JP7392058B2 - work vehicle - Google Patents

Description

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

Conventionally, Patent Document 1 is known as an agricultural machine. The agricultural machine of Patent Document 1 includes a traveling machine that can freely switch 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 traveling machine that can switch between manual traveling and automatic traveling by automatic steering. It is equipped with a changeover switch that allows you to freely switch between driving and driving. Further, the starting point of the reference travel line is set by pressing the right direction button while the agricultural machine is running along the ridge, and the end point of the reference travel line is set by pressing the left direction button while the agricultural machine is running. That is, the reference travel line is set before automatic steering.

Japanese Patent Application Publication No. 2017-123803

In the agricultural machine of Patent Document 1, before automatic steering, a reference running line is set by operating a right indicator button, a left indicator button, etc., and a marker device is used to draw a reference running line on the rice field while setting the reference running line. After aligning the aircraft using the index line and center mascot, automatic steering begins along the set travel line. The reality is that the settings cannot be made unless the driver is familiar with the settings before automatic steering. Before starting automatic steering, the driver needs to at least understand how to steer the aircraft.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide a work vehicle capable of manual steering and automatic steering, in which the driver can easily understand how to steer the steering wheel. do.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The work vehicle includes a steering wheel, a vehicle body that can be driven by either manual steering using the steering wheel, or automatic steering of the steering wheel based on a scheduled driving line parallel to a driving reference line , and a display device that displays information. a setting mode for setting at least before the start of the automatic steering; and a steering changeover switch for setting a start point and an end point of the travel reference line in the setting mode, , displaying a first screen showing a driving display unit that displays driving information when the vehicle body is traveling; and after setting the starting point and the ending point by the steering changeover switch, the traveling direction of the vehicle body is set to the traveling reference line. , and if the conditions for the automatic steering are not met, a second display section indicating the operating direction of the steering wheel and instructing a change in the orientation of the vehicle body before starting the automatic steering; Display the screen .

When the display device is displaying the second screen and the traveling direction of the vehicle body is parallel to the driving reference line and the conditions for the automatic steering are satisfied, the display device displays the first screen. A screen is displayed, and an instruction display section indicating that the automatic steering can be started is displayed on the first screen.
The display device displays a steering instruction section indicating a steering direction of the vehicle body on the second screen .

The display device includes a message display section that displays a message explaining the setting of the starting point or the ending point on the first screen.
The steering direction of the display unit is changed according to the instruction of the steering direction.

According to the present invention, in a work vehicle capable of manual steering and automatic steering, the driver can easily understand how to operate the steering wheel. That is, by looking at the driving display section and the steering wheel display section displayed on the same screen, the driver can see the difference between the driving information at the time of driving and the steering wheel operation when driving with either manual steering or automatic steering. You can maneuver while understanding both.

FIG. 2 is a diagram showing the configuration and control block diagram of a tractor. It is an explanatory view explaining automatic steering. It is an explanatory view explaining the amount of correction in a push switch. It is an explanatory view explaining the amount of correction 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 showing the 1st correction part and the 2nd correction part in a slide switch. This shows a situation where the calculated vehicle body position shifts to the right while the vehicle is traveling straight during automatic steering. This shows a situation where the calculated vehicle body position shifts to the left while the vehicle is traveling straight during automatic steering. It is a figure which shows the driving screen M1. It is a figure which shows the driving screen M2. It is a figure which shows the driving screen M2 when the driving|running|working reference line is not set. It is a figure which shows the driving screen M2 after setting the starting point of a driving|running|working reference line. It is a figure which shows the driving screen M2 after the end point of the driving|running|working reference line is set. FIG. 3 is a diagram showing the running of the tractor when adjusting the running conditions. It is a figure which shows the guidance screen M3 which displayed the command to steer a vehicle body to the right. It is a figure which shows the guidance screen M3 which displayed the command to steer a vehicle body to the left. It is a figure which shows the guidance screen M3 which displayed the command to hold a vehicle body straight. It is a figure which shows the guidance screen M3 when the straight-line distance of a vehicle body is below predetermined. It is a figure which shows the driving screen M2 at the time of automatic steering. It is a figure which shows the driving screen M2 when the correction amount of the left side of a vehicle body is set at the time of automatic steering. It is a figure which shows the driving screen M2 when the correction amount of the right side of a vehicle body is set at the time of automatic steering. It is a figure which shows the modification of a correction|amendment display part. It is a figure which shows the guidance screen M4 before enabling a setting mode. It is a figure which shows the guidance screen M4 at the time of setting the starting point of a driving|running|working reference line. It is a figure which shows the guidance screen M4 at the time of setting the end point of a driving|running|working reference line. FIG. 3 is a diagram showing a screen during warm-up. It is a figure which shows the guidance screen M4 immediately after the conditions for automatic steering are set. It is a figure which shows the guidance screen M4 when the correction amount of the left side of a vehicle body is set at the time of automatic steering. It is a figure which shows the guidance screen M4 when the correction amount of the right side of a vehicle body is set at the time of automatic steering. It is a figure which shows the guidance screen M4 when a vehicle speed becomes more than predetermined at the time of automatic steering. FIG. 6 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. FIG. 3 is a view of the cover in front of the driver's seat as viewed from the driver's seat side. It is a figure which shows the control block diagram in the modification of the work vehicle equipped with a steering switch. It is an overall view of a tractor.

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

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

As shown in FIG. 20, the tractor 1 includes a vehicle body 3, a prime mover 4, and a transmission 5. The vehicle body 3 has a traveling device 7 and is capable of traveling. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type.
The prime mover 4 is a diesel engine, an electric motor, or the like, and in this embodiment, it is a diesel engine. The transmission device 5 can change the propulsion force of the traveling device 7 by changing the speed, and can also change the traveling device 7 between forward movement and backward movement. A driver's seat 10 is provided in the vehicle body 3.

Furthermore, a connecting portion 8 configured with a three-point linkage mechanism or the like is provided at the rear 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 equipment includes tillage equipment for tilling, fertilizer spreading equipment for spreading fertilizer, agricultural chemical spraying equipment for spraying pesticides, harvesting equipment for harvesting, reaping equipment for reaping grass, etc., spreading equipment for spreading grass, etc. These include a grass collecting device that collects grass, etc., and a forming device that shapes grass, etc.

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

The auxiliary transmission section 5c, like the main transmission section 5b, includes a plurality of gears and a shifter that changes the connection of the gears. The sub-transmission section 5c changes and outputs the rotation input from the main transmission section 5b by appropriately changing the connection (meshing) of a plurality of gears using a shifter (shifting).
The shuttle section 5d has a shuttle shaft 12 and a forward/reverse switching section 13. Power output from the sub-transmission section 5c is transmitted to the shuttle shaft 12 via gears and the like. The forward/reverse switching unit 13 is composed of, for example, a hydraulic clutch, and switches the direction of rotation of the shuttle shaft 12, that is, between forward and backward movement of the tractor 1, by turning on and off the hydraulic clutch. The shuttle shaft 12 is connected to a 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 5e includes 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 a PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and depending on whether the hydraulic clutch is turned on or off, the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14, and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14. The state changes.

The front transmission section 5f includes 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, and, for example, power from the shuttle shaft 12 is transmitted via a gear and a transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to 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 comprised of hydraulic clutches and 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 is switched between a connected state and a disconnected state depending on the opening degree 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 is switched between a connected state and a disconnected state depending on the opening degree 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 a solenoid valve, and are switched to a connected state or a disconnected state by energizing or demagnetizing a solenoid of the solenoid valve.

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 wheel 7F through the second clutch 18. This results in four-wheel drive (4WD) in which the front wheels and rear wheels are driven by power, and the rotational speeds of the front wheels and rear wheels are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is in the connected state and the second clutch 18 is in the disengaged state, the vehicle becomes four-wheel drive and the rotational speed of the front wheels becomes faster than the rotational speed of the rear wheels (4WD speed increase state). Further, when the first clutch 17 and the second clutch 18 are in the connected state, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, so the vehicle becomes a two-wheel drive (2WD) in which the rear wheels are driven by the power.
<Overview of position detection device>
The tractor 1 includes 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, Michibiki, etc. That is, the position detection device 40 receives a received signal transmitted from a positioning satellite (position of the positioning satellite, transmission time, correction information, etc.), and detects a position (for example, latitude, longitude) based on the received signal. The position detection device 40 includes a receiving device 41 and an inertial measurement unit (IMU) 42 . The receiving device 41 is a device that has an antenna and the like and receives a received signal transmitted from a positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement device 42. In this embodiment, the receiving device 41 is attached to a ROPS 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 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement device 42 is provided below the vehicle body 3, for example, the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.
<Overview of steering system, manual steering, and automatic steering>
As shown in FIG. 1, the tractor 1 includes a steering device 11. As shown in FIG. The steering device 11 is a device that can perform manual steering in which the vehicle body 3 is steered by the driver's operation, and automatic steering in which the vehicle body 3 is automatically steered without the driver's operation.

The steering device 11 includes a steering handle (steering wheel) 30 and a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. Further, the steering device 11 has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) using 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 moving a spool or the like, and is switched in accordance with the steering direction (rotation direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheel 7F.

Therefore, when the driver grasps the steering handle 30 and operates it in one direction or the other, the switching position and opening degree of the control valve 34 are switched in accordance with the direction of rotation of the steering handle 30, and the control valve 34 is switched. The steering direction of the front wheels 7F can be changed by expanding and contracting the steering cylinder 35 to the left or right depending on the switching position and opening degree. In other words, the direction of movement of the vehicle body 3 can be changed to the left or right by manually steering the steering handle 30.

Next, automatic steering will be explained.
As shown in FIG. 2, when performing automatic steering, first, a traveling reference line L1 is set before performing automatic steering. After setting the travel reference line L1, automatic steering can be performed by setting a travel schedule line L2 parallel to the travel reference line L1. In automatic steering, the tractor 1 (vehicle 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 coincide with each other.

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

After setting the running reference line L1 (after S6), for example, the tractor 1 (vehicle body 3) is moved to a location different from the location where the running reference line L1 was set (S7), and the driver operates the steering changeover switch 52. When this is performed (S8), a scheduled travel line L2, which is a straight line parallel to the travel reference line L1, is set (S9). After setting the scheduled travel line L2, automatic steering is started and the traveling direction of the tractor 1 (vehicle body 3) is changed to follow the scheduled travel line L2. For example, if the current vehicle body position is on the left side with respect to the planned travel line L2, the front wheels 7F are steered to the right, and if the current vehicle body position is on the right side with respect to the planned travel line L2, the front wheels 7F are steered to the right. is steered to the left. Note that during automatic steering, the traveling 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, This can be changed by changing the gear position of the transmission.

Further, after the automatic steering starts, if the driver operates the steering changeover switch 52 at any point, the automatic steering can be ended. That is, the end point of the scheduled travel line L2 can be set by terminating the automatic steering by operating the steering changeover switch 52. That is, the length from the start point to the end point of the scheduled travel line L2 can be set longer or shorter than the travel reference line L1. In other words, the scheduled travel line L2 is not associated with the length of the reference travel line L1, and the scheduled travel line L2 allows the vehicle to travel a distance longer than the length of the reference travel line L1 while automatically steering the vehicle.

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

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

The tractor 1 includes a steering changeover switch 52. The steering changeover switch 52 is a switch that starts or ends automatic steering. Specifically, the steering changeover switch 52 can be switched upward, downward, forward, and backward from the neutral position, and when the steering changeover switch 52 is switched downward from the neutral position while the setting mode is enabled, the automatic steering starts. If the setting mode is enabled and the neutral position is switched upward, the automatic steering end signal is output. Further, when the steering changeover switch 52 is later switched from the neutral position while the setting mode is enabled, the steering changeover switch 52 outputs a message indicating that the current vehicle body position is to be set to the starting point P10 of the travel reference line L1, and the steering changeover switch 52 52 outputs that the current vehicle body position is set to the end point P11 of the running reference line L1 when the setting mode is switched forward from the neutral position with the setting mode enabled.
<Overview of correction switch>
The tractor 1 is equipped with a correction switch 53. The correction switch 53 is a switch that corrects the vehicle body position (latitude, longitude) measured by the position detection device 40. That is, the correction switch 53 adjusts the vehicle body position calculated from the received signal (position of the positioning satellite, transmission time, correction information, etc.) and the measurement information (acceleration, angular velocity) measured by the inertial measurement device 42 (referred to as the calculated vehicle body position). ) is a switch that corrects the

The correction switch 53 is comprised of a push switch that can be pressed or a slide switch that can be slid. Hereinafter, cases in which the correction switch 53 is a push switch or a slide switch will be described.
When the correction switch 53 is a push switch, the correction amount is set based on the number of times the push switch is operated. The correction amount is determined by correction amount=number of operations×correction amount per number of operations. For example, as shown in FIG. 3A, each time the push switch is operated, the correction amount increases by several centimeters or tens of centimeters. The number of times the push switch is operated is input to the first control device 60A, and the first control device 60A sets (calculates) a correction amount based on the number of times the push switch is operated.

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 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. Note 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 includes a first correction section 53A and a second correction section 53B. The first correction section 53A is a section that instructs correction of the vehicle body position corresponding to one side in the width direction of the vehicle body 3, that is, the left side. The second correction unit 53B is a part that instructs 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 switch forming the first correction section 53A and the switch forming the second correction section 53B are integrated. Note that the switch forming the first correction section 53A and the switch forming the second correction section 53B may be arranged apart from each other. As shown in FIG. 3A, each time the first correction section 53A is pressed, the correction amount corresponding to the left side of the vehicle body 3 (left correction amount) increases. Moreover, each time the second correction part 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 section 53A and the second correction section 53B include a knob 55 that moves to the left or right along the longitudinal direction of the elongated hole. There is. When the correction switch 53 is a slide switch, the first correction section 53A and the second correction section 53B are arranged apart from each other in the width direction. As shown in FIG. 3B, when the knob 55 is gradually displaced to the left from a predetermined reference position, the left correction amount increases in accordance with the amount of displacement. Moreover, when the knob 55 is gradually displaced to the right from a predetermined reference position, the right correction amount increases in accordance with the amount of displacement. As shown in FIG. 4B, in the case of a slide switch, the first correction section 53A and the second correction section 53B are integrally formed, the reference position of the knob 55 is set at the center, and the reference position of the knob 55 is set at the center. The left correction amount may be set when the knob 55 is moved to the left, and the right correction amount may be set when the knob 55 is moved from the intermediate position to the right.

Next, the relationship between the correction amount (left correction amount, right correction amount) by the correction switch 53, the planned travel route L2, and the behavior (travel trajectory) of the tractor 1 (vehicle body 3) will be explained.
FIG. 5A shows a state in which the calculated vehicle body position W1 shifts to the right while the vehicle is traveling straight during automatic steering. As shown in FIG. 5A, when the automatic steering is started, the actual position (actual position W2) of the tractor 1 (vehicle body 3) and the calculated vehicle body position W1 match, and the actual position W2 and the planned traveling route If L2 and L2 match, the tractor 1 travels along the planned travel route L2. That is, in the section P1 where there is no error in the positioning of the position detecting device 40 and the vehicle body position detected by the position detecting device 40 (calculated vehicle body position W1) is the same as the actual position W2, the tractor 1 moves along the planned traveling route L2. Run. Note that if there is no error in positioning by the position detection device 40 and no correction is performed, the calculated vehicle body position W1 and the corrected vehicle body position W3 corrected by the correction amount are the same value. The corrected vehicle body position W3 is calculated as follows: corrected vehicle body position W3=calculated vehicle body position W1−correction amount.

Here, in the vicinity of the position P20, although the actual position W2 is not deviated from the planned travel route L2, an error occurs in the positioning of the position detection device 40 due to various influences, and the position detection device 40 Assuming that the detected vehicle body position W1 deviates to the right with respect to the planned travel route L2 (actual position W2) and the amount of deviation W4 is maintained, the tractor 1 shifts from the calculated vehicle body position W1 to the planned travel route L2. It is determined that a deviation has occurred, and the tractor 1 is steered to the left so as to eliminate the deviation amount W4 between the calculated vehicle body position W1 and the planned travel route L2. Then, the actual position W2 of the tractor 1 is shifted to the planned travel route L2 by left steering. After that, assume that the driver notices that the tractor 1 has deviated from the planned travel route L2 and steers the second correction section 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 corrected vehicle body position (corrected vehicle body position) W3 can be made substantially the same as the actual position W2. That is, by setting the right correction amount by the second correction unit 53B, the vehicle body position of the position detection device 40 can be corrected in a direction that eliminates the deviation amount W4 that occurs near the position P20. Note that, as shown in position P21 in FIG. 5A, if the actual position W2 of the tractor 1 is far to the left from the planned travel route L2 after correcting the vehicle body position, the tractor 1 is steered to the right, and the tractor 1 is steered to the right. The actual position W2 can be matched with the planned travel route L2.

FIG. 5B shows a state in which the calculated vehicle body position W1 shifts to the left while the vehicle is traveling straight during automatic steering. As shown in FIG. 5B, in a state where automatic steering has been started, if the actual position W2 and the calculated vehicle body position W1 match, and the actual position W2 and the planned travel route L2 match, then FIG. Similarly, the tractor 1 travels along the scheduled travel route L2. That is, similarly to FIG. 5A, in the section P2 in which there is no error in positioning by the position detection device 40, the tractor 1 travels along the planned travel route L2. Further, similarly to FIG. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 have 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 to the left with respect to the actual position W2, and the deviation amount W5 increases. If it 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, assume that the driver notices that the tractor 1 has deviated from the planned travel route L2, and the driver increases the left correction amount from zero by steering the first correction section 53A at position P23. Then, the left correction amount is added to the calculated vehicle body position W1, and the corrected vehicle body position (corrected vehicle body position) W3 can be made substantially the same as the actual position W2. That is, by setting the left correction amount by the first correction unit 53A, the vehicle body position of the position detection device 40 can be corrected in a direction that eliminates the deviation amount W5 that occurs near the position P22. In addition, position P23 in FIG. 5B
As shown in , if the actual position W2 of the tractor 1 is far to the right from the planned travel route L2 after the vehicle body position is corrected, the tractor 1 is steered to the left, and the actual position W2 of the tractor 1 is shifted from the planned travel route L2. It can be made to match route L2.
<Arrangement of setting switch, steering selector switch, and correction switch>
Next, the setting switch 51, correction switch 53, and screen changeover switch 54 will be explained.

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

A shuttle lever 181 projects from the left plate portion 178b of the panel cover 178. The shuttle lever 181 is a member that performs an operation to switch the running direction of the vehicle body 3. To explain in more detail, by operating (swinging) the shuttle lever 181 forward, the forward/reverse switching section 13 becomes in a state of outputting forward power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the forward direction. Further, by operating (swinging) the shuttle lever 181 backward, the forward/reverse switching section 13 becomes in a state of outputting backward power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the backward direction. When the shuttle lever 181 is in the neutral position, no power is output to the traveling device 7.

The column cover 179 is arranged below the steering handle 30 and covers the upper part of the steering shaft 31. The column cover 179 is formed into a substantially rectangular tube shape and projects upward from the mounting surface 178f of the panel cover 178. That is, the mounting surface 178f is provided around the column cover 179. Therefore, the setting switch 51, correction switch 53, and screen changeover switch 54 attached to the mounting surface 178f are arranged around the column cover 179.

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 explained 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 comprised of a swingable lever. The steering changeover switch 52 is swingable about 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 changeover switch 52 protrudes to one side (left side) 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 disposed to the right and rear of the steering shaft 31 (diagonally right rear). In terms of positional relationship with the column cover 179, the correction switch 53 is arranged on the right and rear side of the column cover 179 (diagonally right rear side). In terms of positional relationship with the mounting surface 178f of the panel cover 178, the correction switch 53 is arranged at the rear right of the mounting surface 178f. By arranging the correction switch 53 at the rear of the inclined mounting surface 178f, a long distance between the correction switch 53 and the steering handle 30 can be ensured. Thereby, unintentional operation of the correction switch 53 and steering of the steering wheel 30 can be more reliably prevented.

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 disposed on the right and front of the steering shaft 31 (diagonally right front). In terms of positional relationship with the column cover 179, the screen changeover switch 54 is disposed on the right and front (diagonally right front) of the column cover 179. In terms of positional relationship with the mounting surface 178f of the panel cover 178, the screen changeover switch 54 is arranged at the front right portion of the mounting surface 178f. Further, 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 located around the steering shaft 31. Therefore, the driver can understand the position of each switch at a glance. In addition, the driver can operate each switch while remaining seated in the driver's seat 10 without changing his or her posture. Therefore, operability is improved and erroneous operations can be prevented. Further, the harness (wiring) routed from each switch can be shortened.

In addition, regarding the arrangement of the above-mentioned switches, 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 placed on the right side of the steering shaft 31, and the correction switch 53 may be placed on the left side of the steering shaft 31.
<Outline of control device>
As shown in FIG. 1, the tractor 1 includes a plurality of control devices 60. The plurality of control devices 60 are devices that control the traveling system of the tractor 1, control the work system, calculate the vehicle body position, and the like. The plurality of control devices 60 are a first control device 60A, a second control device 60B, and a third control device 60C.

The first control device 60A receives the reception signal (reception information) received by the reception device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement device 42, and determines the vehicle body position based on the reception information and measurement information. seek. For example, when the correction amount by the correction switch 53 is zero, that is, when the correction switch 53 has not been instructed to correct the vehicle body position, the first control device 60A controls the calculated vehicle body position calculated based on the received information and the measurement information. No correction is made to the position W1, and the calculated vehicle body position W1 is determined as the vehicle body position used during automatic steering. On the other hand, when the correction switch 53 is instructed to correct the vehicle body position, the first control device 60A adjusts the vehicle body position based on either the number of operations of the correction switch 53 or the amount of operation (displacement amount) of the correction switch 53. A correction amount is set, and a corrected vehicle body position W3 obtained by correcting the calculated vehicle body position W1 by the correction amount is determined 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 scheduled 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, when the deviation between the vehicle body position and the planned travel line L2 is less than the threshold value, the second control device 60B maintains the rotation angle of the rotation shaft of the steering motor 38. If the deviation between the vehicle body position and the scheduled travel line L2 is greater than or equal to the threshold and the tractor 1 is located on the left side with respect to the scheduled travel line L2, the second control device 60B controls the steering direction of the tractor 1 to the right. The rotation shaft of the steering motor 38 is rotated so that the rotation direction of the steering motor 38 is 0. If the deviation between the vehicle body position and the scheduled travel line L2 is greater than or equal to the threshold value and the tractor 1 is located on the right side of the scheduled travel line L2, the second control device 60B controls the steering direction of the tractor 1 to the left. The rotation shaft of the steering motor 38 is rotated so that the rotation direction of the steering motor 38 is 0. In the embodiment described above, the steering angle of the steering device 11 was changed based on the deviation between the vehicle body position and the planned travel line L2, but the steering angle of the steering device 11 was changed based on the deviation between the vehicle body position and the planned travel line L2. (travel direction) is different from the azimuth (vehicle body orientation) F1, that is, when the angle θ of the vehicle body azimuth F1 with respect to the planned travel line L2 is equal to or greater than the threshold value, the second control device 60B controls the angle θ to be zero (vehicle body orientation). The steering angle may be set so that F1 coincides with the direction of the planned travel line L2. Further, the second control device 60B sets the final steering angle in automatic steering based on the steering angle determined based on the deviation (positional deviation) and the steering angle determined based on the azimuth (azimuth deviation θ). You may. The setting of the steering angle in automatic steering in the embodiment described above is an example, and is not limited.

The third control device 60C raises and lowers the connecting portion 8 in accordance with the operation of operating members 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 above-mentioned driving system control, work system control, and vehicle body position calculation are not limited.
<Display device details>
Settings regarding the running of the vehicle body 3 can be made using the display device 45.

The details of the display device 45 will be explained 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 prime mover 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 prime mover rotation speed detected by the prime mover rotation sensor, etc. as the driving information.

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

As shown in FIG. 18, the display device 45 includes 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 the information to be displayed. The fixed display section 46A includes a panel on which a graphic such as a warning is displayed, and an irradiation section such as an LED that irradiates the graphic on the panel with a light source. Further, the variable display section 46B is composed of an organic EL panel, a liquid crystal panel, or the like, and displays various information regarding the operation (travel) of the tractor 1, etc.
<About driving screen M1>
FIG. 6A shows the driving screen M1 of the tractor 1. 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 invalid.

The display device 45, ie, the driving screen M1, has a driving display section 61 that shows driving information. The operation display section 61 includes a rotation display section 62 that displays the number of rotations of the prime mover 4 (the number of rotations of the prime mover) as operation information. The rotation display section 62 includes a level display section 63. The level display section 63 is a section that displays the prime mover rotation speed in stages. For example, the level display section 63 includes a scale section 65 and an index section 80. The scale portion 65 includes, for example, a first line 65A and a plurality of second lines 65B allocated at predetermined intervals along the first line 65A. Moreover, the scale portion 65 has a first line 65A and a third line 65C spaced apart from each other by 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 (for example, the left side) and a maximum value at the other end (for example, the right side). .

The indicator portion 80 is a bar whose length changes depending on the rotational speed of the prime mover. For example, the indicator part 80 is located between the first line 65A and the third line 65C, and when the value of the prime mover rotation speed is the minimum value of zero, the indicator part 80 is located between the first line 65A and the third line 65C. If it is located on one end side (left side) and has the shortest length and the value of the prime mover rotation speed is the maximum value, the first line 65A and the third line 65C from the one end side (left side) The third line 65C extends toward the other end (right side) and has the longest length. The rotation display section 62 includes a number display section 64. The numerical display section 64 displays the prime mover rotation speed in numbers. For example, the rotating display section 62 is arranged inside a semicircle between the first line 65A and the third line 65C.

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

The plurality of icon sections 66 include a first icon section 66A, a second icon section 66B, a third icon section 66C, a fourth icon section 66D, a fifth icon section 66E, a sixth icon section 66F, a seventh icon section 66G, and a third icon section 66C. 8 icon section 66H. Note that the driving screen M1 does not need to have all of the plurality of icon sections 66 (66A, 66B, 66C, 66D, 66E, 66F, 66G, 66H), and is not limited to the embodiment described above.

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

The fifth icon section 66E is displayed when the connecting section 8 is in an up/down state. The sixth icon section 66F is displayed when the vehicle is in the 4WD speed increase state. The color of the seventh icon section 66G changes depending on the receiving sensitivity of the receiving signal of the receiving device 41.
The display of the eighth icon section 66H changes depending on the automatic steering conditions. The eighth icon portion 66H displays the driving reference line L1 when the automatic steering cannot be performed for some reason, for example, when the setting mode is disabled or when the reception sensitivity of the reception signal of the receiving device 41 is low and the vehicle body position cannot be detected. If this setting has not been made, the color will turn gray to indicate that automatic steering cannot be performed. Further, the eighth icon portion 66H indicates that when automatic steering becomes possible for some reason, for example, the vehicle body position can be detected when the setting mode is enabled and the receiving sensitivity of the receiving signal of the receiving device 41 is higher than a predetermined value. , when the driving reference line L1 has been set, the color turns green indicating that automatic steering can be performed. Note that the display format in the eighth icon section 66H is not limited to the display format described above.
<About driving screen M2>
FIG. 6B shows the driving screen M2 of the tractor 1. 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 driving screen M2 also includes a driving display section 61 and an icon display section 67, similarly to the driving screen M1. In other words, the driving screen M2 is a screen that can display at least the same information as the driving screen M1 regarding driving information. The operation display section 61 and the icon display section 67 are the same as the operation screen M1, so a description thereof will be 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 format 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 driving display section 61 when the setting mode is valid different from the display form of the driving display section 61 when the setting mode is invalid.
The display device 45 sets the color (coloring) that indicates the driving display section 61 on the driving screen M2 to be a different color from the color (coloring) that indicates the driving display section 61 on the driving screen M1. Specifically, the display device 45 sets the color of the scale section 65 of the level display section 63 on the operation screen M2, that is, the color of the first line 65A, the second line 65B, and the third line 65C, to be the same color as the operation screen M1. At the same time, the color of the indicator section 80 of the driving screen M2 is set to a different color from that of the driving screen M1. That is, when the setting mode is enabled, the color of the indicator section 80 becomes a different color from the color of the indicator section 80 when the setting mode is disabled.

Further, the display device 45 sets the color of the number display section 64 on the operation screen M2, that is, the color of the number indicating the engine rotation speed, to a different color from that on the operation screen M1. That is, when the setting mode is enabled, the color of the number display section 64 becomes a different color from the color of the number display section 64 when the setting mode is disabled.
Since the driving screen M2 is in the setting mode, settings can be made before starting automatic steering. 7A to 7C show screen transitions of the driving screen M2 when the starting point P10 and the ending point P11 of the travel reference line L1 are set as settings before starting automatic steering. As shown in FIG. 7A, when the driving reference line L1 is not set, the second icon section 66B and the third icon section 66C are not displayed on the driving screen M2. When the driver sets the starting point P10 of the travel reference line L1 by operating the steering changeover switch 52, the second icon section 66B is displayed on the driving screen M2, as shown in FIG. 7B. Furthermore, when the driver sets the end point P11 of the travel reference line L1 by operating the steering changeover switch 52, a third icon section 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 while displaying the driving screen M2, the starting point P10 and the ending point P11 of the driving reference line L1 can be set. In addition, by checking whether the second icon section 66B and the third icon section 66C are displayed on the driving screen M2, the driver can check whether the driving reference line L1 has been set on the driving screen M2. You can check whether
<About guidance screen M3>
Now, in order to perform automatic steering after setting the driving reference line L1, it is necessary to set the 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 travel reference line L1, the It is difficult to steer the tractor 1, and in such a case, it is determined that the conditions for automatic steering are not met. In this way, after setting the driving reference line L1 using the driving screen M2, if the conditions for automatic steering are not satisfied, the display device 45 changes the screen displayed on the variable display section 46B as shown in FIGS. 9A to 9D. is switched from the driving screen M2 to the guidance screen M3.

The guidance screen M3 is a screen that displays instructions (contents) regarding the running of the vehicle body 3. In other words, the guidance screen M3 is a screen on which settings related to driving 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 that instructs to change the orientation of the vehicle body 3 at least before starting automatic steering. This screen is used to issue an instruction to turn the vehicle body 3 to the right, or to direct the vehicle body 3 to the left as shown in FIG. 9B. The instruction to direct 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 diagonally to the right with respect to the direction in which the driving reference line L1 extends (longitudinal direction), the guidance screen M3 directs the vehicle body 3 to the left. Give instructions. Further, as shown in FIG. 8, when the traveling direction of the vehicle body 3 is diagonal to the left with respect to the longitudinal direction of the driving reference line L1, the guidance screen M3 displays an instruction to direct the vehicle body 3 to the right. conduct.

The guidance screen M3 includes a message display section 70. The message display section 70 is a section that explains the steering of the vehicle body 3 using characters (messages). That is, the message display section 70 is a section that indicates the steering direction of the vehicle body 3 in characters as a driving command (content).
As shown in FIG. 9A, when it is necessary to turn the traveling direction of the vehicle body 3 to the right, the message display section 70 displays text indicating that the vehicle body 3 should be turned to the right. As shown in FIG. 9B, when it is necessary to turn the traveling direction of the vehicle body 3 to the left, the message display section 70 displays text indicating that the vehicle body 3 should turn to the left.

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

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

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

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

For example, when the steering wheel display section 68 and the message display section 70 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 on the message display section 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 section 68, the message display section 70, and the steering instruction section 69 are displayed on the same screen, the guidance screen M3, the steering direction of the steering wheel display section 68 is the same as that indicated by the message display section 70 and the steering instruction section 69. It changes depending on the steering direction.

As shown in FIG. 9A, the handle display section 68 allows the grip section 68A and the connecting section 68B to be rotated to the right around the center of the grip section 68A when it is necessary to turn the traveling direction of the vehicle body 3 to the right. indicates that the steering direction is to the right. As shown in FIG. 9B, the handle display section 68 allows the grip section 68A and the connecting section 68B to be rotated to the left around the center of the grip section 68 when it is necessary to turn the traveling direction of the vehicle body 3 to the left. indicates that the steering direction is to the left. As shown in FIG. 9C, when maintaining the traveling direction of the vehicle body 3, the holding portion 68A and the connecting portion 68B are not rotated to indicate that the steering direction is straight.

16A and 16B show modified examples of the guidance screen M3. The guidance screen M3 includes a plurality of condition display sections indicating driving conditions. The plurality of condition display sections are a first condition display section 101 indicating a first condition and a second condition display section 102 indicating a second condition. In this embodiment, a condition display section showing two conditions will be explained 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 (vehicle 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 caused to move straight for a predetermined distance, for example, "Please move straight for 3 meters." On the guidance screen M3, among the plurality of condition display sections, the condition display section where the running condition is met (condition met display section) changes the display form from the condition display section where the running condition is not met (condition not met display section). do. For example, as shown in FIG. 16B, in automatic steering, if the traveling direction of the tractor 1 (vehicle body 3) is parallel to the reference travel line L1 and the straight distance is less than the predetermined distance, the first condition display 101 is colored with a low chroma color (for example, white, gray, etc.), and the second condition display section 102 is colored with a high chroma color. Specifically, the display device 45 sets the saturation of the characters in the condition-satisfied display section to be lower than the saturation of the characters in the condition-unsatisfied display section. Thereby, the driver can easily understand which items satisfy the driving conditions and which items do not satisfy the driving conditions.

As described above, since the guidance screen M3 displays commands (contents) for adjusting the driving conditions of the tractor 1 (vehicle body 3), the driver can, by viewing the commands shown on the guidance screen M3, The tractor 1 (vehicle body 3) can be brought into a state where running conditions are adjusted while steering and running. Since driving information is displayed on the guidance screen M3, if it is necessary for the tractor 1 to travel to adjust the driving conditions, the tractor 1 can be driven while viewing the driving information of the tractor 1. It can be brought into a state that meets the conditions. Furthermore, since both the steering wheel display section 68 and the driving display section 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. I can do it.

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

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

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 section 72 is displayed on the left side corresponding to the first correction section 53A, and the second correction display section 73 is displayed on the right side corresponding to the second correction section 53B.

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

Note that in the embodiment described above, the correction display section 71 shows the magnitude of the correction amount in steps by displaying the number of operations as the correction amount, but instead of this, the correction display section 71 shows the correction amount in steps. In some cases, as shown in FIG. 11, the lengths of the arrow parts 74A, 74B may be changed based on the amount of correction of the vehicle body position, or a plurality of levels (indicator parts) 76 may be added to the arrow parts 74A, 74B. The level 76 may be changed depending on the correction amount. In the indicator section 76, for example, the number of displayed indicators increases as the number of operations of the correction switch 53 increases, or the number of displayed indicators increases as the amount of steering of the correction switch 53 increases. Further, the correction display section 71 may indicate the correction amount itself in numbers.

When the steering changeover switch 52 is operated and the automatic steering ends in a situation where any of the driving screens M2 shown in FIGS. 10A to 10C is displayed, the display device 45 displays the driving screen M2 indicating that the automatic steering has ended. Then, the screen returns to either the operation screen M2 shown in FIG. 9C or the operation screen M1 shown in FIG. 6A.
As described above, since the correction display section 71 is displayed on the driving screen M2, the driver can determine the amount of correction by the correction switch 53 and the amount of correction in which direction by looking at the correction display section 71 during automatic steering. You can easily find out if there are any.
<About guidance screen M4>
In the embodiment described above, when the setting switch 51 is turned from OFF to ON while the driving screen M1 is being displayed on the display device 45, the guidance for displaying instructions regarding the running of the vehicle body 3 via the driving screen M2 is provided. If the screen changeover switch 54 is operated while the operation screen M1 is displayed, or if the screen changeover switch 54 is operated while the operation screen M2 is displayed, the screen M3 is displayed, as shown in FIGS. 12A to 12C. It is possible to display a guidance screen M4 like this. The guidance screen M4 is a screen for making settings related to driving, and is a screen for displaying, for example, setting of the driving reference line L1 and commands (contents) for adjusting the driving conditions of the vehicle body 3. In other words, the guidance screen M4 is a screen that can display navigation for adjusting driving conditions.

As shown in FIGS. 12A to 12C, the guidance screen M4 includes a message display section 77, a driving display section 61, and a steering wheel display section 68. That is, on the guidance screen M3 as well, the driving display section 61 and the steering wheel display section 68 are displayed on the same screen (same screen).
The message display section 77 is a section that displays various commands in text, and as shown in FIG. 12A, when the setting mode is set to invalid, the message display section 77 displays a message indicating that the setting switch 51 should be turned on. For example, "Please switch to GS mode" is displayed. As shown in FIG. 12B, when the setting mode is enabled, the message display section 77 displays a message indicating that the starting point P10 of the driving reference line L1 is to be set, for example, "Please register the starting point." . Further, as shown in FIG. 12C, the message display section 77 displays a message indicating that the starting point P11 of the travel reference line L1 is to be set, for example, "Please register the ending point."

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

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

Note that when the screen changeover switch 54 is operated and the position detection device 40 needs to be warmed up, a warm-up screen showing the warm-up as shown in FIG. 13 is displayed on the display device 45. When the warm-up is completed, the display device 45 switches to the guidance screen M4 shown in FIG. 12A.
As described above, on the guidance screen M4, the driving reference line L1 can be set with an explanation. That is, the driving reference line L1 can also be set on the driving screen M2, but since the display device 45 displays the guidance screen M4 separately from the driving screen M4, the driver is unaware of the automatic steering settings. However, the driving reference line L1 can be set using the guidance screen M4.

Note that after the driving reference line L1, etc. is set by the command regarding driving on the guidance screen M4, if the driving screen is switched to the driving screen M1 or M2 by an operation such as screen switching, the driving reference line L1 etc. is set on the driving screen M1 or M2. The fact that the starting point P10 has been set and that the ending point P11 has been set is displayed by the second icon section 66B and the third icon section 66C.
Further, as shown in FIGS. 12A to 12C, if the automatic steering conditions are not satisfied after setting the driving reference line L1 on the guidance screen M4, the display device 45 will display the following information as shown in FIGS. 9A to 9D. , switches the screen displayed on the variable display section 46B from the guidance screen M4 to the guidance screen M3. Further, after switching the screen displayed on the variable display section 46B from the guidance screen M4 to the guidance screen M3, when the conditions for automatic steering are established, the display device 45 displays the guidance screen M4 again as shown in FIG. 14A. Display.

As shown in FIG. 14A, when the driving reference line L1 is set and the automatic steering conditions are met, a fourth icon section 66D is displayed on the guidance screen M4 in addition to the second icon section 66B and the third icon section 66C. be done. In addition, in a situation where automatic steering has not started, the message display section 77 of the guidance screen M4 displays a message indicating that automatic steering can be started using the steering changeover switch 52, such as "Please turn on the GS function. " is displayed. Furthermore, in a situation where automatic steering has not started, an arrow portion 83 is displayed on the guidance screen M4. The arrow part 83 is located near the steering wheel display part 68 and the switching display part 78, and indicates the operating direction of the steering changeover switch 52 for instructing the start of automatic steering. As shown in FIG. 14A, in a situation where the automatic steering conditions are in place and the automatic steering has not started, the message display section 77 and arrow section 83 shown on the guidance screen M4 indicate that the automatic steering by the steering changeover switch 52 is not activated. This becomes an instruction display section indicating that it is possible to start. Note that the display method of the message display section 77 and the arrow section 83 is not limited to the embodiment described above. Furthermore, although both the message display section 77 and the arrow section 83 are shown as the instruction display section, the instruction display section may be either the message display section 77 or the arrow section 83.

When the driver starts automatic steering by operating the steering changeover switch 52, the display state of the guidance screen M4 changes to the state shown in FIGS. 14B and 14C. As shown in FIGS. 14B and 14C, the driving display section 61 and the steering wheel display section 68 are displayed on the guidance screen M4 even after starting automatic steering.
As shown in FIGS. 14B and 14C, after the automatic steering starts, a message display section 82 is displayed in addition to the message display section 77 on the guidance screen M4. The message display section 82 displays a message indicating that the automatic steering is to be stopped (terminated) by operating the steering changeover switch 52, for example, "stops the function by operating the lever". After the automatic steering starts, an arrow section 81 is displayed on the guidance screen M4. The 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 automatic steering.

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

When the steering changeover switch 52 is operated and the automatic steering ends in a situation where the guidance screen M4 of either FIG. 14B or FIG. 14C is displayed, the display device 45 displays the guidance screen M4 indicating that the automatic steering has ended. Then, the screen returns to either the guidance screen M4 shown in FIG. 14A or the driving screen M1 shown in FIG. 6A.
Now, as described above, the display device 45 is capable of displaying conditions for maintaining running such as automatic steering after the running conditions such as automatic steering are set. Specifically, during automatic steering, the display device 45 displays a guidance screen M4 for maintaining the automatic steering. In a situation where automatic steering is performed while displaying the guidance screen M4 shown in FIGS. 14B and 14C, if the vehicle speed of the tractor 1 (vehicle body 3) exceeds a predetermined speed, as shown in FIGS. 14B and 14C The guidance screen M4 switches to the guidance screen M4 of FIG. 15A. The message display section 77 of the guidance screen M4 in FIG. 15A displays the state of the tractor 1 under automatic steering, that is, the vehicle speed is excessive. Furthermore, the message display section 82 of the guidance screen M4 displays a message indicating that the vehicle speed should be reduced as a condition for maintaining automatic steering, ``You are exceeding the speed.Please reduce your speed.'' Further, the driving display section 61 of the guidance screen M4 includes a vehicle speed display section 90. The vehicle speed display section 90 numerically displays the current vehicle speed, that is, the vehicle speed during automatic steering. When the driver operates the accelerator or the like to reduce the vehicle speed of the tractor 1 (vehicle body 3) below the vehicle speed determined by automatic steering, the guidance screen M4 switches again to the guidance screen M4 shown in FIGS. 14B and 14C. .

Further, in a situation where automatic steering is performed while displaying the guidance screen M4 shown in FIGS. 14B and 14C, if the vehicle speed of the tractor 1 (vehicle body 3) becomes zero, the guidance screen M4 shown in FIGS. 14B and 14C is switched to the guidance screen M4 shown in FIG. 15B. The message display section 77 of the guidance screen M4 in FIG. 15B displays the state of the tractor 1 under automatic steering, that is, the vehicle speed is zero. Additionally, the message display section 82 of the guidance screen M4 displays a message indicating that the vehicle speed is to be greater than zero, ``Vehicle is stopped. Please restore speed'' as a condition for maintaining automatic steering. When the driver increases the vehicle speed of the tractor 1 (vehicle body 3) above zero by operating the accelerator or the like, the guidance screen M4 changes again to the screen shown in FIG.
The screen switches to the guidance screen M4 shown in FIGS. 14B and 14C.

In the embodiment described above, while displaying the guidance screen M4 that is displayed after the start of automatic steering, FIGS. 15A and 15B are shown as screens showing the conditions to be maintained by automatic steering, but the operation shown in FIGS. 10A to 10C is When automatic steering is performed while displaying screen M2, if the vehicle speed exceeds a predetermined speed or the vehicle speed becomes zero, the screen displayed on the variable display section 46B can be changed from the driving screen M2. You may switch to the guidance screen M4 of FIG. 15A or the guidance screen M4 of FIG. 15B. After the screen displayed on the variable display section 46B is switched to the guidance screen M4 in FIG. 15A and the guidance screen M4 in FIG. 15B, when the conditions for maintaining automatic steering are met, the guidance screen M4 is switched to the driving screen M2.

The work vehicle 1 includes a vehicle body 3 that can run, a steering wheel 30 that steers the vehicle body 3 by rotational operation, and a position detection device that is provided on the vehicle body 3 and that detects the position of the vehicle body 3 based on signals from a positioning satellite. device 40, 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 a scheduled travel line L2. The automatic steering mechanism 37 automatically steers the vehicle body 3 based on the following. According to this, when the position of the vehicle body 3 detected by the position detection device 40 (calculated vehicle body position W1) deviates from the actual position W2 of the work vehicle 1 (vehicle body 3) such as the tractor 1 due to various influences, Even if there is, by correcting the position of the vehicle body 3 (vehicle body position) using the correction switch 53 after the start of automatic steering, it is possible to make the vehicle travel along the vehicle body 3 and the planned travel line L2. That is, since the calculated vehicle body position W1 can be corrected by the correction switch 53, the influence of the detection accuracy by the position detection device 40 can be reduced.

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

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

The work vehicle 1 includes a steering changeover switch 52 that switches between automatic steering and manual steering. According to this, it is possible to easily switch between automatic steering, in which the vehicle body 3 travels along the scheduled travel line L2, and manual steering, in which the driver uses the steering handle 30 to travel the vehicle body 3.
The work vehicle 1 also includes a steering wheel 30, a vehicle body 3 that can be driven by either manual steering by the steering wheel 30, or automatic steering by the steering wheel 30 based on the planned travel line, and at least a It has a setting switch 51 for enabling or disabling a setting mode for setting, and a driving display section 61 for displaying driving information when the vehicle body 3 is running, and also has a driving display section 61 for displaying driving information when the setting mode is switched to valid. and a display device 45 for changing the display state of 61 to a display state different from the setting mode being disabled. According to this, in the vehicle body 3 capable of performing manual steering and automatic steering, the driver can easily make settings before automatic steering by simply looking at the driving display section 61. You can easily determine whether or not.

The work vehicle 1 includes the prime mover 4, the operation display section 61 includes a rotation display section 62 that displays the number of rotations of the prime mover as driving information, and the display device 45 changes the color of the rotation display section 62 during the setting mode. Change the mode to a different color than disabled. According to this, it is possible to indicate whether the setting mode is valid or invalid by the difference in color of the rotation speed 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 rotations of the prime mover in stages, and a number display section 64 that displays the number of rotations of the prime mover in numbers. According to this, the driver can easily understand whether the setting mode is valid or invalid at the time of viewing at least either the level display section 63 or the rotation speed of the prime mover.
The work vehicle 1 includes 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, and a correction switch 53 that corrects the position of the vehicle body 3 detected by the position detection device 40. The driving display section 61 includes a correction display section 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 section 71 in the setting mode. . According to this, the driver can simultaneously grasp the driving information displayed on the driving display section 61 and the correction amount displayed on the correction display section 71, and can easily grasp the automatic steering situation.

The correction display section 71 displays the number of times the correction switch 53 is operated as a correction amount. According to this, the driver can easily grasp to what extent the calculated vehicle body position W1 has been corrected by simply looking at the number of times the correction switch 53 has been operated, which is 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 to what extent the calculated vehicle body position W1 has been corrected simply by looking at the level of the correction amount displayed on the correction display section 71.

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

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

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

The display device 45 includes 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 view the steering wheel display section 68 and the steering wheel display section 69 at the same time on the same screen, and can confirm that it is necessary to steer the steering wheel 30 from the steering wheel display section 68 and the steering direction of the steering wheel 30. It is easy to understand which direction the direction is.

The display device 45 has a message display section 70 that is displayed on the same screen and displays a message explaining the steering of the vehicle body 3. According to this, the driver can view the steering wheel display section 68 and the message display section 70 at the same time on the same screen, and it is necessary to steer the steering wheel 30 from the steering wheel display section 68. can be easily understood.

The steering direction on the steering wheel display section 68 is changed according to the steering direction instruction. According to this, the driver can grasp the steering direction of the steering wheel 30 simply by looking at the steering wheel display section 68.
The work vehicle 1 includes a setting switch 51 that switches to a setting mode in which settings are made at least before the start of automatic steering, and in the setting mode, the steering wheel display section 68 and the driving display section 61 are displayed on the same screen. According to this, settings before starting automatic steering can be easily performed while looking at the steering wheel display section 68 and the driving display section 61.

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

The work vehicle 1 includes a vehicle body 3 that can run, a steering wheel 30 that steers the vehicle body 3, a driving screen that displays driving information when the vehicle body 3 is traveling, and a guidance screen that displays commands related to traveling of the vehicle body 3. The display device 45 displays at least a part of the driving information displayed on the driving screen on the guidance screen. According to this, when the driver makes settings related to driving of the vehicle body 3 while looking at the guidance screen, since the driving information is displayed on the guidance screen, the settings related to driving can be easily made. In other words, the driver can easily drive the vehicle even while looking at the guidance screen.

The work vehicle 1 includes a prime mover 4, and a display device 45 displays the rotational speed of the prime mover on a guidance screen as driving information. According to this, since the rotation speed 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 checking the rotation speed of the prime mover on the guidance screen. .
The work vehicle 1 includes a driver's seat 10, and a 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 while normally driving while sitting in the driver's seat 10, and can drive while grasping the information on the guidance screen. .

The display device 45 displays message display sections 70 and 77 that indicate commands (contents) in text, and a driving display section 61 that indicates driving information on the guidance screen. According to this, it is possible to perform driving corresponding to the message display sections 70, 77 while viewing both the information on the message display sections 70, 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 commands to adjust the running conditions of the vehicle body 3. . According to this, when it is necessary for the work vehicle 1 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 starting automatic steering, and also 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 adjust the driving conditions before starting automatic steering, the driver can simply look at the steering instruction section 69 displayed on the guidance screen and adjust the steering to adjust the driving conditions for automatic steering. It can be carried out.

The display device 45 displays a guidance screen before starting automatic steering, and also displays a steering wheel display section 68 showing the steering wheel 30 facing in 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 driving conditions before starting automatic steering, the driver can simply look at the steering wheel display section 68 on the guidance screen and turn the steering wheel in the steering direction indicated on the steering wheel display section 68. It is easy to understand that the running conditions for automatic steering can be adjusted by performing the steering of 30, and it is easy to adjust the running conditions for automatic steering.

The work vehicle 1 includes a steering changeover switch 52 that switches between manual steering and automatic steering, and the display device 45 displays a command to change the steering changeover switch 52 to automatic steering on the guidance screen when the driving conditions for driving are satisfied. . According to this, the driver can easily understand that the automatic steering is ready when the command to switch the steering selector switch 52 to automatic steering is displayed.

The display device 45 displays conditions for maintaining the running when the vehicle body 3 starts running after the running conditions have been set. According to this, even after the vehicle body 3 starts running, conditions for maintaining running can be set.
The display device 45 displays conditions for maintaining automatic steering as conditions for maintaining running after the automatic steering starts. According to this, even after starting automatic steering of the vehicle body 3, conditions for maintaining automatic steering can be established.

The display device 45 displays driving information of the vehicle body 3 on a guidance screen during automatic steering. According to this, the driving situation during automatic steering can be grasped on the guidance screen.
The work vehicle 1 includes 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, and a correction device that commands correction of the position of the vehicle body 3 detected by the position detection device 40. The display device 45 includes a switch 53, a corrected vehicle body position that is the position of the vehicle body 3 corrected by operating the correction switch 53, and an automatic steering mechanism 37 that automatically steers the vehicle body 3 based on the scheduled travel line L1. The amount of correction of the position of the vehicle body 3 by the correction switch 53 is displayed on the guidance screen. According to this, automatic steering can be performed even while displaying the guidance screen.
<About the steering switch>
In the embodiment described above, when the vehicle body 3 is automatically steered based on the corrected vehicle body position obtained by correcting the calculated vehicle body position detected by the position detection device 40 and the planned travel line, the vehicle body is adjusted by the correction switch 53 that corrects the calculated vehicle body position. 3 steering can be changed. That is, the correction switch 53 functions as a steering switch that steers the vehicle body 3 separately from the steering handle 30. That is, the work vehicle 1 is equipped with a steering switch. For the explanation of the steering switch, the correction switch 53 in the above-described embodiment may be replaced with the steering switch 53, and the explanation of the steering switch will be omitted. The first correction section 53A may be read as a first steering section, and the second correction section 53B may be read as a second steering section, and a description of the first steering section and the second steering section will be omitted.

That is, the work vehicle 1 includes a vehicle body 3 that can run, a steering handle 30 that steers the vehicle body 3 by rotational operation, 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 by simply operating the steering switch and without operating the steering wheel 30.
The steering switch is a switch that steers the vehicle body 3 by pressing or sliding. According to this, the driver can easily steer the vehicle body 3 by either pressing or sliding the steering switch.

The 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 using the steering switch. In other words, the driver can drive the work vehicle 1 while easily using both steering using the steering handle 30 and steering using the steering switch. The work vehicle 1 includes a steering shaft 31 that rotatably supports a steering handle 30, and 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 using the steering switch.

The steering switch includes a first steering section that steers the vehicle body 3 in one direction, and a second steering section that steers the vehicle body 3 in the other direction. Therefore, the driver can steer the vehicle body 3 in one direction by operating the first steering section by pressing or sliding, and can steer the vehicle body 3 in one direction by operating the second steering section by pressing or sliding. The vehicle body 3 can be steered in the other direction.
The work vehicle 1 includes a position detection device 40 that is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on signals from a positioning satellite, and a position detection device 40 that detects the position of the vehicle body 3 based on the position of the vehicle body 3 based on the position of the vehicle body 3 detected by the position detection device 40. An automatic steering mechanism 37 that automatically steers the vehicle, the steering switch commands correction of the position of the vehicle body 3 detected by the position detection device 40 when a pressing or sliding operation is performed, and the automatic steering mechanism includes: The vehicle body 3 is automatically steered based on the corrected vehicle body position, which is the position of the vehicle body 3 corrected by pressing or sliding the steering switch, and the planned travel 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 steering the steering switch.

FIG. 19 is a diagram showing a control block diagram in a modified example of a work vehicle equipped with a steering switch. Note that the description of the configuration similar to the embodiment described above in FIG. 19 will not be repeated.
The tractor 1 includes a steering switch 153. The steering switch 153 is comprised of a push switch that can be pressed or a slide switch that can be slid. Hereinafter, cases in which the steering switch 153 is a push switch or a slide switch will be described.

When the steering switch 153 is a push switch, the amount of steering is set based on the number of times the push switch is operated. The amount of steering is determined by the amount of steering=number of operations×the amount of steering per number of operations. Furthermore, when the steering switch 153 is a slide switch, the amount of steering is set based on the amount of operation (amount of displacement) 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 for setting the 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 for setting the 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. In addition, the switch which comprises 153 A of 1st steering parts, and the switch which comprises 2nd steering part 153B may be mutually spaced apart, and may be arrange|positioned. Every time the first steering portion 153A is pressed, the amount of steering corresponding to the left side of the vehicle body 3 (left steering amount) increases. Furthermore, each time the second steering portion 153B is pressed, the amount of steering 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 section 153A and the second steering section 153B include a knob that moves to the left or right along the longitudinal direction of the elongated hole. When the steering switch 153 is a slide switch, the first steering section 153A and the second steering section 153B are spaced apart from each other in the width direction. When the knob is gradually displaced to the left from a predetermined reference position, the amount of left steering increases in accordance with the amount of displacement. Furthermore, when the knob is gradually displaced to the right from a predetermined reference position, the amount of rightward steering increases in accordance with the amount of displacement. In addition, in the case of a slide switch, the first steering section 153A and the second steering section 153B are integrally formed, the reference position of the knob is set at the center, and when the knob moves to the left from the reference position, the left steering is performed. A configuration may also be adopted in which the amount of right steering is set, and when the knob is moved from the intermediate position to the right side, the right steering amount is set.

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

The embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1 Work vehicle 3 Vehicle body 30 Steering handle 45 Display device 51 Setting switch 52 Steering selector switch 61 Operation display section 68 Steering wheel display section 69 Steering instruction section 70 Message display section

Claims (5)

steering handle and
A vehicle body capable of running by either manual steering using the steering handle or automatic steering of the steering handle based on a scheduled running line parallel to a running reference line ;
a display device that displays information ;
a setting mode for performing at least settings before starting the automatic steering;
a steering changeover switch that sets a starting point and an ending point of the travel reference line in the setting mode;
Equipped with
The display device includes:
In the setting mode, displaying a first screen showing a driving display section that displays driving information when the vehicle body is running;
After setting the starting point and the ending point, the steering changeover switch changes the operating direction of the steering handle if the traveling direction of the vehicle body is not parallel to the traveling reference line and the conditions for automatic steering are not met. A work vehicle that displays a second screen that instructs a change in the orientation of the vehicle body before starting the automatic steering . When the display device is displaying the second screen and the traveling direction of the vehicle body is parallel to the driving reference line and the conditions for the automatic steering are satisfied, the display device displays the first screen. display the screen,
The work vehicle according to claim 1, wherein an instruction display section indicating that the automatic steering can be started is displayed on the first screen. The work vehicle according to claim 1 or 2, wherein the display device displays a steering instruction section indicating a steering direction of the vehicle body on the second screen . The work vehicle according to any one of claims 1 to 3, wherein the display device has a message display section that displays a message explaining the setting of the starting point or the ending point on the first screen . The work vehicle according to any one of claims 1 to 4 , wherein the steering direction of the display section is changed in accordance with an instruction of the steering direction.

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