaining the automatic steering as a condition for maintaining the traveling after the start of the automatic steering. According to this, even after the automatic steering of the vehicle body 3 is started, the condition for maintaining the automatic steering can be adjusted.

The display device 45 displays driving information of the vehicle body 3 on the guidance screen at the time of automatic steering. According to this, it is possible to grasp the driving situation at the time of automatic steering on the guidance screen.
The work vehicle 1 is provided on the vehicle body 3 and a position detection device 40 for detecting the position of the vehicle body 3 based on the signal of the positioning satellite, and a correction for instructing correction of the position of the vehicle body 3 detected by the position detection device 40 The display device 45 includes a switch 53, a corrected vehicle body position which is a position of the vehicle body 3 corrected by the operation of the correction switch 53, and an automatic steering mechanism 37 for automatically steering the vehicle body 3 based on the planned travel line L1. The correction amount of the position of the vehicle body 3 by the correction switch 53 is displayed on the guidance screen. According to this, automatic steering can be performed while displaying the guidance screen.
<About steering switch>
In the embodiment described above, when the vehicle body 3 is automatically steered based on the corrected vehicle body position obtained by correcting the calculated vehicle body position detected by the position detection device 40 and the planned travel line, the vehicle body is corrected by the correction switch 53 for correcting the calculated vehicle body position. The steering of 3 can be changed. That is, the correction switch 53 functions as a steering switch for steering the vehicle body 3 separately from the steering wheel 30. That is, the work vehicle 1 is provided with a steering switch. The description of the steering switch may be replaced with the steering switch 53 in the above-described embodiment, and the description of the steering switch is omitted. The first correction unit 53A may be replaced with the first steering unit, and the second correction unit 53B may be replaced with the second steering unit, and the description of the first steering unit and the second steering unit will be omitted.

That is, the work vehicle 1 includes the vehicle body 3 capable of traveling, the steering handle 30 for steering the vehicle body 3 by the rotation operation, and the steering switch for steering the vehicle body 3 separately from the steering handle 30. . Therefore, the driver can steer the work vehicle 1 without operating the steering wheel 30 only by operating the steering switch.
The steering switch is a switch for steering the vehicle body 3 by a pressing operation or a sliding operation. According to this, it is possible to easily steer the vehicle body 3 by the driver performing either the pressing operation of the steering switch or the slide operation.

  The steering switch is provided around the steering wheel 30. According to this, the driver can quickly change from the operation of the steering wheel 30 to the steering by the steering switch. In other words, the driver can travel the work vehicle 1 while easily using both the steering by the steering wheel 30 and the steering by the steering switch. The work vehicle 1 includes a steering shaft 31 which rotatably supports the steering handle 30, and a steering switch is provided around the steering handle 30. According to this, the driver can quickly change from the operation of the steering 30 to the steering by the steering switch.

The steering switch includes a first steering unit that steers the vehicle body 3 to one side, and a second steering unit that steers the vehicle body 3 to the other. Therefore, the driver can steer the vehicle body 3 to one side by operating the first steering unit by pressing operation or sliding, and operating the second steering unit by pressing operation or sliding. And the vehicle body 3 can be steered to the other.
The work vehicle 1 is provided on the vehicle body 3, and the vehicle body 3 is detected based on the position detection device 40 which detects the position of the vehicle body 3 based on the signal of the positioning satellite, and the vehicle body 3 detected by the position detection device 40. The steering switch instructs correction of the position of the vehicle body 3 detected by the position detection device 40 when the pressing or sliding operation is performed, and the automatic steering mechanism The vehicle body 3 is automatically steered based on the corrected vehicle body position which is the position of the vehicle body 3 corrected by the pressing operation of the steering switch or the slide operation, and the planned traveling line. According to this, when the automatic steering is performed by the automatic steering mechanism, the steering direction at the time of the automatic steering can be easily changed by steering the steering switch.

FIG. 19 is a view showing a control block diagram in a modification of the working vehicle provided with the steering switch. The description of the same configuration as that of the embodiment described above in FIG. 19 will not be repeated.
The tractor 1 is provided with a steering switch 153. The steering switch 153 is configured of a pushable push switch or a slidable slide switch. Hereinafter, the case where the steering switch 153 is a push switch and a slide switch will be described.

  When the steering switch 153 is a push switch, the steering amount is set based on the number of times of operation of the push switch. The steering amount is determined by the steering amount = operation number × the steering amount per one operation number. When the steering switch 153 is a slide switch, the steering amount is set based on the operation amount (displacement amount) of the slide switch. For example, the steering amount is determined by the steering amount = the amount of displacement from the predetermined position. The above-described method of increasing the amount of steering and the rate of increase are not limited to the above-described values.

The steering switch 153 has a first steering unit 153A and a second steering unit 153B. The first steering unit 153A is a portion that sets one side in the width direction of the vehicle body 3, that is, the left steering. The second steering portion 153B is a portion that sets the other side in the width direction of the vehicle body 3, that is, the right side steering.
When the steering switch 153 is a push switch, the first steering unit 153A and the second steering unit 153B are ON or OFF switches that automatically return each time an operation is performed. The switch constituting the first steering unit 153A and the switch constituting the second steering unit 153B are integrated. The switches constituting the first steering unit 153A and the switches constituting the second steering unit 153B may be disposed apart from each other. Each time the first steering unit 153A is pressed, the steering amount (left steering amount) corresponding to the left side of the vehicle body 3 increases. Further, each time the second steering unit 153B is pressed, the steering amount (right steering amount) corresponding to the right side of the vehicle body 3 increases.

  When the steering switch 153 is a slide switch, the first steering unit 153A and the second steering unit 153B include a knob that moves left or right along the longitudinal direction of the long hole. When the steering switch 153 is a slide switch, the first steering unit 153A and the second steering unit 153B are disposed apart from each other in the width direction. When the knob portion is gradually displaced to the left from a predetermined reference position, the left steering amount is increased according to the displacement amount. In addition, when the knob is gradually displaced to the right from a predetermined reference position, the right steering amount increases according to the displacement amount. In the case of a slide switch, the first steering unit 153A and the second steering unit 153B are integrally formed, the reference position of the knob is set at the center, and the left steering is performed when moving from the reference position to the left. The amount may be set, and the right steering amount may be set when the knob is moved from the middle position to the right.

In the tractor 1, the steering mechanism 137 is a mechanism that rotates (turns) the steering shaft 31 based on the steering of the steering switch 153. The steering mechanism 137 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 and the gear mechanism 39 are the same as those in the embodiment described above.
A fourth controller 60D is provided. The fourth control device 60D controls the steering motor 38 based on the operation of the steering switch 153. When the first steering unit 153A is operated, the fourth control device 60D sets the rotation amount (rotation angle) of the steering shaft 31 corresponding to the left steering amount set by the first steering unit 153A. The rotation shaft of the steering motor 38 is rotated so that the steering direction of the tractor 1 is in the left direction. When the second steering unit 153B is operated, the fourth control device 60D sets the rotation amount (rotation angle) of the steering shaft 31 corresponding to the right steering amount set by the second steering unit 153B. The rotation shaft of the steering motor 38 is rotated such that the steering direction of the tractor 1 is in the right direction. Thus, by operating the steering switch 153, the tractor 1 can be steered to the left or right. In the above-described modification, the steering motor 38 is rotated by the steering mechanism 137. However, instead of this, the control valve 34 is constituted by a control valve with a solenoid valve or the like capable of setting the movement amount of the spool, The fourth control device 60D may steer the tractor 1 by controlling the switching position and the opening degree of the control valve 34 in accordance with the left steering amount or the right steering amount.

  It should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is indicated not by the above description but by claims, and is intended to include all modifications within the meaning and scope equivalent to claims.

DESCRIPTION OF SYMBOLS 1 Work vehicle 3 Car body 30 Steering handle 37 Automatic steering mechanism 40 Position detection apparatus 45 Display apparatus 46 Display part 53 Correction switch 68 Steering display part 69 Steering instruction part L2 Scheduled travel line M3, M4, M5 Guidance screen

Claims (8)

A car body that can travel,
A steering wheel for steering the vehicle body;
A display device capable of displaying at least a guidance screen for displaying a command for adjusting the traveling condition of the vehicle body;
Work vehicle equipped with. The vehicle body can travel by either manual steering with the steering wheel or automatic steering of the steering wheel based on a planned travel line.
2. The display device according to claim 1, wherein the display device displays the guidance screen before the start of the automatic steering, and displays a steering instruction unit indicating a steering direction of the vehicle body corresponding to the traveling condition on the guidance screen. Work vehicle. The vehicle body can travel by either manual steering with the steering wheel or automatic steering of the steering wheel based on a planned travel line.
The display device displays the guidance screen before the start of the automatic steering, and displays a steering wheel display unit indicating the steering handle facing the steering direction of the vehicle body corresponding to the traveling condition on the guidance screen. The work vehicle according to claim 1 or 2. It has a steering selector switch that switches between the manual steering and the automatic steering,
The work vehicle according to claim 2 or 3, wherein the display device displays an instruction to switch the steering switch to the automatic steering on the guidance screen when traveling conditions in the traveling are satisfied.   The work vehicle according to any one of claims 2 to 4, wherein the display device displays driving information of the vehicle body on the guidance screen at the time of the automatic steering.   The work vehicle according to any one of claims 1 to 5, wherein the display device displays a condition for maintaining the traveling when the traveling is started after the traveling condition of the vehicle body is adjusted.   The work vehicle according to claim 6, wherein the display device displays a condition for maintaining the automatic steering as a condition for maintaining the traveling after the start of the automatic steering. A position detection device provided on the vehicle body and detecting a position of the vehicle body based on a signal of a positioning satellite;
A correction switch for instructing correction of the position of the vehicle body detected by the position detection device;
An automatic steering mechanism that automatically steers the vehicle based on a corrected vehicle position, which is a position of the vehicle corrected by the operation of the steering switch, and a planned travel line;
With
The work vehicle according to claim 1, wherein the display device displays a correction amount of the position of the vehicle body by the correction switch on the guidance screen.

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