JP7125206B2 - work vehicle - Google Patents

Description

The present invention relates, for example, to work vehicles.

Conventionally, patent document 1 is known as an agricultural working machine. The agricultural work machine of Patent Document 1 includes a traveling machine body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line set parallel to a reference traveling line, and manual traveling and automatic traveling. and a changeover switch that can freely switch between running and running. In addition, the starting point of the reference travel line is set after pressing the right instruction button while the agricultural implement is traveling along the ridge, and the end point of the reference travel 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 implement disclosed in Patent Document 1, automatic travel can be easily performed by switching from manual travel to automatic travel using a changeover switch. In automatic driving, the agricultural implement travels along the reference travel line. is greatly deviated, the behavior of the agricultural implement during initial running may not be stable. In particular, when the agricultural implement is running on a slope, etc., the orientation of the agricultural implement is likely to change.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work vehicle that can stably travel when the manual steering is switched to the automatic steering.

The technical means of the present invention for solving this technical problem are characterized by the following points.
A work vehicle includes a steering device having a steering handle, a vehicle body capable of being driven by either manual steering by the steering handle, or automatic steering by the steering handle based on a driving reference line, and a direction of the vehicle body capable of being detected. a positioning device, an inclination detection device for detecting an inclination of the vehicle body, and permission of the automatic steering when a difference between the orientation of the vehicle body detected by the positioning device and the orientation of the driving reference line is within a determination range. and a control device that performs the automatic steering by the steering device when the permission is granted, wherein the determination range is a reference line where the orientation of the vehicle body and the orientation of the traveling reference line match. It is a range ranging from a lower limit value set on one side of the center and an upper limit value set on the other side opposite to the one side with respect to the reference line, and the control device controls the width direction of the vehicle body. is higher than the other side in the width direction, the absolute value of the lower limit value of the determination range is increased according to the inclination of the vehicle body detected by the inclination detection device. change to allow

The control device makes the upper limit of the determination range smaller than the upper limit of a predetermined standard range.

a steering device having a steering handle; a vehicle body capable of traveling by either manual steering by the steering handle or automatic steering of the steering handle based on a driving reference line; and a positioning device capable of detecting the direction of the vehicle body; allowing the automatic steering when the difference between the orientation of the vehicle body detected by the inclination detection device for detecting the inclination of the vehicle body and the orientation of the driving reference line detected by the positioning device is within a determination range; and a control device for performing the automatic steering by the steering device when the permission is granted, wherein the determination range is centered on a reference line on which the orientation of the vehicle body and the orientation of the driving reference line coincide, and on the other hand. and an upper limit value set on the other side opposite to the one side with respect to the reference line. When the vehicle body is tilted lower than the other side in the width direction, the upper limit value of the determination range is increased according to the tilt of the vehicle body detected by the tilt detection device.
The control device makes the absolute value of the lower limit of the determination range smaller than the lower limit of a predetermined standard range.

The work vehicle includes a steering changeover switch for switching between starting and ending the automatic steering, and the control device controls the start of the automatic steering by the steering changeover switch in a state where the automatic steering is permitted. When the switching is performed, the automatic steering by the steering device is started.
The work vehicle is equipped with a display device that displays whether the orientation difference between the orientation of the vehicle body detected by the positioning device and the orientation of the traveling reference line is within a determination range.

The work vehicle includes a reference line setting switch for setting the position of the vehicle body detected by the positioning device to the start position and end position of the travel reference line.

According to the present invention, the vehicle can be stably driven when the manual steering is switched to the automatic steering.

It is a figure which shows the structure of a tractor, and a control block diagram. It is an explanatory view explaining automatic steering. It is an explanatory view explaining the amount of correction in a push switch. FIG. 5 is an explanatory diagram for explaining correction amounts in a slide switch; It is a figure which shows the 1st correction|amendment part and the 2nd correction|amendment part in a push switch. It is a figure which shows the 1st correction|amendment part and the 2nd correction|amendment part in a slide switch. The figure shows a state in which the calculated vehicle body position deviates to the right while the vehicle is traveling straight under automatic steering. This shows the state when the calculated vehicle body position deviates to the left while the vehicle is traveling straight under automatic steering. It is the figure which looked at the cover ahead of the driver's seat from the driver's seat side. FIG. 4 is an explanatory diagram for explaining control in automatic steering; FIG. 4 is an explanatory diagram of automatic steering conditions; FIG. 10 is a diagram showing a relationship between an orientation difference ΔF and a determination range G1; FIG. 10 is an explanatory diagram illustrating an example of changing the lower limit value of the determination range G1 when the tractor is sloping to the right; FIG. 10 is an explanatory diagram illustrating an example of changing the upper limit value of the determination range G1 when the tractor is sloping to the left; FIG. 10 is an explanatory diagram illustrating an example of changing the upper limit value of the determination range G1 when the tractor is downward sloping. FIG. 12 is an explanatory diagram illustrating an example of changing the lower limit value of the determination range G1 when the tractor is sloping to the left; It is a figure which shows an example of the operation screen M1. FIG. 11 is a diagram showing an example of an orientation screen M2; FIG. 10 is a diagram showing an orientation screen M2 when a vehicle orientation F1 and a line orientation F2 match; FIG. 10 is a diagram showing an orientation screen M2 when the vehicle body orientation F1 is slightly deviated to the left with respect to the line orientation F2; FIG. 10 is a diagram showing an orientation screen M2 when the vehicle body orientation F1 is slightly deviated to the right with respect to the line orientation F2; FIG. 10 is a diagram showing an orientation screen M2 when the vehicle body orientation F1 deviates significantly to the left with respect to the line orientation F2; FIG. 10 is a diagram showing an orientation screen M2 when the vehicle body orientation F1 deviates significantly to the right with respect to the line orientation F2; It is a figure which shows the detail of a scale part. 1 is an overall view of a tractor; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
16 is a side view showing one embodiment of the work vehicle 1, and FIG. 16 is a plan view showing one embodiment of the work vehicle 1. FIG. In this embodiment, 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 harvester or a transplanter, or a construction machine (construction vehicle) such as a loader working machine.

Below, the front side of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 (arrow A in FIG. 16)
1 direction) is the front, the rear side of the driver (direction of arrow A2 in FIG. 16) is the rear, the left side of the driver is the left side, and the right side of the driver is the right side. Also, the horizontal direction, which is the direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the width direction of the vehicle body.
As shown in FIG. 16 , the tractor 1 includes a vehicle body 3 , a prime mover 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 front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. Also, the rear wheel 7R may be of a tire type or a crawler type.

The prime mover 4 is a diesel engine, an electric motor, or the like, and is configured by a diesel engine in this embodiment. The transmission device 5 can switch the driving force of the traveling device 7 by changing speed, and can switch the traveling device 7 between forward and reverse. A driver's seat 10 is provided in the vehicle body 3 .
A connecting portion 8 configured by a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3 . A working device can be attached to and detached from the connecting portion 8 . By connecting the working device to the connecting portion 8 , the working device can be towed by the vehicle body 3 . The work equipment includes a tillage device for tilling, a fertilizer spraying device for spraying fertilizer, an agricultural chemical spraying device for spraying agricultural chemicals, a harvesting device for harvesting, a reaper for cutting pasture, a spreading device for spreading pasture, and a sprayer for pasture. It is a grass collection device that collects grass such as grass, a forming device that forms pasture grass, and the like.

As shown in FIG. 1, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission portion 5b, an auxiliary transmission portion 5c, a shuttle portion 5d, a PTO power transmission portion 5e, a front transmission portion 5f, It has The propelling 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 propelling shaft 5a. The main transmission portion 5b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission section 5b changes the rotation input from the propulsion shaft 5a and outputs it (changes speed) by appropriately changing the connection (engagement) of a plurality of gears with a shifter.

The auxiliary transmission portion 5c has a plurality of gears and a shifter for changing the connection of the gears, like the main transmission portion 5b. The sub-transmission portion 5c appropriately changes the connection (engagement) of a plurality of gears with a shifter, thereby changing and outputting (shifting) the rotation input from the main transmission portion 5b.
The shuttle portion 5 d has a shuttle shaft 12 and a forward/reverse switching portion 13 . Power output from the auxiliary transmission portion 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward/reverse switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward/reverse of the tractor 1, by turning on/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 wheels 7R are attached.

The PTO power transmission section 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 composed of, for example, a hydraulic clutch or the like, and the power of the propelling shaft 5a is transmitted to the PTO propelling shaft 14 or not transmitted to the PTO propelling shaft 14 by turning on or off the hydraulic clutch. state.

The front transmission portion 5 f has a first clutch 17 and a second clutch 18 . The first clutch 17 and the second clutch can transmit power from the propulsion shaft 5a, for example, the power of the shuttle shaft 12 is transmitted via gears and transmission shafts. Power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21</b>F via the front transmission shaft 22 . Specifically, the front transmission shaft 22 is connected to a front wheel differential device 20F, and the front wheel differential device 20F rotatably supports a front axle 21F to which the front wheels 7F are attached.

The first clutch 17 and the second clutch 18 are composed of hydraulic clutches or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from a hydraulic pump is supplied. The first clutch 17 switches between a connected state and a disconnected state depending on the degree of opening of the first operating valve 25 . An oil passage is connected to the second clutch 18 , and the oil passage is connected to a second operating valve 26 . The second clutch 18 switches between a connected state and a disconnected state depending on 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 electromagnetic valves, and are switched between a connected state and a disconnected state by energizing or demagnetizing the solenoids of the electromagnetic valves.

When the first clutch 17 is in the disengaged state and the second clutch 18 is in the engaged state, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18 . As a result, four-wheel drive (4WD) is achieved in which the front and rear wheels are driven by power, and the rotational speeds of the front and rear wheels are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is in the engaged state and the second clutch 18 is in the disengaged state, four-wheel drive is established and the rotation speed of the front wheels becomes faster than the rotation speed of the rear wheels (4WD acceleration state). Further, when the first clutch 17 and the second clutch 18 are disengaged, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, so that the rear wheels are driven by the power, resulting in two-wheel drive (2WD).

The tractor 1 has a positioning device 40 . The positioning device 40 can detect its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (for example, latitude and longitude) based on the satellite signal. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42 . The receiving device 41 is a device that has an antenna or the like and receives satellite signals 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 . Note that the mounting location of the receiving device 41 is not limited to the embodiment.

The inertial measurement device 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The roll angle, pitch angle, yaw angle, etc. 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 .
As shown in FIG. 1 , the tractor 1 has a steering device 11 . The steering device 11 is a device capable of manual steering in which the vehicle body 3 is steered by a driver's operation and automatic steering in which the vehicle body 3 is automatically steered without being operated by the driver.

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

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

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

Specifically, before automatic steering is performed, the tractor 1 (body 3) is moved to a predetermined position in the field (S1), and the driver operates the steering switch 52 provided on the tractor 1 at the predetermined position. Then (S2), the vehicle body position measured by the positioning device 40 is set to the starting point P10 of the travel reference line L1 (S3). Further, the tractor 1 (body 3) is moved from the starting point P10 of the traveling reference line L1 (S4), and when the driver operates the steering changeover switch 52 at a predetermined position (S5), the positioning device 40 measures The vehicle body position is set at the end point P11 of the running 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, the tractor 1 (vehicle body 3) is moved to a location different from the location where the traveling reference line L1 is set (S7), and the driver operates the steering changeover switch 52. (S8), a planned travel line L2, which is a straight line parallel to the travel reference line L1, is set (S9). After the planned travel line L2 is set, automatic steering is started, and the traveling direction of the tractor 1 (body 3) is changed to follow the planned travel line L2. For example, if the current vehicle body position is on the left side of the planned travel line L2, the front wheels 7F are steered to the right. is steered to the left. During automatic steering, the running speed (vehicle speed) of the tractor 1 (vehicle body 3) can be changed by the driver manually changing the operation amount of the accelerator member (accelerator pedal, accelerator lever) provided on the tractor 1, It can be changed by changing the speed of the transmission.

Further, after the automatic steering is started, the automatic steering can be terminated when the driver operates the steering changeover switch 52 at an arbitrary position. That is, the end point of the planned travel line L2 can be set by the end of automatic steering by operating the steering changeover 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 reference travel line L1, and the planned travel line L2 allows the vehicle to travel a longer distance than the length of the reference travel line L1 while being automatically steered.

As shown in FIG. 1 , the steering device 11 has an automatic steering mechanism 37 . The automatic steering mechanism 37 is a mechanism for automatically steering the vehicle body 3 , and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle position) detected by the positioning device 40 . The automatic steering mechanism 37 has a steering motor 38 and a gear mechanism 39 . The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled based on the position of the vehicle body. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating together with the steering shaft 31, and a gear provided on the rotating shaft of the steering motor 38 and rotating together with the rotating shaft. When the rotating shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (turns) via the gear mechanism 39, and the steering direction of the front wheels 7F is adjusted so that the vehicle body position coincides with the planned travel line L2. can be changed.

As shown in FIG. 1, the tractor 1 has a display device 45 . The display device 45 is a device that can display various information about the tractor 1 , and can display at least the operation information of the tractor 1 . The display device 45 is provided in front of the driver's seat 10 .
As shown in FIG. 1 , the tractor 1 has a setting switch 51 . The setting switch 51 is a switch for switching to a setting mode in which at least settings before the start of automatic steering are performed. The setting mode is a mode in which various settings related to the automatic steering are performed before the automatic steering is started.

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

The tractor 1 has a steering changeover switch 52 . The steering changeover switch 52 is a switch for switching between starting and ending automatic steering. Specifically, the steering selector switch 52 can be switched upward, downward, forward, or rearward from the neutral position, and when it is switched downward from the neutral position while the setting mode is valid, the automatic steering is started. When the setting mode is valid and the position is switched upward from the neutral position, the end of the automatic steering is output. Further, when the steering changeover switch 52 is switched from the neutral position to the rear while the setting mode is valid, the steering changeover switch 52 outputs to set the current vehicle body position to the start point P10 of the traveling reference line L1, and the steering changeover switch 52 52 outputs that the current vehicle body position is set to the end point P11 of the running reference line L1 when the neutral position is switched forward while the setting mode is valid. That is, the steering changeover switch 52 also serves as a reference line setting switch for setting the start position (start point P10) and end position (end point P11) of the travel reference line L1. The steering changeover switch 52 may be configured separately from the steering changeover switch 52 for switching the start or end of the automatic steering and the reference line setting switch.

The tractor 1 has a correction switch 53 . The correction switch 53 is a switch for correcting the vehicle body position (latitude, longitude) measured by the positioning device 40 . That is, the correction switch 53 is used to calculate the vehicle body position (calculated vehicle body position) from the satellite signals (position of the positioning satellite, transmission time, correction information, etc.) and measurement information (acceleration, angular velocity) measured by the inertial measurement device 42. ) is a switch for correcting

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

Further, 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 correction amount=displacement amount from a predetermined position. For example, as shown in FIG. 3B, every time the displacement amount 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. It should be noted that the method of increasing the correction amount and the rate of increase described above are not limited to the numerical values described above.

Specifically, as shown in FIGS. 4A and 4B, the correction switch 53 has a first correction section 53A and a second correction section 53B. The first correction section 53A is a section that commands 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 section 53B is a section that commands 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 section 53A and the second correction section 53B are ON or OFF switches that automatically return each time they are operated. The switches forming the first correction section 53A and the switches forming the second correction section 53B are integrated. The switches forming the first correction section 53A and the switches forming the second correction section 53B may be arranged apart from each other. As shown in FIG. 3A, each time the first correction portion 53A is pressed, the correction amount corresponding to the left side of the vehicle body 3 (left correction amount) increases. Also, every time the second correction portion 53B is pressed, the correction amount corresponding to the right side of the vehicle body 3 (right correction amount) increases.

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

Next, the relationship between the correction amount (left correction amount, right correction amount) by the correction switch 53, the planned travel line L2, and the behavior (travel locus) of the tractor 1 (vehicle body 3) will be described.
FIG. 5A shows a state in which the calculated vehicle body position W1 deviates to the right while the vehicle is traveling straight under automatic steering. As shown in FIG. 5A, when the automatic steering is started, the actual position (actual position W2) of the tractor 1 (vehicle body 3) and the calculated vehicle body position W1 match, and the actual position W2 and the planned travel line If L2 matches, the tractor 1 travels along the planned traveling line L2. That is, in the section P1 where there is no positioning error in the positioning device 40 and the vehicle body position (calculated vehicle body position W1) detected by the positioning device 40 is the same as the actual position W2, the tractor 1 travels along the scheduled travel line L2. . When there is no error in positioning by the positioning device 40 and no correction is performed, the calculated vehicle body position W1 and the corrected vehicle body position (corrected vehicle body position) W3 are the same. The corrected vehicle body position W3 is the 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 deviated from the planned travel line L2, due to various influences, an error occurs in the positioning of the positioning device 40, and the position is detected by the positioning device 40. If the vehicle body position W1 deviates to the right with respect to the planned travel line L2 (actual position W2) and the deviation amount W4 is maintained, the tractor 1 will be operated in such a manner that there is a deviation between the calculated vehicle body position W1 and the planned travel line L2. Then, the tractor 1 is steered to the left so as to eliminate the amount of deviation W4 between the calculated vehicle body position W1 and the planned travel line L2. Then, the actual position W2 of the tractor 1 is shifted to the planned travel line L2 by left steering. Assume that the driver thereafter notices that the tractor 1 is deviated from the planned travel line L2, and steers the second correction unit 53B at position P21 to increase the right correction amount from zero. A right correction amount is added to the calculated vehicle body position W1, and the vehicle body position after correction (corrected vehicle body position) W3 can be substantially the same as the actual position W2. That is, by setting the right correction amount by the second correction unit 53B, the vehicle body position of the positioning device 40 can be corrected in the direction of eliminating the deviation amount W4 generated near the position P20. As indicated by position P21 in FIG. 5A, when the actual position W2 of the tractor 1 is away from the planned travel line L2 to the left after correcting the vehicle body position, the tractor 1 is steered to the right. The actual position W2 can be matched with the planned travel line L2.

FIG. 5B shows a state in which the calculated vehicle body position W1 deviates to the left while the vehicle is traveling straight under automatic steering. As shown in FIG. 5B, when the actual position W2 and the calculated vehicle body position W1 match and the actual position W2 and the planned travel line L2 match in a state in which the automatic steering is started, as shown in FIG. Similarly, the tractor 1 travels along the scheduled travel line L2. 5A, the tractor 1 travels along the scheduled travel line L2 in the section P2 where the positioning device 40 has no positioning error. Further, similarly to FIG. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 are the same value.

Here, at the position P22, various influences cause an error in the positioning of the positioning device 40, causing the vehicle body position W1 detected by the positioning device 40 to deviate to the left with respect to the actual position W2, and the deviation amount W5 is maintained. If so, the tractor 1 is steered to the right so as to eliminate the amount of deviation W5 between the calculated vehicle body position W1 and the planned travel line L2. After that, assume that the driver notices that the tractor 1 is deviated from the planned travel line L2 and steers the first correction unit 53A at position P23 to increase the left correction amount from zero. Then, the left correction amount is added to the calculated vehicle body position W1, and the vehicle body position after correction (corrected vehicle body position) W3 can be substantially the same as the actual position W2. That is, by setting the left correction amount by the first correction unit 53A, the vehicle body position of the positioning device 40 can be corrected in the direction of eliminating the deviation amount W5 generated near the position P22. As indicated by position P23 in FIG. 5B, when the actual position W2 of the tractor 1 is away from the planned travel line L2 to the right after correcting the vehicle body position, the tractor 1 is steered to the left. The actual position W2 can be matched with the planned travel line L2.

Next, the setting switch 51 and the correction switch 53 will be explained.
As shown in FIG. 6, the outer circumference of the steering shaft 31 is covered with a steering post 180. As shown in FIG. The outer circumference of steering post 180 is covered with cover 177 . The cover 177 is provided in front of the driver's seat 10 . Cover 177 includes panel cover 178 and column cover 179 .

A panel cover 178 supports the display device 45 . A support portion 178 e that supports the display device 45 is provided on the upper plate portion 178 a of the panel cover 178 . The support portion 178 e supports the display device 45 in front of the steering shaft 31 and below the steering handle 30 . The upper plate portion 178a also has a mounting surface 178f on which the setting switch 51 and the correction switch 53 are mounted. The mounting surface 178f is provided behind the support portion 178e and below the steering handle 30. As shown in FIG. The support portion 178e and the mounting surface 178f are continuous, the support portion 178e being positioned in front of the upper plate portion 178a, and the mounting surface 178f being positioned in the rear portion of the upper plate portion 178a. The setting switch 51 and the correction switch 53 are attached to the attachment surface 178f. Accordingly, the setting switch 51 and the correction switch 53 are arranged around the steering shaft 31 .

A shuttle lever 181 protrudes from the left plate portion 178b of the panel cover 178. As shown in FIG. The shuttle lever 181 is a member that operates to switch the running direction of the vehicle body 3 . More specifically, by operating (swinging) the shuttle lever 181 forward, the forward/reverse switching unit 13 is brought into a state of outputting forward driving 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 portion 13 is brought into a state of outputting reverse driving power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the backward traveling direction. Power is not output to the traveling device 7 when the shuttle lever 181 is in the neutral position.

The column cover 179 is arranged below the steering handle 30 and covers the upper portion of the steering shaft 31 . The column cover 179 is formed in a substantially square tubular shape and protrudes upward from the mounting surface 178f of the panel cover 178. As shown in FIG. That is, the mounting surface 178f is provided around the column cover 179. As shown in FIG. Therefore, the setting switch 51 and the correction switch 53 attached to the attachment surface 178f are arranged around the column cover 179. As shown in FIG.

Next, the arrangement of the setting switch 51, the steering switch 52, and the correction switch 53 will be described in detail. As shown in FIG. 6 , the setting switch 51 , the steering changeover switch 52 and the correction switch 53 are arranged around the steering shaft 31 .
The setting switch 51 is arranged on one side (left side) of the steering shaft 31 . The steering changeover switch 52 is arranged on one side (left side) of the steering shaft 31 . In the case of this embodiment, the steering changeover switch 52 is composed of a swingable lever. The steering changeover switch 52 can swing around a base end provided on the steering shaft 31 side as a fulcrum. A base end portion of the steering changeover switch 52 is provided inside the column cover 179 . The steering switch 52 protrudes to one side (left) of the column cover 179 .

The correction switch 53 is arranged on the other side (right side) of the steering shaft 31 . More specifically, the correction switch 53 is arranged to the right and rear (diagonally right rear) of the steering shaft 31 . The correction switch 53 is arranged to the right and rear (diagonally right rear) of the column cover 179 in terms of positional relationship with the column cover 179 . The correction switch 53 is arranged on the rear right side of the mounting surface 178f of the panel cover 178 in terms of the positional relationship with the mounting surface 178f. By arranging the correction switch 53 at the rear portion of the inclined mounting surface 178f, a long distance between the correction switch 53 and the steering handle 30 can be ensured. As a result, unintended operation of the correction switch 53 and steering of the steering wheel 30 can be prevented more reliably.

As described above, the setting switch 51 , the steering changeover switch 52 and the correction switch 53 are arranged around the steering shaft 31 . In other words, the setting switch 51 , the steering switch 52 , and the correction switch 53 are concentrated 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 while seated on the driver's seat 10 without changing his/her posture. Therefore, operability is improved, and erroneous operations can be prevented. Moreover, the harness (wiring) routed from each switch can be shortened.

Incidentally, regarding the arrangement of the switches described above, the left and right sides may be interchanged. That is, one side may be the left side and the other side may be the right side, or one side may be the right side and the other side may be the left side. Specifically, for example, the setting switch 51 and the steering changeover switch 52 may be arranged on the right side of the steering shaft 31 and the correction switch 53 may be arranged on the left side of the steering shaft 31 .

As shown in FIG. 1 , the tractor 1 has a plurality of control devices 60 . The plurality of control devices 60 are devices that perform travel system control, work system control, vehicle body position calculation, and the like in the tractor 1 . 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 satellite signal (received information) received by the receiver 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement device 42, and determines the position of the vehicle body based on the received information and the measurement information. Ask for For example, when the correction amount by the correction switch 53 is zero, i.e., when correction of the vehicle body position by the correction switch 53 is not instructed, the first control device 60A calculates the calculated vehicle body position using the received information and the measurement information. Without correcting the position W1, the calculated vehicle body position W1 is determined as the vehicle body position used during automatic steering. On the other hand, when correction of the vehicle body position by the correction switch 53 is commanded, the first control device 60A corrects the vehicle body position based on either the number of operations of the correction switch 53 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 a vehicle body position to be used during 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 has an automatic steering control section 200. As shown in FIG. The automatic steering control unit 200 is composed of an electrical/electronic circuit provided in the second control device 60B, a program stored in a CPU, and the like. The automatic steering control unit 200 controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the scheduled travel line L2 based on the control signal output from the first control device 60A.

As shown in FIG. 7, the automatic steering control unit 200 maintains the rotation angle of the rotation shaft of the steering motor 38 when the deviation between the vehicle body position and the planned travel line L2 is less than the threshold. When the deviation between the vehicle body position and the planned travel line L2 is greater than or equal to the threshold and the tractor 1 is positioned on the left side of the planned travel line L2, the automatic steering control unit 200 controls the steering direction of the tractor 1 to the right. The rotating shaft of the steering motor 38 is rotated so as to be in the direction. When the deviation between the vehicle body position and the planned travel line L2 is greater than or equal to the threshold and the tractor 1 is positioned on the right side of the planned travel line L2, the automatic steering control unit 200 controls the steering direction of the tractor 1 to the left. The rotating shaft of the steering motor 38 is rotated so as to be in the direction. In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned travel line L2. If the orientation (vehicle orientation) F1 (traveling direction) is different, that is, if the angle θg of the vehicle orientation F1 with respect to the planned travel line L2 is equal to or greater than the threshold, the automatic steering control unit 200 controls the angle θg to be zero (vehicle orientation). The steering angle may be set so that F1 coincides with the direction of the planned travel line L2. Further, the automatic steering control unit 200 sets the final steering angle in automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the bearing (bearing deviation). 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 according to the operation of the operating member provided around the driver's seat 10 . Note that 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 work system, and the calculation of the vehicle body position described above are not limited.
In order to perform automatic steering after setting the driving reference line L1, it is necessary to prepare conditions for automatic steering. For example, as shown in FIG. 8, after turning the tractor 1 and before automatic steering, the azimuth (vehicle azimuth) F1 in the traveling direction of the tractor 1 and the azimuth (line azimuth) F2 of the traveling reference line L1 are large. In such a case, even if automatic steering is started, it is difficult to steer the tractor 1 along the planned traveling line L2 parallel to the traveling reference line L1. Determine that the conditions are not met.

Does the second control device 60B permit automatic steering at least based on the vehicle body direction F1 of the tractor 1 (body 3) and the direction (line direction) F2 of the tractor 1 (body 3) before automatic steering, that is, during manual steering? A determination (judgment) is made as to whether or not. As shown in FIG. 1 , the second control device 60B has an orientation determination section 207 . The azimuth determination unit 207 is composed of an electric/electronic circuit provided in the second control device 60B, a program stored in a CPU, and the like. A direction determination unit 207 permits automatic steering if the direction difference ΔF between the vehicle body direction F1 and the line direction F2 is within the determination range G1, and does not permit automatic steering if it is outside the determination range G1.

FIG. 9 is a diagram showing the relationship between the orientation difference ΔF and the determination range G1. As shown in FIG. 9, the determination range G1 is centered on a reference line 210 where the vehicle body orientation F1 and the line orientation F2 coincide (the reference line 210 where the orientation difference ΔF is zero). The other side (right side) is the range indicated by plus. The lower limit value Gmin of the determination range G1 is on the negative side, and the upper limit value Gmax is on the positive side. Note that plus and minus in the determination range G1 in FIG. 9 are set for convenience, and are not limited to the example described above.

Inclination in the width direction of the vehicle body 3 of the tractor 1, that is, when the roll angle of the vehicle body 3 is horizontal and the inclination is zero (horizontal ground), the lower limit value Gmin and the upper limit value Gmax of the determination range G1 are predetermined. Considering the absolute values of the lower limit Gmin and the upper limit Gmax, they are the same value.
Therefore, in a state in which the tractor 1 is traveling while maintaining a horizontal state without tilting in the width direction, that is, in a state in which the tractor 1 is traveling in a non-tilted farm field, the azimuth difference between the vehicle body orientation F1 and the line orientation F2 is If ΔF is within the determination range G1, the azimuth determination unit 207 permits automatic steering, and if the azimuth difference ΔF is out of the determination range G1, the azimuth determination unit 207 does not permit automatic steering.

In the above-described embodiment, the second control device 60B determines whether or not to permit automatic steering based on the heading difference ΔF and the determination range G1. 2, when the tractor 1 (vehicle body 3) is running with an inclination, the determination range G1 used for automatic steering is changed according to the inclination of the vehicle body 3. FIG. The tilt of the vehicle body 3 is detected by a tilt detection device provided on the tractor 1 (the vehicle body 3). In this embodiment, the tilt detection device is an inertial measurement device 42 having, for example, an acceleration sensor for detecting acceleration and a gyro sensor for detecting angular velocity, and can detect the tractor 1 (body 3). note that. The tilt detection device may be a device (for example, a GPS compass, etc.) configured by a plurality of positioning devices 40, or may be another device.

As described above, when the inclination of the vehicle body 3 of the tractor 1 in the width direction, that is, when the roll angle of the vehicle body 3 is horizontal and the inclination is zero, the orientation determination unit 207 determines the determination range G1 is set in the standard range ST1, and whether or not to permit automatic steering is determined based on the standard range ST1.
As shown in FIG. 10A, when the tractor 1 (vehicle body 3) is tilted so that one side (left side) in the width direction of the tractor 1 (vehicle body 3) is higher than the other side (right side) in the width direction, 2 control device 60B makes lower limit value Gmin of determination range G1 larger than lower limit value Gmin indicated by standard range ST1. That is, when the reference traveling line L1 is viewed from the tractor 1, and the reference traveling line L1 is high and the tractor 1 side is low and slopes down to the right, the lower limit value Gmin of the determination range G1 is increased. In this case, the azimuth determination unit 207 determines whether or not to permit automatic steering based on the determination range G1 in which the lower limit value Gmin is increased.

As shown in FIG. 10A, when the tractor 1 is tilted downward to the right, when looking at the range of the determination range G1, the lower limit value Gmin corresponding to the higher side (one side) of the tractor 1 is increased. In addition, as shown in FIG. 10C, it is preferable that the upper limit value Gmax on the side opposite to the lower limit value Gmin of the determination range G1 is smaller than the upper limit value Gmax of the standard range ST1. In other words, when the tractor 1 is tilted downward to the right, the upper limit value Gmax corresponding to the lower side (the other side) of the tractor 1 is decreased.

As shown in FIG. 10B, when the tractor 1 (vehicle body 3) is tilted such that one side (left side) is lower than the other side (right side) in the width direction, the second control device 60B controls the determination range G1. The upper limit value Gmax is made larger than the upper limit value Gmax indicated by the standard range ST1. That is, when the traveling reference line L1 is viewed from the tractor 1, the upper limit value Gmax of the determination range G1 is increased when the traveling reference line L1 is high and the tractor 1 side is low and left downward. In this case, the azimuth determination unit 207 determines whether to permit automatic steering based on the determination range G1 in which the upper limit value Gmax is increased.

As shown in FIG. 10B, when the tractor 1 is tilted downward to the left, when looking at the judgment range G1, the upper limit value Gmax corresponding to the higher side (right side) of the tractor 1 is increased. However, in addition to this, as shown in FIG. 10D, it is preferable to set the lower limit value Gmin on the opposite side of the upper limit value Gmax of the determination range G1 to be smaller than the lower limit value Gmin of the standard range ST1. In other words, when the tractor 1 is tilted downward to the left, the lower limit value Gmin corresponding to the lower side (one side) of the tractor 1 is decreased.

In addition, when changing the lower limit value Gmin and the upper limit value Gmax of the determination range G1, the second control device 60B changes the amount of tilt (amount of tilt) of the tractor 1 in the width direction of the vehicle body 3 (the roll angle of the vehicle body 3). Accordingly, the lower limit value Gmin and the upper limit value Gmax are increased. That is, when the tilt amount is large, the second control device 60B increases the amount of increase in the lower limit value Gmin and the upper limit value Gmax for the standard range ST1. Decrease the increment of the value Gmax.

The automatic steering control unit 200 controls the steering device 11 as described above when the automatic steering control unit 200 switches the start of automatic steering by the steering changeover switch 52 in a state in which the azimuth determination unit 207 determines permission. , automatic steering.
The display device 45 can display that the azimuth determination unit 207 has determined that the start of automatic steering is permitted. As shown in FIG. 11, when a predetermined operation is performed on the display device 45, the display device 45 displays an operation screen M1.

The driving screen M1 has a driving display portion 61 that displays driving information. The operation display unit 61 includes a rotation display unit 62 that displays the rotation speed of the engine 4 (motor rotation speed) as operation information. The rotary display section 62 includes a level display section 63 . The level display portion 63 is a portion that displays the engine speed in stages. For example, the level display portion 63 includes a scale portion 65 and an indicator portion 80 . The scale portion 65 has, for example, a first line 65A and a plurality of second lines 65B allocated at predetermined intervals along the first line 65A. Also, the scale portion 65 has a first line 65A and a third line 65C spaced apart at a predetermined interval. The first line 65A and the third line 65C are formed, for example, in a semicircular shape, with one end side (for example, left side) having a minimum value and the other end side (for example, right side) having a maximum value. .

The indicator portion 80 is a bar whose length changes according to the number of revolutions of the engine. The indicator part 80 is positioned, for example, between the first line 65A and the third line 65C, and when the engine speed value is the minimum value of zero, the first line 65A and the third line 65C When it is located on the one end side (left side) and has the shortest length and the value of the motor revolution speed is the maximum value, from the one end side (left side) of the first line 65A and the third line 65C to the first line 65A and the third line 65C. It extends to the other end side (right side) of the third line 65C and is the longest. The rotating display portion 62 includes a numeric display portion 64 . A numeric display unit 64 displays the number of revolutions of the engine in numbers. For example, the rotating display portion 62 is arranged inside the semicircles of the first line 65A and the third line 65C.

Therefore, according to the operation display section 61 , the motor rotation speed such as the engine rotation speed can be displayed in stages by the level display section 63 and numerically by the rotation display section 62 .
The operation screen M1 has an icon display portion 67 that displays a plurality of icon portions 66. FIG. The icon display portion 67 is a portion where various information is indicated by the icon portion 66 . That is, the settings related to running such as automatic steering, for example, the setting state set in the setting mode are displayed in the icon portion 66 . The icon display portion 67 is located at a different position from the driving display portion 61, and is arranged, for example, in the upper portion of the driving screen M1.

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

The first icon portion 66A is displayed when a warning occurs. The second icon portion 66B is displayed when the starting point P10 of the driving reference line L1 is set. The third icon portion 66C is displayed when the end point P11 of the driving reference line L1 is set.
The fourth icon portion 66D is displayed when automatic steering is permitted. For example, the fourth icon portion 66D is displayed when the setting mode is enabled, the setting of the driving reference line L1 is completed, and the orientation determining portion 207 of the second control device 60B permits automatic steering. By looking at the fourth icon portion 66D, the operator can understand that automatic steering is permitted. Then, the operator can start the automatic steering by operating the steering changeover switch 52 .

The fifth icon portion 66E is displayed when the connecting portion 8 is in the up/down state. The sixth icon portion 66F is displayed when the vehicle is in the 4WD acceleration state. The color of the seventh icon portion 66G changes according to the reception sensitivity of the reception signal of the reception device 41 .
In the above-described embodiment, the condition for permitting automatic steering is that the azimuth difference ΔF is within a predetermined range. good too. That is, in a situation where the tractor 1 (body 3) is manually steered, the second control device 60B permits automatic steering regarding the heading (first permission) when the heading difference ΔF is within a predetermined range, When the steering angle θ of the steering device 11 is within a predetermined range, automatic steering is permitted (second permission). Then, the second control device 60B starts the automatic steering when the first permission and the second permission are obtained and the operator switches the start of the automatic steering.

The work vehicle 1 includes a steering device 11 having a steering handle 30, a vehicle body 3 capable of traveling by either manual steering using the steering handle 30 or automatic steering using the steering handle 30 based on the traveling reference line L1, and the direction of the vehicle body 3. A positioning device 40 capable of detecting F1, a tilt detection device detecting the tilt of the vehicle body 3, and a difference ΔF between the direction F1 of the vehicle body 3 detected by the positioning device 40 and the direction F2 of the driving reference line L1 is the determination range G1. and a control device 60B that permits automatic steering when it is within the range and performs automatic steering by the steering device 11 when permitted. Change the judgment range accordingly. According to this, for example, when the work vehicle 1 (vehicle body 3) performs work on a slope, the work vehicle 1 is oriented in the uphill direction (when the vehicle body direction is oriented in the uphill direction) and the work vehicle Automatic steering can be properly started in response to the inclination in any case where the vehicle body direction 1 is directed in the downhill direction (when the vehicle body direction is directed in the downhill direction). That is, even on a slope, the vehicle is stably driven when the manual steering is switched to the automatic steering.

When the vehicle body 3 is tilted such that one widthwise side of the vehicle body 3 is higher than the other widthwise side, the control device 60B changes the lower limit value Gmin of the determination range G1 according to the tilt of the vehicle body 3 . Further, when the vehicle body 3 is tilted such that one widthwise side of the vehicle body 3 is lower than the other widthwise side thereof, the control device 60B changes the upper limit value Gmax of the determination range G1 according to the tilt of the vehicle body 3. do.

According to this, when the work vehicle 1 (body 3) is driven on a slope, the lower limit value Gmin corresponding to the higher side (one side) of the tractor 1 is increased, or the higher side (the other side) of the tractor 1 is increased. The corresponding upper limit value Gmax can be increased. That is, in the determination range G1, the higher side values (upper limit Gmax, lower limit Gmin) of the work vehicle 1 (body 3) are increased. As a result, when the work vehicle 1 is manually steered to the high side and then automatically steered (when the tractor 1 is manually steered in an upward direction and then automatically steered), the azimuth difference between the vehicle azimuth and the line azimuth is It becomes possible to switch to the automatic steering after increasing it. In this manner, when the work vehicle 1 starts automatic steering in the upward direction, it is possible to stably travel on a slope immediately after the automatic steering is switched.

Also, as shown in FIG. 10C, when the tractor 1 is tilted such that the other side (right side) of the tractor 1 is lower than the one side (left side), the control device 60B is made smaller than the predetermined standard range ST1. Also, as shown in FIG. 10D, when the tractor 1 is tilted such that one side (left side) of the tractor 1 is lower than the other side (right side), the control device 60B is made smaller than the predetermined standard range ST1.

According to this, when the work vehicle 1 is manually steered to the lower side and then automatically steered (when the tractor 1 is manually steered in the downward direction and then automatically steered), the vehicle body direction and the line direction It becomes possible to switch to automatic steering after reducing the difference. In this manner, when the work vehicle 1 starts automatic steering in the downward direction, it is possible to stably travel on a slope immediately after the automatic steering is switched.

The work vehicle 1 is provided with a steering changeover switch 52 for switching between starting and ending automatic steering, and the control device 60B switches the start of automatic steering with the steering changeover switch 52 in a state in which automatic steering is permitted. is performed, the automatic steering by the steering device 11 is started. According to this, the operator can use the steering changeover switch 52 to issue an instruction to start the automatic steering at the timing at which the operator wants to start the automatic steering.

The work vehicle 1 is provided with a display device 45 for displaying that the orientation difference ΔF between the orientation F2 of the vehicle body 3 detected by the positioning device 40 and the orientation F2 of the traveling reference line L1 is within the determination range G1. According to this, the operator can easily grasp by looking at the display device 45 that the automatic steering can be started.
The work vehicle 1 includes a reference line setting switch for setting the position of the vehicle body 3 detected by the positioning device 40 to the start position and end position of the travel reference line L1. According to this, the travel reference line L1 can be easily set.

Now, the display device 45 can display the line orientation F2 of the driving reference line L1 and the vehicle body orientation F1. As shown in FIG. 12, when a predetermined operation is performed on the display device 45, the display device 45 displays an orientation screen M2. A direction screen M2 includes a line direction display portion 130 and a vehicle body direction display portion 140 .
The line orientation display portion 130 is a portion that indicates the line orientation F2 of the travel reference line L1, and includes a line display portion 130a and a mark portion 130b. The line display portion 130a is a portion showing the driving reference line L1 itself in a diagram or the like, and extends from the bottom to the top above the field 133 set on the azimuth screen M2. The mark portion 130b is a portion that indicates the orientation of the driving reference line L1, and is arranged above the end portion 131 of the line display portion 130a in the field 133, for example. In the mark portion 130b, the vertex 132 of the triangle points to the end portion 131 of the line display portion 130a.

The vehicle body direction display portion 140 includes a direction pointer portion 141 that indicates the direction of the vehicle body 3 (body direction F1). The azimuth pointer portion 141 indicates the direction in which the vehicle body azimuth F1 is directed with respect to the line azimuth F2.
The azimuth pointer portion 141 is configured by, for example, a graphic such as an arrow, and the azimuth pointer portion 141 is positioned on one side or the other side of the line display portion 130a around the origin O1 set on the line of the line display portion 130a. move to

Further, the vehicle body orientation display section 140 includes a vehicle body display section 142 that graphically shows the tractor 1 (the vehicle body 3). The position (display position) of the vehicle body display portion 142 changes depending on the direction centering on the origin O<b>1 in the same manner as the direction indicator portion 141 . Specifically, the front portion of the vehicle body display portion 142 (tractor 1
A direction pointer portion 141 is disposed on the front portion of the vehicle body), and the vehicle body display portion 142 and the direction pointer portion 141 simultaneously swing in accordance with the vehicle body direction F1.

As shown in FIG. 13A, when the vehicle body direction F1 is the same direction as the line direction F2, the tip portion 141a of the direction indicator portion 141 and the end portion 131 of the mark portion 130b face each other. Further, as shown in FIG. 13B, when the vehicle body direction F1 deviates to the left with respect to the line direction F2, the tip portion 141a of the direction pointer portion 141 is located on the left side of the line display portion 130a. As shown in FIG. 13C, when the vehicle body direction F1 is deviated to the right with respect to the line direction F2, the tip portion 141a of the direction pointer portion 141 is located on the right side of the line display portion 130a.

According to the above, by confirming the relative position between the tip portion 141a of the azimuth pointer portion 141 and the mark portion 130b or the line display portion 130a, the operator can determine how much the vehicle body azimuth F1 deviates from the line azimuth F2. It is possible to grasp whether
Note that, as shown in FIG. 12, an azimuth scale portion 145 may be displayed on the azimuth screen M2. The azimuth scale portion 145 is a scale on which the azimuth difference ΔF (a value indicating the azimuth) increases or decreases according to the distance from the reference point O2, which is the line azimuth F2 of the travel reference line L1. That is, the azimuth scale portion 145 is semicircular, and is configured by assigning scale lines 145a corresponding to the azimuth difference ΔF at predetermined intervals along the circumference of the semicircle. At the reference point O2 of the azimuth scale portion 145, the end portion 131 of the mark portion 130b is indicated. In addition, as shown in FIG. 15, the azimuth scale portion 145 indicates a determination range G1. That is, the plurality of scale lines 145a of the azimuth scale portion 145 are colored in at least two different colors, and the plurality of scale lines 145a near the reference point O2 indicate values within the determination range G1. A color (in-range color) is colored, and a plurality of scale lines 145a at positions away from the reference point O2 are colored with a color (out-of-range color) indicating values outside the determination range G1. Further, as described above, when the determination range G1 is changed in accordance with the tilt of the vehicle body 3, the plurality of scale lines 145a are colored inside and outside the range so as to correspond to the determination range G1 after the change. Color is changed.

The azimuth pointer portion 141 is arranged inside (diameter inside) of the azimuth scale portion 145 and indicates the vehicle azimuth F1 to the azimuth scale portion 145 . The azimuth pointer unit 141 is used when the azimuth difference ΔF between the line azimuth F2 and the vehicle azimuth F1 is within a predetermined range (within the determination range G1) and when the azimuth difference ΔF is outside the predetermined range (outside the determination range G1). The display format is different. As shown in FIGS. 13A to 13C, the azimuth pointer portion 141 is colored in the same color as the azimuth scale portion 145 when the azimuth difference ΔF is within a predetermined range (within the determination range G1). Further, as shown in FIGS. 14A and 14B, when the azimuth difference ΔF is outside the predetermined range (outside the determination range G1), the azimuth pointer portion 141 is colored in the same color as the out-of-range color of the azimuth scale portion 145. be.

Further, when the azimuth difference ΔF is within the predetermined range, the display device 45 displays the steering wheel display section 68 showing the steering wheel 30 graphically on the azimuth screen M2, and indicates that automatic steering can be started. is displayed.
The work vehicle 1 has a steering handle 30, a vehicle body 3 capable of traveling by either manual steering by the steering handle 30 or automatic steering by the steering handle 30 based on the traveling reference line L1, and a direction F2 of the traveling reference line L1. and a display device 45 having a line direction display portion 130 indicating the direction F1 of the vehicle body 3 and a vehicle body direction display portion 140 indicating the direction F1 of the vehicle body 3 . According to this, it is possible to easily grasp in which direction the work vehicle 1 (vehicle body 3) is oriented with respect to the azimuth F2 of the traveling reference line L1 by the display device 45. FIG.

The line direction display portion 130 includes a line display portion 130a that indicates the running reference line L1, and a mark portion 130b that indicates the direction F2 of the running reference line L1. According to this, even if the operator cannot accurately grasp the orientation F2 of the traveling reference line L1 in a work area such as a field, the line display portion 130a and the mark portion 130b displayed on the display device 45 can be displayed. , the direction F2 of the driving reference line L1 can be easily grasped.

The vehicle body direction display section 140 includes a direction pointer section 141 that indicates the direction F1 of the vehicle body 3, and a vehicle body display section 142 that indicates the vehicle body 3 whose display position is changed according to the direction F1 of the vehicle body 3. According to this, even if the operator cannot accurately grasp the direction F1 of the vehicle body 3 in the work place, the operator can see the direction indicator portion 141 and the vehicle body display portion 142 displayed on the display device 45. , the orientation F1 of the vehicle body 3 can be easily grasped.

The display device 45 has an azimuth scale portion 145 that uses the azimuth F2 of the travel reference line L1 as a reference point and has an azimuth scale portion 145 that increases or decreases the value indicating the azimuth according to the distance from the reference point. It includes a mark portion 130b indicating the orientation of the reference line. According to this, by looking at the scale portion 145, the operator can easily grasp in which direction the direction F2 of the traveling reference line L1 is with respect to the vehicle body 3.

The vehicle body direction display portion 140 includes a direction pointer portion 141 that indicates the direction F1 of the vehicle body 3, and the direction pointer portion 141 indicates the direction F1 of the vehicle body 3 on the direction scale portion 145. FIG. According to this, by looking at the azimuth indicator portion 141 indicated on the azimuth scale portion 145, it is possible to easily grasp how much the azimuth F1 of the vehicle body 3 deviates from the traveling reference line L1.
The vehicle azimuth display unit 140 has different display modes depending on whether the azimuth difference ΔF between the azimuth F2 of the driving reference line L1 and the azimuth F1 of the vehicle body 3 is within a predetermined range and when the azimuth difference ΔF is outside the predetermined range. different. According to this, the operator can easily grasp whether or not the orientation difference ΔF is within the predetermined range.

A control device 60B is provided for permitting automatic steering when a bearing difference ΔF between the bearing F2 of the driving reference line L1 and the bearing F1 of the vehicle body 3 is within a predetermined range. According to this, it is possible to easily switch from manual steering to automatic steering.
It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

Reference Signs List 1 work vehicle 3 vehicle body 11 steering device 30 steering handle 40 positioning device 45 display device 52 steering switch 60B control device (second control device)
L1 Driving reference line

Claims (7)

a steering device having a steering handle;
a vehicle body capable of traveling by either manual steering using the steering handle or automatic steering using the steering handle based on a driving reference line;
a positioning device capable of detecting the orientation of the vehicle body;
a tilt detection device that detects the tilt of the vehicle body;
If the difference between the orientation of the vehicle body detected by the positioning device and the orientation of the driving reference line is within the determination range, the automatic steering is permitted, and if the permission is granted, the steering device is operated by the steering device. a controller for automatic steering;
with
The determination range includes a lower limit value set on one side of a reference line on which the orientation of the vehicle body and the orientation of the running reference line coincide, and the other side opposite to the one side with respect to the reference line. is a range that spans the upper limit set to
When the vehicle body is tilted such that one side in the width direction of the vehicle body is higher than the other side in the width direction, the control device makes the determination according to the tilt of the vehicle body detected by the tilt detection device. A work vehicle that modifies the absolute value of the lower limit of the range to increase. The work vehicle according to claim 1, wherein the control device makes the upper limit of the determination range smaller than the upper limit of a predetermined standard range. a steering device having a steering handle;
a vehicle body capable of traveling by either manual steering using the steering handle or automatic steering using the steering handle based on a driving reference line;
a positioning device capable of detecting the orientation of the vehicle body;
a tilt detection device that detects the tilt of the vehicle body;
If the difference between the orientation of the vehicle body detected by the positioning device and the orientation of the driving reference line is within the determination range, the automatic steering is permitted, and if the permission is granted, the steering device is operated by the steering device. a controller for automatic steering;
with
The determination range includes a lower limit value set on one side of a reference line on which the orientation of the vehicle body and the orientation of the running reference line coincide, and the other side opposite to the one side with respect to the reference line. is a range that spans the upper limit set to
When the vehicle body is tilted such that one side of the vehicle body in the width direction is lower than the other side of the vehicle body, the control device makes the determination according to the tilt of the vehicle body detected by the tilt detection device. A work vehicle that modifies to increase the upper limit of the range. The work vehicle according to claim 3, wherein the control device makes the absolute value of the lower limit of the determination range smaller than the lower limit of a predetermined standard range. A steering changeover switch for switching between starting and ending the automatic steering,
According to claim 1, wherein the control device starts automatic steering by the steering device when the steering selector switch is operated to start the automatic steering while the automatic steering is permitted. A work vehicle according to any one of the preceding paragraphs. 6. The work according to any one of claims 1 to 5, further comprising a display device for displaying that an orientation difference between the orientation of the vehicle body detected by the positioning device and the orientation of the driving reference line is within a determination range. vehicle. The work vehicle according to any one of claims 1 to 6, further comprising a reference line setting switch for setting the position of the vehicle body detected by the positioning device to the start position and end position of the travel reference line.

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