JP7314353B2 - 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 implement 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 a selector switch capable of switching between manual traveling and automatic traveling. 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 work machine of Patent Document 1, before automatic steering, the reference travel line is set by operating the right instruction button and the left instruction button, etc., and during the setting of the reference travel line, the position of the machine body is aligned using the index line drawn on the field surface by the marker device and the center mascot, and then the automatic steering along the set travel line is started. Before starting automatic steering, it is necessary for the driver to understand matters related to traveling, such as the steering of the aircraft. If the driver does not understand matters related to traveling, setting the reference traveling line, traveling when setting the reference traveling line, aligning the position of the aircraft, etc. are difficult.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work vehicle that can easily adjust the traveling direction of the vehicle body.

The technical means of the present invention for solving this technical problem are characterized by the following points.
The work vehicle includes a control device capable of controlling traveling of the vehicle body by any of a vehicle body capable of traveling, a steering handle for steering the vehicle body, manual steering by the steering handle, and automatic steering for steering the steering handle so that the vehicle body travels along a planned traveling line parallel to a preset traveling reference line, and a display device for displaying a command to adjust the traveling direction of the vehicle body to start the automatic steering before the control device starts controlling the traveling of the vehicle body by the automatic steering. and a display device for displaying a command for aligning the traveling direction of the vehicle body by displaying a steering instruction section indicating the steering direction of the vehicle body with respect to the driving reference line before the control device starts controlling the vehicle body by the automatic steering.

The display device displays the steering direction of the vehicle body by means of a light source, corresponding to the traveling direction of the vehicle body, on the steering instruction section.
The work vehicle includes a position detection device that is provided on the vehicle body and that detects the position of the vehicle body based on a signal from a positioning satellite, a correction switch that commands correction of the position of the vehicle body detected by the position detection device, a corrected vehicle body position that is the position of the vehicle body corrected by operating the correction switch, and an automatic steering mechanism that automatically steers the vehicle body based on a planned travel line.

ADVANTAGE OF THE INVENTION According to this invention, the advancing direction of a vehicle body can be easily arranged.

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 a figure which shows the operation screen M1. It is a figure which shows the operation screen M2. FIG. 10 is a diagram showing a driving screen M2 when no driving reference line is set; FIG. 10 is a diagram showing a driving screen M2 after setting the starting point of the driving reference line; FIG. 10 is a diagram showing a driving screen M2 after setting the end point of the driving reference line; FIG. 10 is a diagram showing travel of the tractor when conditions for travel are adjusted; FIG. 10 is a diagram showing a guidance screen M3 displaying a command to steer the vehicle body to the right; FIG. 10 is a diagram showing a guidance screen M3 displaying an instruction to steer the vehicle body to the left; FIG. 10 is a diagram showing a guidance screen M3 displaying a command to keep the vehicle body straight; FIG. 10 is a diagram showing a guidance screen M3 when the straight-ahead distance of the vehicle body is less than or equal to a predetermined distance; FIG. 10 is a diagram showing a driving screen M2 during automatic steering; FIG. 10 is a diagram showing a driving screen M2 when a correction amount for the left side of the vehicle body is set during automatic steering; FIG. 10 is a diagram showing a driving screen M2 when a correction amount for the right side of the vehicle body is set during 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 enabling a setting mode. FIG. 10 is a diagram showing a guidance screen M4 when setting the starting point of the driving reference line; FIG. 10 is a diagram showing a guidance screen M4 when setting the end point of the driving reference line; It is a figure which shows the screen during warm-up. FIG. 10 is a diagram showing a guidance screen M4 immediately after conditions for automatic steering are met; FIG. 10 is a diagram showing a guidance screen M4 when a correction amount for the left side of the vehicle body is set during automatic steering; FIG. 10 is a diagram showing a guidance screen M4 when setting a correction amount for the right side of the vehicle body during automatic steering; FIG. 10 is a diagram showing a guidance screen M4 when vehicle speed exceeds a predetermined value during automatic steering; FIG. FIG. 10 is a diagram showing a guidance screen M4 when the vehicle speed becomes zero during 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 cover ahead of the driver's seat from the driver's seat side. FIG. 10 is a control block diagram of a modification of the work vehicle provided with a steering switch; 1 is an overall view of a tractor; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.
<Overview of work vehicle>
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. 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 work machine.

Hereinafter, the front side of the driver sitting in the driver's seat 10 of the tractor (work vehicle) 1 (direction of arrow A1 in FIG. 20) is defined as the front, the rear side of the driver (direction of arrow A2 in FIG. 20) is defined as the rear, the left side of the driver (direction of arrow B1 in FIG. 20) is defined as the left, and the right side of the driver (direction of arrow B2 in FIG. 20) is defined as the right. Also, the horizontal direction (direction of arrow B3 in FIG. 20) that is 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. 20 , 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 working device 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 harvesting device for cutting pasture, a spreading device for spreading pasture, a grass collecting device for collecting pasture, and a forming device for forming pasture.

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, and a front transmission portion 5f. 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 is switched between a state in which the power of the propelling shaft 5a is transmitted to the PTO propelling shaft 14 and a state in which the power of the propelling shaft 5a is not transmitted to the PTO propelling shaft 14 by turning on and off the hydraulic clutch.

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 20R 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). Also, when the first clutch 17 and the second clutch 18 are in the engaged state, 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).
<Overview of Position Detector>
The tractor 1 has a position detection device 40 . The position detection device 40 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the position detection device 40 receives a reception signal (the 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 reception signal. The position detection device 40 has a receiving device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42 . The receiving device 41 is a device that has an antenna or the like and receives a reception 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 . 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 .
<Overview of steering system, manual steering, and automatic steering>
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 direction, the switching position and opening degree of the control valve 34 are switched corresponding to the rotation direction of the steering handle 30, and the steering cylinder 35 expands and contracts to the left or right according to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheels 7F. 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 traveling direction so that the vehicle body position measured by the position detection device 40 and the planned travel line L2 match.

Specifically, the tractor 1 (body 3) is moved to a predetermined position in the field before automatic steering (S1), and when the driver operates the steering changeover switch 52 provided on the tractor 1 at the predetermined position (S2), the vehicle body position measured by the position detection device 40 is set as the starting point P10 of the traveling reference line L1 (S3). Further, when the tractor 1 (vehicle body 3) is moved from the starting point P10 of the running reference line L1 (S4) and the driver operates the steering changeover switch 52 at a predetermined position (S5), the vehicle body position measured by the position detection device 40 is set to 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 driving reference line L1 (after S6), for example, the tractor 1 (vehicle body 3) is moved to a location different from the location where the driving reference line L1 is set (S7), and when the driver operates the steering changeover switch 52 (S8), a planned driving line L2, which is a straight line parallel to the driving 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, when 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, and when the current vehicle body position is on the right side of the planned travel line L2, the front wheels 7F are steered to the left. During automatic steering, the travel speed (vehicle speed) of the tractor 1 (vehicle body 3) can be changed by the driver manually changing the amount of operation of an accelerator member (accelerator pedal, accelerator lever) provided on the tractor 1 or 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 position detection 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 37 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 37, and the steering direction of the front wheels 7F can be changed so that the vehicle body position coincides with the planned travel line L2.
<Overview of display device>
As shown in FIGS. 1 and 20, the tractor 1 is equipped with 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 .
<Overview of setting switch and steering switch>
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 outputs the start of automatic steering when it is switched downward from the neutral position while the setting mode is valid, and outputs the end of automatic steering when it is switched upward from the neutral position while the setting mode is valid. Further, the steering changeover switch 52 outputs that the current vehicle body position is set to the starting point P10 of the running reference line L1 when the setting mode is activated and is switched backward from the neutral position.
<Outline of correction switch>
The tractor 1 has 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 . In other words, the correction switch 53 is a switch that corrects the vehicle body position (calculated vehicle body position) calculated from the received signal (position of the positioning satellite, transmission time, correction information, etc.) and measurement information (acceleration, angular velocity) measured by the inertial measurement device 42.

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 correcting section 53A and the switches forming the second correcting 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. 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 may be integrally formed, the reference position of the knob portion 55 may be set at the center portion, the left correction amount may be set when the knob portion 55 is moved to the left from the reference position, and the right correction amount may be set when the knob portion 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 route 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 when the actual position W2 and the planned travel route L2 match, the tractor 1 travels along the planned travel route L2. That is, the tractor 1 travels along the planned travel route L2 in the section P1 where there is no positioning error in the position detection device 40 and the vehicle body position (calculated vehicle body position W1) detected by the position detection device 40 is the same as the actual position W2. 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 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 position P20, although the actual position W2 is not deviated from the planned travel route L2, due to various influences, an error occurs in the positioning of the position detection device 40, and the vehicle body position W1 detected by the position detection device 40 deviates to the right with respect to the planned travel route L2 (actual position W2). The tractor 1 is steered to the left so as to eliminate the amount of deviation W4 between 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 left steering. Assume that the driver thereafter notices that the tractor 1 is deviated from the planned travel route L2, and steers the second corrector 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 section 53B, the vehicle body position of the position detection device 40 can be corrected in the direction of eliminating the amount of deviation W4 generated near the position P20. As shown at position P21 in FIG. 5A, when the actual position W2 of the tractor 1 is away from the planned travel route L2 to the left after correcting the vehicle body position, the tractor 1 is steered to the right, and the actual position W2 of the tractor 1 can be aligned with the planned travel route 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 automatic steering is started and the actual position W2 and the calculated vehicle body position W1 match, and the actual position W2 and the planned travel route L2 match, the tractor 1 travels along the planned travel route L2 as in FIG. 5A. 5A, the tractor 1 travels along the scheduled travel route L2 in the section P2 where there is no error in the positioning of the position detection device 40. In FIG. Further, similarly to FIG. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 are the same value.

Here, at position P22, an error occurs in the positioning of the position detection device 40 due to various influences, and the vehicle body position W1 detected by the position detection device 40 deviates leftward from the actual position W2. Assuming that the deviation amount W5 is maintained, the tractor 1 is steered to the right so as to eliminate the deviation amount W5 between the calculated vehicle body position W1 and the planned travel route L2. After that, the driver notices that the tractor 1 is deviated from the planned travel route L2, and the driver moves to the position P
23, the first correction unit 53A is steered 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 position detection device 40 can be corrected in the direction of eliminating the amount of deviation W5 generated near the position P22. As shown at position P23 in FIG. 5B, when the actual position W2 of the tractor 1 is away from the planned travel route L2 to the right after correcting the vehicle body position, the tractor 1 is steered to the left, and the actual position W2 of the tractor 1 can be aligned with the planned travel route L2.
<Arrangement of setting switch, steering selector switch, correction switch>
Next, the setting switch 51, correction switch 53, and screen changeover switch 54 will be described.

As shown in FIG. 18, 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, the correction switch 53, and the screen changeover switch 54 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, correction switch 53, and screen changeover switch 54 are mounted on the mounting surface 178f. Thus, the setting switch 51 , correction switch 53 , and screen changeover switch 54 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, the correction switch 53, and the screen changeover switch 54 mounted on the mounting surface 178f are arranged around the column cover 179. As shown in FIG.

Next, the arrangement of the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover 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 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.

The screen changeover switch 54 is arranged on the other side (right side) of the steering shaft 31 . More specifically, the screen changeover switch 54 is arranged to the right and forward (diagonally forward right) of the steering shaft 31 . The screen changeover switch 54 is arranged on the right side and in front of the column cover 179 (diagonally right front) in terms of the positional relationship with the column cover 179 . The screen changeover switch 54 is arranged on the front right portion of the mounting surface 178f of the panel cover 178 in relation to the mounting surface 178f. Also, the screen changeover switch 54 is arranged in front of the correction switch 53 .

As described above, the setting switch 51 , the steering changeover switch 52 , the correction switch 53 , and the screen changeover switch 54 are arranged 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 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 .
<Outline of control device>
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 reception signal (reception information) received by the reception device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement device 42, and determines the vehicle body position based on the reception information and measurement information. For example, when the correction amount by the correction switch 53 is zero, that is, when correction of the vehicle body position by the correction switch 53 is not commanded, the first control device 60A does not correct the calculated vehicle body position W1 calculated from the received information and the measurement information, and determines the calculated vehicle body position W1 as the vehicle body position to be 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 sets the correction amount of 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, and determines the corrected vehicle body position W3 obtained by correcting the calculated vehicle body position W1 with the correction amount as the 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 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. 17, the second control device 60B 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 value and the tractor 1 is positioned on the left side of the planned travel line L2, the second control device 60B rotates the rotary shaft of the steering motor 38 so that the steering direction of the tractor 1 is rightward. When the deviation between the vehicle body position and the planned travel line L2 is greater than or equal to the threshold value and the tractor 1 is positioned on the right side of the planned travel line L2, the second control device 60B rotates the rotary shaft of the steering motor 38 so that the steering direction of the tractor 1 is leftward. In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle position and the planned traveling line L2. The steering angle may be set so as to match the position). Further, the second control device 60B may set the final steering angle in the automatic steering based on the steering angle determined based on the deviation (positional deviation) and the steering angle determined based on the heading (heading deviation θ). 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.
<Details of the display device>
Settings related to running of the vehicle body 3 can be performed by the display device 45 .

Details of the display device 45 will be described below.
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 includes an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, a motor rotation sensor, a steering angle sensor, an oil temperature sensor, an axle rotation sensor, and the like. For example, the display device 45 can display the remaining amount of fuel detected by the fuel sensor, the water temperature value detected by the water temperature sensor, the engine speed detected by the engine rotation sensor, and the like as the operation information.

In addition, the display device 45 can acquire information on various switches, for example, information on the setting switch 51 , the steering switch 52 , and the correction switch 53 . The display device 45 can acquire ON or OFF information for the setting switch 51, information for starting and ending automatic steering by the steering changeover switch 52, and information for commanding the start point P10 and end point P11 of the running reference line L1 by the steering changeover switch 52.

As shown in FIG. 18, the display device 45 has a display section 46 that displays various information. The display section 46 includes a fixed display section 46A that displays warnings and the like, and a variable display section 46B that can change displayed information. The fixed display section 46A has a panel on which graphics such as warnings are shown, and an irradiation section such as an LED that irradiates the graphics on the panel with a light source. Also, the variable display section 46B is composed of an organic EL panel, a liquid crystal panel, or the like, and displays various information related to the operation (running) of the tractor 1 and the like.
<About the operation screen M1>
6A shows the operation screen M1 of the tractor 1. FIG. The operation screen M1 is a screen displayed on the variable display section 46B when the setting switch 51 is OFF, that is, when the setting mode is disabled.

The display device 45, that is, the operation screen M1 has an operation display section 61 that shows operation 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, and have a minimum value at one end (eg, left side) and a maximum value at the other end (eg, right side).

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 has the shortest length at one end side (left side) of the first line 65A and the third line 65C when the value of the motor revolution speed is the minimum value of zero, and is positioned from the one end side (the left side) of the first line 65A and the third line 65C to the other end side (the right side) of the first line 65A and the third line 65C when the value of the motor revolution speed is the maximum value. It extends to the longest length. 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, a seventh icon portion 66G, and an eighth icon portion 66H. 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, 66H), 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 the conditions for automatic steering are met. 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 planned driving line L2 can be set.

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 .
The display of the eighth icon portion 66H changes according to the automatic steering conditions. When automatic steering cannot be performed for some reason, for example, when the setting mode is invalid, when the receiving signal reception sensitivity of the receiving device 41 is low and the vehicle body position cannot be detected, when the driving reference line L1 is not set, etc., the eighth icon portion 66H turns gray indicating that automatic steering cannot be performed. Further, when automatic steering becomes possible for some reason, the eighth icon portion 66H turns green indicating that automatic steering can be performed, for example, when the setting mode is enabled, the reception sensitivity of the reception signal of the receiving device 41 is equal to or higher than a predetermined level, and the vehicle body position can be detected, and further, when the driving reference line L1 is set. Note that the display form in the eighth icon portion 66H is not limited to the display form described above.
<About the operation screen M2>
6B shows the operation screen M2 of the tractor 1. FIG. The operation screen M2 is a screen displayed on the variable display section 46B when the setting switch 51 is ON, that is, when the setting mode is valid. The operation screen M2 also includes an operation display portion 61 and an icon display portion 67, like the operation screen M1. In other words, the driving screen M2 is a screen capable of displaying at least the same information as the driving screen M1 regarding the driving information. Since the operation display portion 61 and the icon display portion 67 are the same as those of the operation screen M1, description thereof is omitted.

When the setting mode is changed from disabled to enabled, the display device 45 changes the display state of the operation display section 61 of the operation screen M2 to a display form different from the display state of the operation display section 61 of the operation screen M1. That is, when the setting mode is valid, the display device 45 makes the display state of the operation display section 61 when the setting mode is valid different from the display form of the operation display section 61 when the setting mode is invalid.
The display device 45 sets the color (coloration) indicating the operation display portion 61 on the operation screen M2 to a color different from the color (coloration) indicating the operation display portion 61 on the operation screen M1. Specifically, the display device 45 sets the color of the scale portion 65 of the level display portion 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, and sets the color of the indicator portion 80 of the operation screen M2 to a different color from that of the operation screen M1. That is, when the setting mode is enabled, the color of the index portion 80 is different from the color of the index portion 80 when the setting mode is disabled.

Further, the display device 45 makes the color of the number display portion 64 in the operation screen M2, that is, the color of the number indicating the number of revolutions of the prime mover, a color different from that of the operation screen M1. That is, when the setting mode is enabled, the color of the number display portion 64 is different from the color of the number display portion 64 when the setting mode is disabled.
Since the operation screen M2 is in the setting mode, settings can be made before the automatic steering is started. 7A to 7C show screen transitions of the driving screen M2 when setting the start point P10 and the end point P11 of the driving reference line L1 as settings before the start of automatic steering. As shown in FIG. 7A, when the driving reference line L1 is not set, the second icon portion 66B and the third icon portion 66C are not displayed on the driving screen M2. When the driver sets the starting point P10 of the driving reference line L1 by operating the steering changeover switch 52, the 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 driving reference line L1 by operating the steering changeover switch 52, the third icon portion 66C is displayed on the driving screen M2 as shown in FIG. 7C.

Therefore, by operating the steering changeover switch 52 while driving the tractor 1 with the operation screen M2 displayed, the start point P10 and the end point P11 of the driving reference line L1 can be set. Further, by checking whether the second icon portion 66B and the third icon portion 66C are displayed on the operation screen M2, the driver can confirm whether or not the driving reference line L1 is set on the operation screen M2.
<Regarding the guidance screen M3>
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, if the orientation (traveling direction) of the tractor 1 after turning is not parallel to the reference travel line L1, it is difficult to steer the tractor 1 along the planned travel line L2 that is parallel to the reference travel line L1. In such a case, it is determined that the conditions for automatic steering are not met. In this way, if the conditions for automatic steering are not met after the driving reference line L1 is set by the driving screen M2, the display device 45 switches the screen displayed on the variable display portion 46B from the driving screen M2 to the guidance screen M3, as shown in FIGS. 9A to 9D.

The guidance screen M3 is a screen that displays commands (contents) regarding traveling of the vehicle body 3 . In other words, the guidance screen M3 is a screen on which settings relating to running can be made. For example, the guidance screen M3 is a screen that displays commands (contents) for adjusting driving 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 automatic steering. For example, as shown in FIG. An instruction to turn the vehicle body 3 to the right or to the left is determined by the current traveling direction of the vehicle body 3 . Note that 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 extending direction (longitudinal direction) of the driving reference line L1, the guidance screen M3 gives an instruction to turn the vehicle body 3 to the left. 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 driving reference line L1, the guidance screen M3 instructs the vehicle body 3 to turn to the right.

The guidance screen M3 includes a message display section 70. FIG. The message display section 70 is a section for explaining the steering of the vehicle body 3 with characters (messages). That is, the message display portion 70 is a portion that indicates the steering direction of the vehicle body 3 in characters as a command (content) for running.
As shown in FIG. 9A, the message display unit 70 displays characters indicating that the vehicle body 3 should be turned to the right when the traveling direction of the vehicle body 3 needs to be turned to the right. As shown in FIG. 9B, the message display unit 70 displays characters indicating that the vehicle body 3 should be turned to the left when the traveling direction of the vehicle body 3 needs to be turned to the left.

In addition, as shown in FIG. 9C, the message display unit 70 displays characters indicating that the vehicle body 3 should go straight (straight) when the traveling direction of the vehicle body 3 is to be maintained. As shown in FIG. 9D, the message display unit 70 displays that the straight-ahead distance has not reached the predetermined distance when the vehicle body 3 needs to go straight a predetermined distance and the straight-ahead distance does not reach the predetermined distance. In addition, in FIG. 9D, the message display section 70 may display a message indicating that the vehicle body 3 is to go straight for a predetermined distance.

The guidance screen M3 includes a steering instruction section 69 . The steering instruction portion 69 is a portion that indicates the steering direction of the vehicle body 3 . As shown in FIG. 9A, the steering instruction unit 69 displays an arrow pointing the traveling direction of the vehicle body 3 to the right when the traveling direction of the vehicle body 3 needs to be directed to the right. As shown in FIG. 9B, the steering instruction unit 69 displays an arrow pointing the traveling direction of the vehicle body 3 to the left when the traveling direction of the vehicle body 3 needs to be turned to the left. As shown in FIG. 9C, when the traveling direction of the vehicle body 3 is to be maintained, a pair of arrows facing each other is displayed to indicate that the vehicle body 3 is going straight (straight).

The guidance screen M3 also includes a driving display portion 61 and a steering wheel display portion 68 . That is, in the guidance screen M3, the driving display section 61 and the steering wheel display section 68 are displayed on the same screen (same screen). Specifically, in the guidance screen M3, the driving display portion 61 and the steering wheel display portion 68 are displayed in the portion (range) MA1 where the explanation is to be changed. The driving display portion 61 in the guidance screen M3 is a portion that displays driving information, similarly to the driving screens M1 and M2, and displays at least part of the driving information shown in the driving screens M1 and M2. In this embodiment, the operation display section 61 in the guidance screen M3 includes a number display section 64 that numerically indicates the number of rotations of the engine, and displays the number of rotations of the engine. Note that the driving display portion 61 in the guidance screen M3 may include the rotating display portion 62 shown in the driving screens M1 and M2. Alternatively, the driving display portion 61 in the guidance screen M3 may include both the number display portion 64 and the rotating display portion 62 shown in the driving screens M1 and M2.

The steering wheel display portion 68 is a portion that displays the steering wheel 30 graphically or the like. The driving display portion 61 is displayed on one side or the other side of the steering wheel display portion 68 . The steering wheel display portion 68 and the steering instruction portion 69 are displayed separately. Note that the steering wheel display portion 68 and the steering instruction portion 69 may be displayed in an overlapping manner.
The steering wheel display portion 68 has a circular gripping portion 68A that is gripped by the driver on the steering wheel 30, and a connecting portion 68B that connects the gripping portions 68A. The steering direction of the steering wheel display portion 68 is changed in accordance with the instruction of the steering direction of the vehicle body 3 .

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

As shown in FIG. 9A , the steering wheel display unit 68 indicates that the steering direction is right by rotating the gripping portion 68A and the connecting portion 68B to the right around the center of the gripping portion 68A when it is necessary to turn the traveling direction of the vehicle body 3 to the right. As shown in FIG. 9B , the steering wheel display unit 68 indicates that the steering direction is left by rotating the grip portion 68A and the connecting portion 68B to the left around the center of the grip portion 68 when the traveling direction of the vehicle body 3 needs to be turned to the left. As shown in FIG. 9C, when the traveling direction of the vehicle body 3 is maintained, the steering direction is indicated to be straight by not rotating the grip portion 68A and the connecting portion 68B.

16A and 16B show modified examples of the guidance screen M3. The guidance screen M3 includes a plurality of condition display portions indicating driving conditions. The plurality of condition display portions are a first condition display portion 101 indicating a first condition and a second condition display portion 102 indicating a second condition. In this embodiment, a condition display section showing two conditions will be described as an example, but the number of condition display sections is not limited to the embodiment.

The first condition display unit 101 displays, as a condition for automatic steering, that the traveling direction of the tractor 1 (body 3) should be parallel to the reference travel line L1, for example, "Please make it parallel to the reference line." The second condition display unit 102 displays, as a condition for automatic steering, that the tractor 1 (vehicle body 3) is to go straight for a predetermined distance, for example, "Please go straight for 3 m." In the guidance screen M3, the condition display portion in which the traveling condition is satisfied (condition satisfied display portion) among the plurality of condition display portions is changed in display form from the condition display portion in which the traveling condition is not satisfied (condition not satisfied display portion). For example, as shown in FIG. 16B, in automatic steering, when the traveling direction of the tractor 1 (body 3) is parallel to the reference traveling line L1 and the straight traveling distance is less than a predetermined distance, the first condition display section 101 is colored with a low saturation color (for example, white, gray, etc.), and the second condition display section 102 is colored with a high saturation color. Specifically, the display device 45 sets the saturation of the characters in the condition-satisfaction display portion to be lower than the saturation of the characters in the condition-failure display portion. As a result, the driver can easily grasp which items satisfy the driving conditions and which items do not satisfy the driving conditions.

As described above, according to the guidance screen M3, instructions (contents) for adjusting the traveling conditions of the tractor 1 (body 3) are displayed, so that the driver can bring the tractor 1 (body 3) into a state in which the traveling conditions are adjusted while steering and traveling by viewing the instructions displayed on the guidance screen M3. Since the operation information is displayed on the guidance screen M3, when the tractor 1 needs to travel in order to adjust the travel conditions, the tractor 1 can be made to travel while viewing the operation information of the tractor 1, and the tractor 1 can be brought into a state suitable for the travel conditions. Further, since both the steering wheel display portion 68 and the driving display portion 61 are displayed on the guidance screen M3, for example, the tractor 1 can be driven while grasping both the driving information and the steering direction of the steering wheel 30.

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

As shown in FIGS. 10B and 10C, the numbers shown in the correction display section 71 indicate the number of operations of the correction switch 53, and the correction display section 71 displays the number of operations as a correction amount. As described above, since the correction amount corresponds to the number of operations, the driver can grasp the correction amount in stages by looking at the number of operations.
Specifically, the correction display portion 71 includes a first correction display portion 72 and a second correction display portion 73 . The first correction display portion 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, on the left side. The second correction display portion 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, on the right side. Either the first correction display portion 72 or the second correction display portion 73 is displayed on the operation screen M2 when the correction switch 53 is operated.

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

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

In the above-described embodiment, the correction display unit 71 indicates the magnitude of the correction amount in stages by displaying the number of times of operation as the correction amount. Alternatively, as a case of indicating the correction amount in stages, as shown in FIG. In the index portion 76, for example, the number of displayed items increases as the number of operations of the correction switch 53 increases, or the number of items displayed increases as the steering amount of the correction switch 53 increases. Further, the correction display unit 71 may indicate the correction amount itself by a number.

10A to 10C, when the steering changeover switch 52 is operated and the automatic steering ends, the display device 45 displays that the automatic steering has ended on the driving screen M2, and returns to either the driving screen M2 shown in FIG. 9C or the driving screen M1 shown in FIG. 6A.
As described above, since the correction display portion 71 is displayed on the operation screen M2, the driver can easily grasp the correction amount by the correction switch 53 and in which direction the correction amount is being performed by looking at the correction display portion 71 during automatic steering.
<Regarding the guidance screen M4>
In the above-described embodiment, when the setting switch 51 is turned from OFF to ON while the driving screen M1 is displayed on the display device 45, the guidance screen M3 is displayed via the driving screen M2 to display a command regarding the running of the vehicle body 3. However, when the screen switching switch 54 is operated while the driving screen M1 is displayed or when the screen switching switch 54 is operated while the driving screen M2 is displayed, the guidance screen M4 shown in FIGS. 12A to 12C can be displayed. There is. The guidance screen M4 is a screen for making settings related to traveling, and is a screen for displaying commands (contents) for setting the traveling reference line L1 and adjusting the traveling conditions of the vehicle body 3, for example. In other words, the guidance screen M4 is a screen that can display navigation for adjusting the driving conditions.

As shown in FIGS. 12A to 12C, the guidance screen M4 includes a message display portion 77, a driving display portion 61, and a steering wheel display portion 68. FIG. That is, even in the guidance screen M3, the driving display section 61 and the steering wheel display section 68 are displayed on the same screen (same screen).
The message display unit 77 is a portion that displays various commands in characters, and as shown in FIG. 12A, when the setting mode is set to be disabled, the message display unit 77 displays a message indicating that the setting switch 51 is to be turned ON, for example, "Please switch to GS mode." As shown in FIG. 12B, when the setting mode is enabled, the message display unit 77 displays a message indicating that the starting point P10 of the running 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 display indicating that the starting point P11 of the traveling reference line L1 is to be set, for example, "Please register the end point."

The operation display portion 61 in the guidance screen M4 is also a portion that displays operation information, similarly to the operation screens M1 and M2, and displays at least part of the operation information shown in the operation screens M1 and M2. In the guidance screen M4, the operation display portion 61 is displayed in the portion (range) MA2 where the explanation is to be changed. In this embodiment, the operation display section 61 in the guidance screen M4 includes a number display section 64 that numerically indicates the number of rotations of the engine, and displays the number of rotations of the engine. Note that the driving display portion 61 in the guidance screen M4 may also include the rotating display portion 62 shown in the driving screens M1 and M2. Alternatively, the operation display portion 61 in the guidance screen M4 may also include both the number display portion 64 and the rotating display portion 62 shown in the operation screens M1 and M2.

The handle display portion 68 in the guidance screen M4 also has a grip portion 68A and a connecting portion 68B. Further, the steering wheel display portion 68 in the guidance screen M4 shows a switching display portion 78 in which the steering switching switch 52 is shown graphically. As shown in FIG. 12B, the switching display portion 78 indicates the operating position for setting the starting point P10 of the running reference line L1, and the tip of the switching display portion 78 is positioned below the grip portion 68A relative to the neutral position. As shown in FIG. 12C, the switching display portion 78 indicates the operating position for setting the end point P11 of the driving reference line L1, and the tip of the switching display portion 78 is positioned above the grip portion 68A relative to the neutral position. Further, the guidance screen M4 indicates the operation direction of the steering switch 52 with an arrow portion 79 corresponding to the switching display portion 78 when setting the start point P10 and the end point P11 of the driving reference line L1. Further, on the guidance screen M4, a second icon portion 66B indicating the starting point P10 of the traveling reference line L1 and a third icon portion 66C indicating the ending point P11 of the traveling reference line L1 are displayed at a position different from the icon display portion 67, that is, at the central portion in the width direction.

When the screen changeover switch 54 is operated and the position detection device 40 needs to be warmed up, the display device 45 displays a warmup screen as shown in FIG. When the warm-up is completed, the display device 45 switches to the guidance screen M4 shown in FIG. 12A.
As described above, on the guidance screen M4, the setting of the driving reference line L1 can be performed with an explanation. That is, although the driving reference line L1 can also be set on the driving screen M2, the display device 45 displays the guidance screen M4 separately from the driving screen M4, so the driver can set the driving reference line L1 using the guidance screen M4 without knowing the setting of the automatic steering.

Note that when the driving screens M1 and M2 are displayed by an operation such as screen switching after the driving reference line L1 and the like are set by a command related to driving on the guidance screen M4, the second icon portion 66B and the third icon portion 66C indicate that the starting point P10 and the ending point P11 of the driving reference line L1 have been set on the driving screens M1 and M2.
Further, as shown in FIGS. 12A to 12C, in the guidance screen M4, if the conditions for automatic steering are not met after setting the driving reference line L1, the display device 45 switches the screen displayed on the variable display portion 46B from the guidance screen M4 to the guidance screen M3, as shown in FIGS. 9A to 9D. After switching the screen displayed on the variable display portion 46B from the guidance screen M4 to the guidance screen M3, the display device 45 again displays the guidance screen M4 as shown in FIG. 14A when the conditions for automatic steering are satisfied.

As shown in FIG. 14A, when the driving reference line L1 is set and the conditions for automatic steering are met, a fourth icon portion 66D is displayed in addition to the second icon portion 66B and the third icon portion 66C on the guidance screen M4. In addition, when the automatic steering is not started, the message display section 77 of the guidance screen M4 displays that the automatic steering can be started by the steering changeover switch 52, for example, "Please turn on the GS function." In addition, the arrow portion 83 is displayed on the guidance screen M4 when the automatic steering is not started. An arrow portion 83 is positioned near the steering wheel display portion 68 and the switching display portion 78, and indicates the operation direction of the steering changeover switch 52 for instructing the start of automatic steering. As shown in FIG. 14A, when the conditions for automatic steering are satisfied and automatic steering is not started, the message display portion 77 and the arrow portion 83 shown in the guidance screen M4 become an instruction display portion indicating that automatic steering can be started by the steering selector switch 52. Note that the display method of the message display portion 77 and the arrow portion 83 is not limited to the above-described embodiment. Although both the message display portion 77 and the arrow portion 83 are shown as the instruction display portion, either one of the message display portion 77 and the arrow portion 83 may be used as the instruction display portion.

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

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

14B and 14C, when the steering selector switch 52 is operated and the automatic steering ends, the display device 45 displays the completion of the automatic steering on the guidance screen M4, and returns to either the guidance screen M4 shown in FIG. 14A or the operation screen M1 shown in FIG. 6A.
As described above, the display device 45 can display conditions for maintaining running such as automatic steering after the running conditions such as automatic steering are set. Specifically, the display device 45 displays the guidance screen M4 for maintaining the automatic steering during the automatic steering. When the vehicle speed of the tractor 1 (vehicle body 3) exceeds a predetermined speed in a situation in which automatic steering is performed while the guidance screen M4 shown in FIGS. 14B and 14C is displayed, the guidance screen M4 shown in FIGS. 14B and 14C switches to the guidance screen M4 shown in FIG. 15A. The message display section 77 of the guidance screen M4 in FIG. 15A displays the state of the tractor 1 during automatic steering, that is, the vehicle speed is exceeded. In addition, the message display section 82 of the guidance screen M4 displays a message to the effect that the vehicle speed is to be reduced as a condition for maintaining the automatic steering, and displays "The speed is excessive. Please reduce the speed." Further, the driving display portion 61 of the guidance screen M4 includes a vehicle speed display portion 90. As shown in FIG. The vehicle speed display unit 90 displays the current vehicle speed, that is, the vehicle speed during automatic steering in numbers. When the driver operates the accelerator or the like to reduce the vehicle speed of the tractor 1 (body 3) to the vehicle speed determined by the automatic steering or less, the guidance screen M4 again switches to the guidance screen M4 shown in FIGS. 14B and 14C.

14B and 14C, the guidance screen M4 shown in FIGS. 14B and 14C switches to the guidance screen M4 shown in FIG. The message display portion 77 of the guidance screen M4 in FIG. 15B displays the state of the tractor 1 during automatic steering, that is, the vehicle speed is zero. Further, the message display section 82 of the guidance screen M4 displays, as a condition for maintaining the automatic steering, a display to the effect that the vehicle speed must be greater than zero, and "The vehicle is stopped. Please restore the speed." When the driver operates the accelerator or the like to increase the vehicle speed of the tractor 1 (body 3) above zero, the guidance screen M4 switches again to the guidance screen M4 shown in FIGS. 14B and 14C.

15A and 15B are shown as screens indicating the conditions for maintaining automatic steering while the guidance screen M4 displayed after the start of automatic steering is displayed in the above-described embodiment, when automatic steering is performed while the driving screen M2 of FIGS. , the screen may be switched to the guidance screen M4 of FIG. 15B. After the screen displayed on the variable display portion 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 vehicle body 3 that can travel, a steering handle 30 that steers the vehicle body 3 by turning, a position detection device 40 that is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on a signal from a positioning satellite, a correction switch 53 that commands correction of the position of the vehicle body 3 detected by the position detection device 40, a corrected vehicle body position that is the position of the vehicle body 3 corrected by the operation of the correction switch 53, and an automatic steering mechanism that automatically steers the vehicle body 3 based on the planned travel line L2. 37. According to this, even when the position of the vehicle body 3 (calculated vehicle body position W1) detected by the position detection device 40 is deviated from the actual position W2 of the working vehicle 1 (the vehicle body 3) such as the tractor 1 due to various influences, the position of the vehicle body 3 (the vehicle body position) is corrected by the correction switch 53 after the automatic steering is started, so that the vehicle can be traveled along the planned running line L2 with the vehicle body 3. That is, since the calculated vehicle body position W1 can be corrected by the correction switch 53, the influence of the detection accuracy of the position detection device 40 can be reduced.

The correction switch 53 includes a first correction section 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 correction section 53 that commands correction of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. According to this, even if the calculated vehicle body position W1 deviates to one side or the other side, the calculated vehicle body position W1 can be easily corrected in the direction of deviation by the first correction section 53A and the second correction section 53B.

A control device 60 to which the correction switch 53 is connected and which controls the automatic steering mechanism 37 is provided. According to this, the correction amount can be changed simply by increasing or decreasing the number of times the correction switch 53 is operated by the driver.
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 includes a steering switch 52 for switching between automatic steering and manual steering. This makes it possible to easily switch between automatic steering in which the vehicle body 3 travels along the planned travel line L2 and manual steering in which the driver uses the steering handle 30 to travel the vehicle body 3 .
Further, 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 planned travel line, at least a setting switch 51 for switching between enabling and disabling a setting mode for setting before the start of automatic steering, and a driving display section 61 for displaying driving information when the vehicle body 3 is traveling. and a changing display device 45 . According to this, in the vehicle body 3 capable of performing manual steering and automatic steering, the driver can easily grasp whether or not it is in a state where the setting before automatic steering can be performed simply by looking at the operation display part 61.例文帳に追加

A work vehicle 1 includes a prime mover 4, an operation display part 61 includes a rotary display part 62 that displays the number of revolutions of the prime mover as driving information, and a display device 45 changes the color of the rotary display part 62 in the setting mode to a color different from that when the setting mode is disabled. According to this, it is possible to indicate whether the setting mode is effective or ineffective by the difference in the color of the number of revolutions of the prime mover, which the driver pays particular attention to when driving. In other words, it is possible to quickly make the driver aware that the setting mode is effective.

The rotation display section 62 includes a level display section 63 that displays the number of revolutions of the prime mover in stages, and a number display section 64 that displays the number of revolutions of the prime mover numerically. According to this, the driver can easily grasp whether the setting mode is valid or invalid at least when he or she sees either the level display section 63 or the number of revolutions of the prime mover.
The work vehicle 1 is provided on the vehicle body 3 and includes a position detection device 40 that detects the position of the vehicle body 3 based on the signal of the positioning satellite, and a correction switch 53 that corrects the position of the vehicle body 3 detected by the position detection device 40. The operation display unit 61 includes a correction display unit 71 that displays the amount of correction of the position of the vehicle body 3 by the correction switch 53 as driving information, and the display device 45 displays the correction display unit 71 in the setting mode. According to this, the driver can grasp the driving information displayed on the driving display section 61 and the correction amount displayed on the correction display section 71 at the same time, and can easily grasp the state of the automatic steering.

The correction display section 71 displays the number of operations of the correction switch 53 as a correction amount. According to this, the driver can easily grasp how much the calculated vehicle body position W1 is corrected just by looking at the number of operations of the correction switch 53 displayed on the correction display section 71 . The correction display section 71 displays the magnitude of the correction amount in stages. According to this, the driver can easily grasp how much the calculated vehicle body position W1 is corrected just by looking at the level of the correction amount displayed on the correction display section 71 .

The correction display portion 71 includes a first correction display portion 72 that displays the correction amount of the position of the vehicle body 3 on one side in the width direction of the vehicle body 3, and a second correction display portion 73 that displays the correction amount of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. According to this, the driver can easily grasp the degree of the calculated correction amount W1 for one side or the other side in the width direction of the vehicle body 3 simply by looking at either the first correction display portion 72 or the second correction display portion 73.

The work vehicle 1 includes a display device 45. The display device 45 has a steering wheel display portion 68 that indicates the steering wheel 30 and a driving display portion 61 that displays driving information during traveling of the vehicle body 3. The steering wheel display portion 68 and the driving display portion 61 are displayed on the same screen. According to this, the steering wheel display unit 68 and the driving display unit 61 are displayed on the same screen, so that when either automatic steering or manual steering is performed, the state of the steering wheel 30 and the driving information can be grasped at the same time. That is, the driver can easily grasp the steering of the steering handle. For example, by looking at the driving display section and the steering wheel display section displayed on the same screen, the driver can steer while grasping both the driving information during driving and the steering of the steering wheel during either manual steering or automatic steering.

The steering wheel display unit 68 and the driving display unit 61 are displayed on a guidance screen for instructing a change in the orientation 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 starting the automatic steering, the driver can judge the driving information at the time of steering the steering wheel 30 from the driving display part 61 while steering the steering wheel 30 while looking at the steering wheel display part 68. - 特許庁

The display device 45 has a steering instruction section 69 that is displayed on the same screen and indicates the steering direction of the vehicle body 3 . According to this, the driver can see the steering wheel display part 68 and the steering wheel display part 69 at the same time on the same screen, and can easily understand from the steering wheel display part 68 that the steering wheel 30 needs to be steered and in which direction the steering wheel 30 is steered.

The display device 45 has a message display section 70 for displaying a message explaining the steering of the vehicle body 3 on the same screen. According to this, the driver can see the steering wheel display portion 68 and the message display portion 70 on the same screen at the same time, and can easily understand from the steering wheel display portion 68 that it is necessary to steer the steering wheel 30 and how to steer the message display portion 70.

The steering direction of the steering wheel display section 68 is changed according to the 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 display portion 68 .
The work vehicle 1 has at least a setting switch 51 for switching to a setting mode for setting before starting automatic steering, and in the setting mode, the steering wheel display section 68 and the operation display section 61 are displayed on the same screen. According to this, it is possible to easily perform the setting before starting the automatic steering while looking at the steering wheel display section 68 and the driving display section 61 .

The display device 45 has a steering changeover switch 52 for switching the start or end of automatic steering in the setting mode, and the display device 45 has an instruction display section indicating that automatic steering can be started by the steering changeover switch 52 . According to this, the driver can grasp whether or not the automatic steering can be performed only by looking at the instruction display portion displayed on the display device 45, and can easily switch the start of the automatic steering by the steering changeover switch 52 when the automatic steering can be performed.

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 driving screen displaying driving information during driving of the vehicle body 3 and a guidance screen displaying a command relating to driving of the vehicle body 3, and the display device 45 displays at least part of the driving information displayed on the driving screen on the guidance screen. According to this, when the driver makes settings related to running of the vehicle body 3 while looking at the guidance screen, the driving information is displayed on the guidance screen, so that the settings related to running can be easily performed. In other words, the driver can easily drive the vehicle while viewing the guidance screen.

The work vehicle 1 includes a prime mover 4, and the display device 45 displays the number of revolutions of the prime mover as driving information on a guidance screen. According to this, since the number of revolutions of the prime mover, which is important in driving the work vehicle 1, is displayed on the guidance screen, the driver can drive the work vehicle 1 while watching the number of revolutions 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 handle 30 . According to this, the driver can see the guidance screen displayed on the display device 45 in a state where the driver normally sits on the driver's seat 10 and drives, and can drive while grasping the information on the guidance screen.

The display device 45 displays message display portions 70 and 77 indicating commands (contents) in characters and an operation display portion 61 indicating operation information on the guidance screen. According to this, it is possible to drive corresponding to the message display sections 70 and 77 while viewing both the information of the message display sections 70 and 77 and the driving information displayed on the driving display section 61 .
The work vehicle 1 includes a vehicle body 3 that can run, a steering handle 30 that steers the vehicle body 3, and a display device 45 that can display a guidance screen that displays at least a command for adjusting the running conditions of the vehicle body 3. According to this, when the work vehicle 1 needs to travel with the travel conditions adjusted, the driver can easily adjust the travel conditions simply 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 section 69 indicating the steering direction of the vehicle body 3 corresponding to the driving conditions on the guidance screen. According to this, when it is necessary to prepare the running conditions before starting the automatic steering, the driver can perform steering to prepare the running conditions for the automatic steering only by looking at the steering instruction part 69 displayed on the guidance screen.

The display device 45 displays a guidance screen before the start of automatic steering, and displays a steering wheel display section 68 on the guidance screen, which shows the steering wheel 30 pointing in the steering direction of the vehicle body 3 corresponding to the running condition. According to this, when it is necessary to adjust the running conditions before starting the automatic steering, the driver can easily understand that the running conditions for the automatic steering can be adjusted by turning the steering wheel 30 in the steering direction indicated by the steering wheel display part 68 only by looking at the steering wheel display part 68 of the guidance screen, and it is easy to adjust the running conditions for the automatic steering.

The work vehicle 1 has a steering changeover switch 52 for switching between manual steering and automatic steering, and the display device 45 displays a command to switch the steering changeover switch 52 to automatic steering on the guidance screen when the running conditions are met. According to this, the driver can easily understand 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.

The display device 45 displays the conditions for maintaining the running when the running is started after the running conditions of the vehicle body 3 are prepared. According to this, even after the vehicle body 3 starts running, it is possible to prepare the conditions for maintaining the running.
The display device 45 displays the condition for maintaining automatic steering as the condition for maintaining running after the start of automatic steering. According to this, even after the automatic steering of the vehicle body 3 is started, the conditions for maintaining the automatic steering can be adjusted.

The display device 45 displays the driving information of the vehicle body 3 on the guidance screen during automatic steering. According to this, it is possible to grasp the driving situation during the automatic steering on the guidance screen.
The work vehicle 1 includes a position detection device 40 which is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on signals from positioning satellites, a correction switch 53 which commands correction of the position of the vehicle body 3 detected by the position detection device 40, a corrected vehicle body position which is the position of the vehicle body 3 corrected by operating the correction switch 53, and an automatic steering mechanism 37 which automatically steers the vehicle body 3 based on the planned travel line L1. Display the amount on the guidance screen. According to this, automatic steering can be performed even while displaying the guidance screen.
<About the steering switch>
In the above-described embodiment, 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 steering of the vehicle body 3 can be changed by the correction switch 53 that corrects the calculated vehicle body position. That is, the correction switch 53 functions as a steering switch for steering the vehicle body 3 separately from the steering handle 30 . That is, the work vehicle 1 has a steering switch. In the description of the steering switch, the correction switch 53 in the above-described embodiment can be read as the steering switch 53, and the description of the steering switch is omitted. The first correction section 53A can be read as the first steering section, and the second correction section 53B can be read as the second steering section, and the description of the first steering section and the second steering section is omitted.

In other words, the work vehicle 1 includes a vehicle body 3 that can travel, a steering handle 30 that steers the vehicle body 3 by rotating it, and a steering switch that steers the vehicle body 3 separately from the steering handle 30 . Therefore, the driver can steer the work vehicle 1 only by operating the steering switch without operating the steering handle 30 .
Further, the steering switch is a switch for steering the vehicle body 3 by a pressing operation or a sliding operation. According to this, the driver can easily steer the vehicle body 3 by either pressing or sliding the steering switch.

A steering switch is provided around the steering handle 30 . According to this, the driver can quickly change from operating the steering wheel 30 to steering by the steering switch. In other words, the driver can drive the work vehicle 1 while easily selectively using both steering by the steering handle 30 and steering by the steering switch. The work vehicle 1 includes a steering shaft 31 that rotatably supports a steering handle 30 , and steering switches are provided around the steering handle 30 . According to this, the driver can quickly change from operating the steering wheel 30 to steering by the steering switch.

The steering switch includes a first steering section for steering the vehicle body 3 in one direction and a second steering section for steering the vehicle body 3 in the other direction. Therefore, the driver can steer the vehicle body 3 in one direction by pressing or sliding the first steering portion, and can steer the vehicle body 3 in the other direction by pressing or sliding the second steering portion.
The work vehicle 1 includes a position detection device 40 which is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on the signal of the positioning satellite, and the position of the vehicle body 3 detected by the position detection device 40.
The steering switch commands correction of the position of the vehicle body 3 detected by the position detection device 40 when the steering switch is pressed or slid, and the automatic steering mechanism automatically steers the vehicle body 3 based on the corrected vehicle body position, which is the position of the vehicle body 3 corrected by the pressing or sliding operation of the steering switch, and the planned running line. According to this, when automatic steering is performed by the automatic steering mechanism, the steering direction during automatic steering can be easily changed by operating the steering switch.

FIG. 19 is a diagram showing a control block diagram in a modified example of a working vehicle provided with a steering switch. In addition, the description of the configuration similar to that of the embodiment described above in FIG. 19 will not be repeated.
The tractor 1 has a steering switch 153 . The steering switch 153 is composed of a depressible push switch or a slidable slide switch. A case where the steering switch 153 is a push switch or a slide switch will be described below.

If the steering switch 153 is a push switch, the steering amount is set based on the number of times the push switch is operated. The steering amount is determined by steering amount=number of operations×steering amount per one operation. Further, 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 steering amount=displacement amount from a predetermined position. Note that the method of increasing the steering amount and the rate of increase described above are not limited to the numerical values described above.

The steering switch 153 has a first steering section 153A and a second steering section 153B. The first steering portion 153A is a portion that sets steering on one side in the width direction of the vehicle body 3, that is, on the left side. The second steering portion 153B is a portion that sets steering on the other side in the width direction of the vehicle body 3, that is, on the right side.
When the steering switch 153 is a push switch, the first steering section 153A and the second steering section 153B are ON or OFF switches that automatically return each time they are operated. The switches forming the first steering section 153A and the switches forming the second steering section 153B are integrated. Note that the switches forming the first steering section 153A and the switches forming the second steering section 153B may be arranged apart from each other. Each time the first steering portion 153A is pressed, the steering amount corresponding to the left side of the vehicle body 3 (left steering amount) increases. Also, each time the second steering portion 153B is pressed, the steering amount corresponding to the right side of the vehicle body 3 (right steering amount) increases.

When the steering switch 153 is a slide switch, the first steering portion 153A and the second steering portion 153B include knobs that move leftward or rightward along the longitudinal direction of the slot. When the steering switch 153 is a slide switch, the first steering portion 153A and the second steering portion 153B are arranged apart from each other in the width direction. When the knob is gradually displaced leftward from a predetermined reference position, the left steering amount increases according to the amount of displacement. Further, when the knob portion is gradually displaced to the right from the predetermined reference position, the right steering amount increases according to the amount of displacement. In the case of a slide switch, the first steering portion 153A and the second steering portion 153B may be integrally formed, the reference position of the knob portion may be set at the center portion, and the left steering amount may be set when the knob portion is moved to the left from the reference position, and the right steering amount may be set when the knob portion is moved to the right from the intermediate position.

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 has a steering motor 38 and a gear mechanism 39 . The steering motor 38 and gear mechanism 39 are the same as in the above-described embodiments.
A fourth control device 60D is provided. The fourth control device 60</b>D 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, and rotates the rotation shaft of the steering motor 38 so that the steering direction of the tractor 1 is leftward. When the second steering unit 153B is operated, the fourth control device 60D sets the amount of rotation (rotation angle) of the steering shaft 31 corresponding to the right steering amount set by the second steering unit 153B, and rotates the rotation shaft of the steering motor 38 so that the steering direction of the tractor 1 is rightward. Thus, by operating the steering switch 153, the tractor 1 can be steered left or right. In the modified example described above, the steering motor 38 is rotated by the steering mechanism 137, but instead of this, the control valve 34 may be configured by a control valve with an electromagnetic valve or the like capable of setting the amount of movement of the spool, and the fourth control device 60D may steer the tractor 1 by controlling the switching position and the opening degree of the control valve 34 according to the left steering amount or the right steering amount.

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.

1 work vehicle 3 vehicle body 30 steering handle 37 automatic steering mechanism 40 position detection device 45 display device 46 display unit 53 correction switch 68 steering wheel display unit 69 steering instruction unit L2 scheduled travel line M3, M4, M5 guidance screen

Claims (3)

a drivable vehicle; and
a steering handle for steering the vehicle body;
a control device capable of controlling the running of the vehicle body by either manual steering by the steering handle or automatic steering by steering the steering handle so that the vehicle body runs along a planned running line parallel to a preset running reference line;
a display device for displaying a command to adjust the traveling direction of the vehicle body in order to start the automatic steering before the control device starts controlling the traveling of the vehicle body by the automatic steering, the display device displaying the instruction to adjust the traveling direction of the vehicle body by displaying a steering instruction section indicating the steering direction of the vehicle body with respect to the traveling reference line before the control device starts controlling the traveling of the vehicle body by the automatic steering;
A work vehicle equipped with 2. The work vehicle according to claim 1, wherein the display device displays the steering direction of the vehicle body on the steering instruction unit using a light source corresponding to the traveling direction of the vehicle body. a position detection device provided on the vehicle body and configured to detect the position of the vehicle body based on a signal from a positioning satellite;
a correction switch for commanding correction of the position of the vehicle body detected by the position detection device;
a corrected vehicle body position that is the position of the vehicle body corrected by operating the correction switch; an automatic steering mechanism that automatically steers the vehicle body based on the planned travel line;
The work vehicle according to claim 1 or 2, comprising:

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