Title of invention: Work vehicle
Technical field
[0001]
　The present invention relates to, for example, a work vehicle.
Background technology
[0002]
　Conventionally, Patent Document 1 is known as an agricultural work machine.
　The agricultural machine of Patent Document 1 has a traveling machine body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line set parallel to a reference traveling line, a manual traveling and an automatic traveling. It has a changeover switch that can switch between running and running.
　Further, Patent Document 2 is conventionally known as a work vehicle provided with a plurality of operating tools. In Patent Document 2, a control controller, a first hydraulic valve, a second hydraulic valve, and an operation unit are provided, and the operation unit is equipped with a first single operation operation tool and a second single operation operation tool. Has been done.
[0003]
　Further, the agricultural work machine of Patent Document 1 is a traveling machine body that is switchable between manual traveling by manual steering and automatic traveling that travels by automatic steering along a set traveling line set parallel to the reference traveling line, and manual traveling. It is equipped with a changeover switch that can be switched between and automatic driving. Further, in the agricultural working machine, after the right instruction button is pressed while traveling along the ridge, the starting point of the reference traveling line is set, and by pressing the left instruction button during traveling, the end point of the reference traveling line is set. That is, the reference traveling line is set before automatic steering.
Prior art documents
Patent literature
[0004]
Patent Document 1: JP-A-2017-123803 Publication
Patent Document 2: JP-A-2016-41565 Publication
Summary of the invention
Problems to be Solved by the Invention
[0005]
　In the agricultural work machine of Patent Document 1, the driver can steer the machine body by manually steering the steering wheel, or can automatically steer the machine body along the set travel line by automatic steering. However, when various situations change while the agricultural working machine is running, it is difficult to steer the machine body quickly and appropriately according to the changed situations. Further, in the agricultural work machine of Patent Document 1, since the position of the machine body is detected by GPS or the like to set the reference travel line, the set travel line, etc., the position of the GPS or the like is measured during steering or traveling of the machine body. The reality is that it is not possible to reduce the effects of.
[0006]
　Further, in the work vehicle of Patent Document 2, the arrangement of the first single operation operation tool, the second single operation operation tool, and the like is set to an appropriate position with respect to the operation unit in order to facilitate the operation. doing. However, there is a limit to facilitating the operation by changing the arrangement of the operation tool as in Patent Document 1, and it is the actual situation that further improvement in operability is required.
　Further, in the agricultural working machine of Patent Document 1, it is possible to easily perform automatic traveling by switching from manual traveling to automatic traveling with a changeover switch. However, in the automatic traveling of Patent Document 1, it is the actual situation that the position of the agricultural work machine cannot be corrected when the positioning accuracy of the positioning device decreases.
[0007]
　The present invention has been made in view of the above problems, and an object thereof is to provide a work vehicle capable of easily steering a vehicle body. Another object of the present invention is to provide a work vehicle that can reduce the influence of the detection accuracy of the position detection device even when steering is performed using the position of the vehicle body detected by the position detection device.
　Another object of the present invention is to provide a work vehicle in which the operability of the operating member is improved.
[0008]
　Another object of the present invention is to provide a work vehicle capable of easily correcting the position in automatic steering.
Means for solving the problem
[0009]
　The technical means of the present invention for solving this technical problem is characterized by the following points.
　A work vehicle according to an aspect of the present invention includes a vehicle body that is capable of traveling, a steering handle that performs steering of the vehicle body by a rotation operation, and a steering switch that performs steering of the vehicle body separately from the steering handle. ing.
　The steering switch is a switch for steering the vehicle body by a pressing operation or a sliding operation.
[0010]
　The steering switch is provided around the steering handle.
　A steering shaft that rotatably supports the steering handle is provided, and the steering switch is provided around the steering shaft.
　The steering switch includes a first steering unit that steers the vehicle body to one side and a second steering unit that steers the vehicle body to the other side.
[0011]
　A work vehicle is provided on the vehicle body, and a position detecting device that detects the position of the vehicle body based on a signal from a positioning satellite, and an automatic steering system for the vehicle body based on the position of the vehicle body detected by the position detecting device. An automatic steering mechanism for controlling the position of the vehicle body detected by the position detection device when the pressing operation or the sliding operation is performed. Automatically steers the vehicle body based on a corrected vehicle body position, which is the position of the vehicle body corrected by pressing or sliding the steering switch, and a planned travel line.
[0012]
　The work vehicle includes a vehicle body capable of traveling, a steering handle for steering the vehicle body by a rotating operation, a position detection device provided on the vehicle body, and detecting a position of the vehicle body based on a signal from a positioning satellite. A correction switch for instructing the correction of the position of the vehicle body detected by the position detection device, a corrected vehicle body position which is the position of the vehicle body corrected by operating the steering switch, and the vehicle body based on a planned traveling line. And an automatic steering mechanism for automatically steering.
[0013]
　The correction switch includes a first correction unit that commands correction of the position of the vehicle on one side in the width direction of the vehicle body, and a second correction unit that commands correction of the position of the vehicle on the other side in the width direction of the vehicle body. Including the department.
　The control device is connected to the correction switch and includes a control device that controls the automatic steering mechanism. The control device sets a correction amount of the position of the vehicle body based on the number of times the correction switch is operated.
[0014]
　The control device sets the correction amount of the position of the vehicle body based on the operation amount of the correction switch.
　A steering changeover switch for switching between the automatic steering and the manual steering by the steering wheel is provided.
　A work vehicle according to another aspect of the present invention includes a driver's seat and an operation console provided in front of or on the side of the driver's seat, and the operation member is operated while mounted on the operation console. The position can be changed to a possible first state and a second state in which it can be operated in a state where it is detached from the operation console.
[0015]
　The operation member is an operation section that is attached to the operation table in the first state and is detached from the operation table in the second state, and a cord section connected to the operation section. In the first state, A cord portion that is housed in the operation console and moves together with the operation portion in the second state.
　In the second state, the operation unit is located on the side or the rear of the driver's seat.
[0016]
　The operation base has a recess in which the operation unit is mounted, and a cover that accommodates the cord portion when the operation unit is mounted in the recess.
　The operation member has an informing unit for informing that operation is recommended.
　The work vehicle includes a vehicle body and a steering handle for steering the vehicle body, and the operation member steers the vehicle body separately from the steering handle.
[0017]
　The working vehicle includes a vehicle body, a steering wheel for steering the vehicle body, and a positioning device provided on the vehicle body and capable of detecting the position of the vehicle body based on a signal from a positioning satellite. , A correction switch for instructing correction of the position of the vehicle body detected by the positioning device.
　A steering device is provided for steering the vehicle body based on a corrected position, which is the position of the vehicle body corrected by operating the correction switch, and a planned travel line.
[0018]
　A work vehicle according to yet another aspect of the present invention is a vehicle body, a steering wheel that steers the vehicle body, a positioning device that is provided on the vehicle body, and that detects the position of the vehicle body based on a signal from a positioning satellite. An automatic steering mechanism for automatically steering the vehicle body separately from the manual steering by the steering wheel based on the position of the vehicle body detected by the positioning device, and the correction of the position of the vehicle body detected by the positioning device. A correction switch that can set the amount and a control device that controls the automatic steering of the automatic steering mechanism and that can change the correction amount in a predetermined operation of the correction switch are provided.
[0019]
　The automatic steering mechanism automatically steers the vehicle body based on a corrected vehicle body position, which is the position of the vehicle body corrected based on the correction amount, and a planned travel line.
　A traveling device having a first wheel provided on one side in the width direction of the vehicle body and a second wheel provided on the other side in the width direction of the vehicle body, and any one of the first wheel and the second wheel And a braking device capable of braking the vehicle, wherein the braking device eliminates the deviation when the deviation between the position of the vehicle body and the planned travel line is greater than or equal to a predetermined value. Braking either of the two wheels.
[0020]
　The positioning device detects an inertia of the vehicle body, and an inertial measurement device that corrects the position of the vehicle body based on the detected inertia, and a display device that displays that the amount of drift of the inertial measurement device has exceeded a predetermined amount. And a reset switch for resetting the inertial measurement device.
　A working device provided on the vehicle body and capable of changing the working width is provided, and the working device changes the position of the working device based on a deviation between the position of the vehicle body and the planned travel line.
[0021]
　The work vehicle includes a steering changeover switch for instructing start and end of the automatic steering, and the automatic steering mechanism controls a steering motor capable of rotating a steering post that supports the steering handle and rotation of the steering motor. The disconnection switch connected to the power supply line of the control device for performing the automatic steering, and capable of switching between a disconnection position for disconnecting the power supply line and an energization position for energizing the power supply line. The switch is switched to the energized position when the steering changeover switch issues a command to start the automatic steering, and when the steering changeover switch issues a command to end from the command to start the automatic steering. Switches to the blocking position.
[0022]
　The work vehicle includes a steering changeover switch that switches between start and end of the automatic steering. Start steering.
　The work vehicle includes a positioning device that can detect the position of the vehicle body, and a reference line setting switch that sets the position of the vehicle body detected by the positioning device to the start position and the end position of the travel reference line. ..
Effect of the invention
[0023]
　According to the above work vehicle, the vehicle body can be easily steered. For example, not only can the vehicle body be steered by manual steering with the steering wheel, but also the vehicle body can be steered by either pressing operation or sliding operation by the steering switch. Further, even when steering is performed using the position of the vehicle body detected by the position detection device, it is possible to reduce the influence of the detection accuracy of the position detection device.
[0024]
　Further, according to the above work vehicle, the operability of the operation member can be improved.
　Further, according to the above work vehicle, the position can be easily corrected in the automatic steering.
Brief description of the drawings
[0025]
FIG. 1 is a diagram showing a configuration and a control block diagram of a tractor.
FIG. 2 is an explanatory diagram illustrating automatic steering.
FIG. 3A is an explanatory diagram illustrating a correction amount in a push switch.
FIG. 3B is an explanatory diagram illustrating a correction amount in the slide switch.
FIG. 4A is a diagram showing a first correction unit and a second correction unit in the push switch.
FIG. 4B is a diagram showing a first correction unit and a second correction unit in the slide switch.
[FIG. 5A] FIG. 5A shows a state in which the calculated vehicle body position deviates to the right while the vehicle is traveling straight ahead during automatic steering.
FIG. 5B shows a state in which the calculated vehicle body position deviates to the left while the vehicle is traveling straight ahead during automatic steering.
FIG. 6A is a diagram showing an operation screen M1.
FIG. 6B is a diagram showing an operation screen M2.
FIG. 7A is a diagram showing an operation screen M2 when a traveling reference line is not set.
FIG. 7B is a diagram showing an operation screen M2 after the start point of the travel reference line is set.
FIG. 7C is a diagram showing an operation screen M2 after setting the end point of the travel reference line.
FIG. 8 is a diagram showing traveling of the tractor when adjusting traveling conditions.
FIG. 9A is a diagram showing a guidance screen M3 displaying a command to steer the vehicle body to the right.
FIG. 9B is a diagram showing a guidance screen M3 displaying a command to steer the vehicle body to the left.
FIG. 9C is a diagram showing a guidance screen M3 displaying a command to hold the vehicle body straight.
FIG. 9D is a diagram showing a guidance screen M3 when the straight traveling distance of the vehicle body is equal to or less than a predetermined distance.
FIG. 10A is a diagram showing a driving screen M2 during automatic steering.
FIG. 10B is a diagram showing a driving screen M2 when a correction amount on the left side of the vehicle body is set during automatic steering.
FIG. 10C is a diagram showing a driving screen M2 when a correction amount on the right side of the vehicle body is set during automatic steering.
FIG. 11 is a diagram showing a modification of the correction display unit.
FIG. 12A is a diagram showing a guidance screen M4 before enabling the setting mode.
FIG. 12B is a diagram showing a guidance screen M4 when setting the starting point of the travel reference line.
FIG. 12C is a diagram showing a guidance screen M4 when setting the end point of the traveling reference line.
FIG. 13 is a diagram showing a screen during warm-up.
FIG. 14A is a diagram showing a guidance screen M4 immediately after the automatic steering conditions are satisfied.
FIG. 14B is a diagram showing a guidance screen M4 when a correction amount on the left side of the vehicle body is set during automatic steering.
FIG. 14C is a diagram showing a guidance screen M4 when the correction amount on the right side of the vehicle body is set during automatic steering.
FIG. 15A is a diagram showing a guidance screen M4 when the vehicle speed becomes equal to or higher than a predetermined value during automatic steering.
FIG. 15B is a diagram showing a guidance screen M4 when the vehicle speed becomes zero during automatic steering.
FIG. 16A is a diagram showing a modification of the guidance screen M3.
FIG. 16B is a diagram showing a guidance screen M3 after FIG. 16A.
FIG. 17 is an explanatory diagram illustrating automatic steering.
FIG. 18 is a view of the front cover of the driver's seat as viewed from the driver's side.
FIG. 19 is a diagram showing a control block diagram in a modified example of a work vehicle including a steering switch.
FIG. 20 is an overall view of a tractor.
FIG. 21 is a plan view showing the periphery of a driver's seat of a tractor and the periphery of a work device.
FIG. 22 is a diagram showing a situation where an operator (driver) is operating with an operation member in his hand.
FIG. 23 is a perspective view showing a state in which an operation member has been removed from the operation console.
FIG. 24 is an explanatory diagram illustrating mounting of the operation member.
FIG. 25 is a view showing a modified example of the operation member.
FIG. 26 is an explanatory view illustrating a structure for changing the position of the working device in the machine width direction.
FIG. 27 is an explanatory diagram illustrating that the positioning device obtains the position while correcting the position using the measurement information.
FIG. 28A is a diagram showing an example of a setting screen M30.
FIG. 28B is a diagram showing an example of a setting screen M31.
FIG. 29 is a diagram showing a relationship between a steering changeover switch, a second control device, and a steering motor.
FIG. 30 is a diagram showing an operation of braking control.
FIG. 31A is a diagram showing braking in the case where the positional deviation between the tractor and the planned travel line does not fall below a threshold value.
FIG. 31B is a diagram showing braking when the azimuth deviation between the tractor and the planned travel line does not become less than the threshold value.
FIG. 32A is a diagram showing a state in which the position of the work device is changed so as to approach the planned travel line.
FIG. 32B is a diagram showing a state in which the position of the working device is changed so as to move away from the planned traveling line.
FIG. 33 is a diagram showing an operation screen M1.
MODE FOR CARRYING OUT THE INVENTION
[0026]
　Embodiments of the present invention will be described below with reference to the drawings.
　1 to 20 show a first embodiment.
　20 is a side view of the work vehicle 1, and FIG. 20 is a plan view 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 or transplanter, or a construction machine (construction vehicle) such as a loader working machine.
[0027]
　Hereinafter, the front side (direction of arrow A1 in FIG. 20) of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 is front, the rear side of the driver (direction of arrow A2 in FIG. 20) is rear, and the left side of the driver. 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, a horizontal direction (direction of arrow B3 in FIG. 20) which is a direction orthogonal to the front-rear direction of the work vehicle 1 will be described as a vehicle body width direction.
[0028]
　As shown in FIG. 20, the tractor 1 includes a vehicle body 3, a prime mover 4, and a transmission 5. The vehicle body 3 has a traveling device 7 and can travel. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be 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 is composed of a diesel engine in this embodiment. The transmission device 5 can switch the propulsive force of the traveling device 7 by gear shifting and can switch the traveling device 7 between forward and reverse. A driver's seat 10 is provided on the vehicle body 3.
[0029]
　Further, at the rear portion of the vehicle body 3, there is provided a connecting portion 8 composed of a three-point link mechanism or the like. A work device can be attached to and detached from the connecting portion 8. By connecting the work device to the connecting portion 8, the work device can be pulled by the vehicle body 3. The working equipment is a tilling equipment for cultivating, a fertilizer spraying equipment for spraying fertilizer, a pesticide spraying equipment for spraying pesticides, a harvesting equipment for harvesting, a reaping equipment for cutting grass, etc., a spreading equipment for spreading grass, etc. And a molding device for molding grass and the like.
[0030]
　As shown in FIG. 1, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission unit 5b, an auxiliary transmission unit 5c, a shuttle unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. Is equipped with. The propulsion shaft 5a is rotatably supported by a housing case (mission case) of the transmission 5, and power from a crankshaft of a prime mover (engine) 4 is transmitted to the propulsion shaft 5a. The main transmission unit 5b has a plurality of gears and a shifter that changes the connection of the gears. The main transmission unit 5b changes and outputs (shifts) the rotation input from the propulsion shaft 5a by appropriately changing the connection (engagement) of a plurality of gears with a shifter.
[0031]
　The sub-transmission unit 5c has a plurality of gears and a shifter for changing the connection of the gears, like the main transmission unit 5b. The sub-transmission unit 5c changes the rotation input from the main transmission unit 5b and outputs (shifts) by appropriately changing the connection (engagement) of the plurality of gears with a shifter.
　The shuttle unit 5d has a shuttle shaft 12 and a forward/rearward travel switching unit 13. The power output from the auxiliary transmission unit 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 the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward and backward movements of the tractor 1 by opening and closing the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports a rear axle 21R to which the rear wheel 7R is attached.
[0032]
　The PTO power transmission unit 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch or the like, and when 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. Switch to the state.
[0033]
　The front transmission unit 5f has a first clutch 17 and a second clutch 18. Power from the propulsion shaft 5a can be transmitted to the first clutch 17 and the second clutch, and for example, the power of the shuttle shaft 12 is transmitted via the gear and the transmission shaft. Power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.
[0034]
　The first clutch 17 and the second clutch 18 are hydraulic clutches and the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first working valve 25 to which the working oil discharged from the hydraulic pump is supplied. The first clutch 17 switches 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 second operation valve 26 is connected to the oil passage. The second clutch 18 switches between a connected state and a disconnected state depending on the opening degree of the second operation valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with electromagnetic valves, and are switched to a connected state or a disconnected state by exciting or demagnetizing a solenoid of the electromagnetic valve.
[0035]
　When the first clutch 17 is disengaged and the second clutch 18 is engaged, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18. As a result, four-wheel drive (4WD) in which the front wheels and the rear wheels are driven by power and the rotation speeds of the front wheels and the rear wheels become substantially the same (4WD constant speed state). On the other hand, when the first clutch 17 is in the engaged state and the second clutch 18 is in the disengaged state, four-wheel drive is performed and the rotation speed of the front wheels becomes faster than the rotation speed of the rear wheels (4WD acceleration state). Further, when the first clutch 17 and the second clutch 18 are in the disengaged state, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, so that the rear wheels are driven by the two-wheel drive (2WD).
[0036]
　As shown in FIG. 1, the tractor 1 includes a braking device. The braking device has a left braking device 46a and a right braking device 46b. The left braking device 46a and the right braking device 46b are disc-type braking devices, and can be switched between a braking state in which braking is performed and a releasing state in which braking is released. The left braking device 46a is provided on the left side of the rear axle 21R, and the right braking device 46b is provided on the right side of the rear axle 21R. For example, a left brake pedal and a right brake pedal are provided near the driver's seat 10. When the driver operating the tractor 1 operates (steps on) the left brake pedal, the left connecting member 47a connected to the left brake pedal moves in the braking direction, and the left braking device 46a can be brought into the braking state. When the driver operates (depresses) the right brake pedal, the right connecting member 47b connected to the right brake pedal moves in the braking direction, and the right braking device 46b can be brought into a braking state.
[0037]
　In addition, the left hydraulic member 48a, which is operated by hydraulic oil, is connected to the left connecting member 47a. The third hydraulic valve (left braking valve) 49a is connected to the left hydraulic operating portion 48a via an oil passage. By operating the left hydraulic actuating portion 48a by the third actuating valve 49a, the left connecting member 47a can be moved in the braking direction. Further, a right hydraulic pressure actuating portion 48b that is actuated by hydraulic oil is connected to the right connecting member 47b. A fourth actuation valve (right braking valve) 49b is connected to the right hydraulic actuation unit 48b via an oil passage. By operating the right hydraulic actuating portion 48b with the fourth actuating valve 28b, the right connecting member 47b can be moved in the braking direction.
[0038]
　As described above, the left braking device 46a and the right braking device 46b are operated not only by operating the left brake pedal and the right brake pedal, but also by operating the left hydraulic operating portion 48a and the right hydraulic operating portion 48b. And the right rear wheel 7R can be brought into the braking state independently.
　The tractor 1 includes a position detection device 40 (also referred to as a positioning device). The position detection device 40 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the position detection device 40 receives a received signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the received signal (also referred to as satellite signal), the position (for example, latitude, (Longitude) is detected. The position detection device 40 includes a reception device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42. The receiving device 41 is a device that has an antenna or the like and receives a reception signal transmitted from a positioning satellite, and is attached to the vehicle body 3 separately from the inertial measuring device 42. In this embodiment, the receiving device 41 is attached to a rope provided on the vehicle body 3. Note that the mounting location of the receiving device 41 is not limited to the embodiment.
[0039]
　The inertial measurement device 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. A roll angle, a pitch angle, a yaw angle, and the like of the vehicle body 3 can be detected by the inertial measurement device 42 provided below the vehicle body 3, for example, the driver's seat 10.
　As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 is a device that can perform manual steering for steering the vehicle body 3 by a driver's operation and automatic steering for automatically steering the vehicle body 3 without a driver's operation.
[0040]
　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. The steering device 11 also has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic 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 switches according to the steering direction (rotational direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheels 7F.
[0041]
　Therefore, when the driver grips the steering wheel 30 and operates it in one direction or the other direction, the switching position and the opening degree of the control valve 34 are switched according to the rotation direction of the steering wheel 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 leftward or rightward in accordance with the switching position and the opening degree. That is, the vehicle body 3 can change the traveling direction to the left or right by manually steering the steering wheel 30.
[0042]
　Next, automatic steering will be described.
　As shown in FIG. 2, when performing automatic steering, first, the travel reference line L1 is set before performing automatic steering. After setting the traveling reference line L1, automatic traveling can be performed by setting the traveling scheduled line L2 parallel to the traveling reference line L1. In the automatic steering, steering of the tractor 1 (vehicle body 3) in the traveling direction is automatically performed so that the vehicle body position measured by the position detection device 40 and the planned travel line L2 match.
[0043]
　Specifically, before performing automatic steering, the tractor 1 (vehicle body 3) is moved to a predetermined position in the field (S1), and the driver operates the steering changeover switch 52 provided on the tractor 1 at the predetermined position. When performed (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 travel reference line L1 (S4) and the driver operates the steering changeover switch 52 at a predetermined position (S5), it 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, the straight line connecting the start point P10 and the end point P11 is set as the travel reference line L1.
[0044]
　After setting the traveling reference line L1 (after S6), for example, the tractor 1 (vehicle body 3) is moved to a place different from the place where the traveling reference line L1 is set (S7), and the driver operates the steering changeover switch 52. (S8), the scheduled travel line L2, which is a straight line parallel to the travel reference line L1, is set (S9). After setting the planned travel line L2, automatic steering is started, and the traveling direction of the tractor 1 (vehicle body 3) is changed to follow the planned travel line L2. For example, when the current vehicle body position is on the left side of the planned traveling line L2, the front wheels 7F are steered to the right, and when the current vehicle body position is on the right side of the planned traveling line L2, the front wheels 7F. Is steered to the left. During automatic steering, the driver can manually change the travel speed (vehicle speed) of the tractor 1 (vehicle body 3) by changing the operation amount of the accelerator member (accelerator pedal, accelerator lever) provided on the tractor 1. It can be changed by changing the gear position of the transmission.
[0045]
　Further, after the automatic steering is started, when the driver operates the steering changeover switch 52 at an arbitrary position, the automatic steering can be ended. That is, the end point of the planned traveling line L2 can be set by ending the automatic steering by operating the steering changeover switch 52. That is, the length from the start point to the end point of the planned travel line L2 can be set longer or shorter than the travel reference line L1. In other words, the planned travel line L2 is not associated with the length of the travel reference line L1, and the planned travel line L2 allows the vehicle to travel while automatically steering a distance longer than the length of the travel reference line L1.
[0046]
　As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism for automatically steering the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle 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, and the like can be controlled based on the vehicle body position. The gear mechanism 39 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 rotation shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (rotates) via the gear mechanism 39, and the steering direction of the front wheels 7F is changed so that the vehicle body position coincides with the planned traveling line L2. Can be changed.
[0047]
　As shown in FIGS. 1 and 20, the tractor 1 includes a display device 45. The display device 45 is a device capable of displaying various information regarding the tractor 1, and is capable of displaying at least operation information of the tractor 1. The display device 45 is provided in front of the driver's seat 10.
　As shown in FIG. 1, the tractor 1 includes a setting switch 51. The setting switch 51 is a switch that switches to a setting mode in which setting is performed at least before the start of automatic steering. The setting mode is a mode in which various settings relating to the automatic steering are performed before the automatic steering is started, and for example, a starting point and an ending point of the traveling reference line L1 are set.
[0048]
　The setting switch 51 can be switched to ON or OFF. When it is ON, it outputs a signal indicating that the setting mode is valid, and when it is OFF, it outputs a signal indicating that the setting mode is invalid. The setting switch 51 outputs a signal indicating that the setting mode is valid to the display device 45 when the setting switch 51 is on, and outputs a signal indicating that the setting mode is invalid to the display device 45 when the setting switch 51 is off.
[0049]
　The tractor 1 includes a steering changeover switch 52. The steering changeover switch 52 is a switch for changing over the start or end of automatic steering. Specifically, the steering changeover switch 52 is capable of switching up, down, front, and rear from the neutral position, and when the setting mode is valid and the neutral position is switched down, the automatic steering is started. When the setting mode is valid and the neutral position is switched to the upper position, the end of automatic steering is output. Further, the steering changeover switch 52 outputs that the current vehicle body position is set to the starting point P10 of the traveling reference line L1 when the setting mode is enabled and the position is subsequently changed over from the neutral position, and the steering changeover switch 52 is operated. 52 outputs that the current vehicle body position is set to the end point P11 of the travel reference line L1 when the neutral position is switched to the front while the setting mode is valid.
[0050]
　That is, the steering changeover switch 52 also serves as a reference line setting switch for setting the start position (start point P10) and end position (end point P11) of the travel reference line L1. The steering changeover switch 52 may be configured separately from the steering changeover switch 52 for switching the start or end of automatic steering and the reference line setting switch.
　The tractor 1 includes 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 uses the received signal (positioning satellite position, transmission time, correction information, etc.) and the measurement information (acceleration, angular velocity) measured by the inertial measurement device 42 to calculate the vehicle body position (referred to as the calculated vehicle body position). ) Is a switch for correcting.
[0051]
　The correction switch 53 is composed of a push switch that can be pressed or a slide switch that can slide. The case where the correction switch 53 is a push switch or a slide switch will be described below.
　When the correction switch 53 is a push switch, the correction amount is set based on the number of times the push switch is operated. The correction amount is determined by the correction amount=number of operations×correction amount per one operation number (correction amount per unit). For example, as shown in FIG. 3A, the correction amount increases by several centimeters or tens of centimeters each time the push switch is operated. The number of push switch operations is input to the first controller 60A, and the first controller 60A sets (calculates) the correction amount based on the number of operations. The first control device 60A can change the predetermined operation of the push switch, that is, the correction amount per one operation.
[0052]
　When the correction switch 53 is a slide switch, the correction amount is set based on the operation amount (displacement amount) of the slide switch. For example, the correction amount is determined by the correction amount=the displacement amount from the predetermined position. For example, as shown in FIG. 3B, the correction amount increases by several centimeters or tens of centimeters each time the displacement amount of the slide switch increases by 5 mm. 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. Even if the correction switch 53 is a slide switch, the correction amount can be changed in the same manner as the push switch. The method of increasing the correction amount and the rate of increase are not limited to the above numerical values.
[0053]
　Specifically, as shown in FIGS. 4A and 4B, the correction switch 53 has a first correction section 53A and a second correction section 53B. The first correction unit 53A is a portion that commands the 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 portion that commands the correction of the vehicle body position corresponding to the other side in the width direction of the vehicle body 3, that is, the right side.
[0054]
　As shown in FIG. 4A, when the correction switch 53 is a push switch, the first correction unit 53A and the second correction unit 53B are ON or OFF switches that automatically return each time the operation is performed. The switch forming the first correction unit 53A and the switch forming the second correction unit 53B are integrated. The switch forming the first correction unit 53A and the switch forming the second correction unit 53B may be arranged separately from each other. As shown in FIG. 3A, each time the first correction unit 53A is pressed, the correction amount (left correction amount) corresponding to the left side of the vehicle body 3 increases. Further, every time the second correction unit 53B is pressed, the correction amount (right correction amount) corresponding to the right side of the vehicle body 3 increases.
[0055]
　As shown in FIG. 4B, when the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B include a knob 55 that moves left or right along the longitudinal direction of the long hole. There is. When the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B are arranged apart from each other in the width direction. As shown in FIG. 3B, when the knob 55 is gradually displaced from the predetermined reference position to the left, the left correction amount increases in accordance with the displacement amount. Further, when the knob 55 is gradually displaced rightward from the predetermined reference position, the right correction amount increases according to the displacement amount. As shown in FIG. 4B, in the case of a slide switch, the first correction unit 53A and the second correction unit 53B are integrally formed, and the reference position of the knob 55 is set to the central portion, The left correction amount may be set when moving to the left, and the right correction amount may be set when moving the knob 55 from the intermediate position to the right.
[0056]
　Next, the relationship between the correction amount (left correction amount, right correction amount) by the correction switch 53, the planned travel line L2, and the behavior of the tractor 1 (vehicle body 3) (travel locus) will be described.
　FIG. 5A shows a state in which the calculated vehicle body position W1 deviates to the right while the vehicle is traveling straight ahead 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 coincide with each other, and the actual position W2 and the planned traveling line When L2 matches, the tractor 1 travels along the planned travel line L2. That is, in the section P1 in which there is no error in the positioning of the position detection device 40 and the vehicle body position (calculated vehicle body position W1) detected by the position detection device 40 is the same as the actual position W2, the tractor 1 runs along the planned travel line L2. To run. If the positioning of the position detection device 40 has no error and no correction is performed, the calculated vehicle body position W1 and the corrected vehicle body position corrected by the correction amount (corrected vehicle body position) W3 have the same value. The corrected vehicle body position W3 is the corrected vehicle body position W3=calculated vehicle body position W1-correction amount.
[0057]
　Here, in the vicinity of the position P20, although the actual position W2 does not deviate from the planned traveling line L2, due to various influences, an error occurs in the positioning of the position detection device 40, and the position detection device 40 causes an error. Assuming that the detected vehicle body position deviates to the right with respect to the planned traveling line L2 (actual position W2) and the deviation amount W4 is maintained, the tractor 1 deviates from the calculated vehicle body position W1 and the planned traveling line L2. 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 traveling line L2. Then, the actual position W2 of the tractor 1 is shifted to the planned travel line L2 by steering to the left. Then, it is assumed that the driver notices that the tractor 1 is displaced from the planned traveling line L2 and steers the second correction unit 53B at the position P21 to increase the right correction amount from zero. The right correction amount is added to the calculated vehicle 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, it is possible to correct the vehicle body position of the position detection device 40 in a direction to eliminate the deviation amount W4 that has occurred near the position P20. As shown in the position P21 of FIG. 5A, when the actual position W2 of the tractor 1 is away from the planned traveling line L2 on the left side after the vehicle body position is corrected, the tractor 1 is steered to the right and the tractor 1 is moved. The actual position W2 can be matched with the planned traveling line L2.
[0058]
　FIG. 5B shows a state in which the calculated vehicle body position W1 deviates to the left while the vehicle is traveling straight ahead during automatic steering. As shown in FIG. 5B, when the actual position W2 and the calculated vehicle body position W1 coincide with each other and the actual position W2 and the planned traveling line L2 coincide with each other in the state where the automatic steering has started, the state shown in FIG. Similarly, the tractor 1 travels along the planned travel line L2. That is, as in FIG. 5A, the tractor 1 travels along the planned travel line L2 in the section P2 where the positioning of the position detection device 40 has no error. Further, as in FIG. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 have the same value.
[0059]
　Here, at the position P22, due to various influences, an error occurs in the positioning of the position detecting device 40, the vehicle body position W1 detected by the position detecting device 40 deviates to the left side from the actual position W2, and the deviation amount W5 becomes If it is maintained, the tractor 1 steers the tractor 1 to the right so as to eliminate the deviation amount W5 between the calculated vehicle body position W1 and the planned travel line L2. Then, it is assumed that the driver notices that the tractor 1 is displaced from the planned traveling line L2, and the driver steers the first correction unit 53A at the position P23 to increase the left correction amount from zero. Then, the left correction amount is added to the calculated vehicle 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, it is possible to correct the vehicle body position of the position detection device 40 in a direction to eliminate the deviation amount W5 that has occurred near the position P22. As shown at position P23 in FIG. 5B, when the actual position W2 of the tractor 1 is away from the planned travel line L2 on the right side after the vehicle body position is corrected, the tractor 1 is steered to the left and the tractor 1 is moved to the left. The actual position W2 can be matched with the planned traveling line L2.
[0060]
　That is, by operating the correction switch 53, steering can be performed separately from the steering wheel 30. That is, the correction switch 53 is also a steering member that steers the vehicle body 3.
　Next, the setting switch 51, the correction switch 53, and the screen changeover switch 54 will be described.
[0061]
　As shown in FIG. 18, an operation console 150 is provided in front of the driver's seat 10. The operation console 150 is a platform that supports at least an operation member that performs an operation, and a correction switch 53 that is one of the operation members is attached to the operation console 150. A setting switch 51 and a steering changeover switch 52 are attached to the operation console 150.
　The operation console 150 supports a steering handle 30, that is, a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. 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. That is, the operation console 150 includes a cover 177 that covers the steering shaft (rotary shaft) 31. The cover 177 is provided in front of the driver's seat 10. The cover 177 includes a panel cover 178 and a column cover 179.
[0062]
　The panel cover 178 supports the 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 to which the setting switch 51, the correction switch 53, and the screen changeover switch 54 are mounted. The mounting surface 178f is provided behind the support portion 178e and below the steering handle 30. The support portion 178e and the mounting surface 178f are continuous, the support portion 178e is located in the front portion of the upper plate portion 178a, and the mounting surface 178f is located in the rear portion of the upper plate portion 178a. The setting switch 51, the correction switch 53, and the screen changeover switch 54 are attached to the attachment surface 178f. As a result, the setting switch 51, the correction switch 53, and the screen changeover switch 54 are arranged around the steering shaft 31.
[0063]
　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 of switching the traveling direction of the vehicle body 3. More specifically, by operating (swinging) the shuttle lever 181 forward, the forward/reverse switching unit 13 is 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 unit 13 is 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.
[0064]
　The column cover 179 is arranged below the steering handle 30 and covers the periphery of the upper portion of the steering shaft 31. The column cover 179 is formed in a substantially rectangular tube shape and protrudes 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, the correction switch 53, and the screen changeover switch 54 attached to the attachment surface 178f are arranged around the column cover 179.
[0065]
　Next, the respective arrangements of the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54 will be described in detail. As shown in FIG. 18, the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54 are arranged around the steering shaft 31.
　The setting switch 51 is arranged on one side (left side) of the steering shaft 31. The steering changeover switch 52 is arranged on one side (left side) of the steering shaft 31. In the case of the present embodiment, the steering changeover switch 52 is composed of a swingable lever. The steering changeover switch 52 can be swung about a base end portion provided on the steering shaft 31 side as a fulcrum. The base end of the steering changeover switch 52 is provided inside the column cover 179. The steering changeover switch 52 projects to one side (left side) of the column cover 179.
[0066]
　The correction switch 53 is arranged on the other side (right side) of the steering shaft 31. More specifically, the correction switch 53 is arranged to the right of and behind the steering shaft 31 (obliquely right rear). The correction switch 53 is disposed to the right of and rearward of the column cover 179 (obliquely right rear) in the positional relationship with the column cover 179. The correction switch 53 is arranged on the right rear portion of the mounting surface 178f in the positional relationship with the mounting surface 178f of the panel cover 178. By arranging the correction switch 53 at the rear of the inclined mounting surface 178f, it is possible to secure a long distance between the correction switch 53 and the steering wheel 30. As a result, it is possible to more reliably prevent unintended operation of the correction switch 53 and steering of the steering wheel 30.
[0067]
　The screen changeover switch 54 is arranged on the other side (right side) of the steering shaft 31. More specifically, the screen changeover switch 54 is arranged to the right and front of the steering shaft 31 (obliquely right front). The screen changeover switch 54 is arranged to the right and front (obliquely right front) of the column cover 179 in the positional relationship with the column cover 179. The screen changeover switch 54 is arranged on the right front part of the mounting surface 178f in the positional relationship with the mounting surface 178f of the panel cover 178. The screen changeover switch 54 is arranged in front of the correction switch 53.
[0068]
　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 collectively present around the steering shaft 31. Therefore, the driver can clearly understand the position of each switch. In addition, the driver can operate each switch without changing the posture while sitting in the driver's seat 10. Therefore, the operability is good and erroneous operation can be prevented. Further, the harness (wiring) routed from each switch can be shortened.
[0069]
　Regarding the arrangement of the above-mentioned switches, the left and the right may be replaced with each other. That is, one side may be the left side and the other side may be the right side, or one side may be the right side and the other side may be the left side. Specifically, for example, the setting switch 51 and the steering changeover switch 52 may be arranged on the right side of the steering shaft 31, and the correction switch 53 may be arranged on the left side of the steering shaft 31.
[0070]
　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, the work system, the vehicle body position, and the like in the tractor 1. The plurality of control devices 60 are a first control device 60A, a second control device 60B, and a third control device 60C.
　The first control device 60A receives the reception signal (reception information) received by the reception device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement device 42, and based on the reception information and the measurement information, the vehicle body position. Ask for. For example, when the correction amount by the correction switch 53 is zero, that is, when the correction of the vehicle body position by the correction switch 53 is not commanded, the first control device 60A calculates the calculated vehicle body based on the reception information and the measurement information. The calculation vehicle body position W1 is determined as the vehicle body position used during automatic steering without correcting the position W1. On the other hand, when the correction switch 53 is instructed to correct the vehicle body position, the first controller 60A determines the vehicle body position based on either the number of times the correction switch 53 is operated or the operation amount (displacement amount) of the correction switch 53. The correction amount is set, and the corrected vehicle body position W3 obtained by correcting the calculated vehicle body position W1 with the correction amount is determined as the vehicle body position used during automatic steering.
[0071]
　The first control device 60A sets a control signal based on the vehicle body position (calculated vehicle body position W1, corrected vehicle body position W3) and the planned travel line L2, and outputs the control signal to the second controller 60B.
　The second control device 60B has an automatic steering control unit 200. The automatic steering control unit 200 is composed of an electric/electronic circuit provided in the second control device 60B, a program stored in a CPU, and the like.
[0072]
　The automatic steering control unit 200 (second control device 60B) uses the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned travel line L2 based on the control signal output from the first control device 60A. To control.
　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 automatic steering control unit 200 (second control device 60B) maintains the rotation angle of the rotation shaft of the steering motor 38. .. When the deviation (positional deviation) between the vehicle body position and the planned traveling line L2 is equal to or larger than the threshold value and the tractor 1 is located on the left side of the planned traveling line L2, the automatic steering control unit 200 (second control device). 60B) rotates the rotating shaft of the steering motor 38 so that the steering direction of the tractor 1 is rightward. That is, the automatic steering control unit 200 sets the steering angle in the right direction so that the position deviation becomes zero.
[0073]
　When the deviation between the vehicle body position and the planned traveling line L2 is equal to or greater than the threshold value and the tractor 1 is located on the right side with respect to the planned traveling line L2, the second control device 60B determines that the steering direction of the tractor 1 is left. The rotation shaft of the steering motor 38 is rotated so as to be oriented. That is, the automatic steering control unit 200 sets the steering angle in the left direction so that the positional deviation becomes zero.
　In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned traveling line L2. However, the azimuth of the planned traveling line L2 and the traveling direction of the tractor 1 (vehicle body 3). When the azimuth (vehicle body direction) F1 of (traveling direction) is different, that is, when the angle θ of the vehicle body direction F1 with respect to the planned traveling line L2 is equal to or greater than a threshold value, the automatic steering control unit 200 (second controller 60B). May set the steering angle such that the angle θ is zero (the vehicle body direction F1 matches the direction of the planned travel line L2). Further, the automatic steering control section 200 (second control device 60B), based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (azimuth deviation θ), The final steering angle in automatic steering may be set. The setting of the steering angle in the automatic steering in the above-described embodiment is an example, and the setting is not limited.
[0074]
　60 C of 3rd control apparatuses raise and lower the connection part 8 according to operation of the operation member provided in the periphery of the driver's seat 10. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Further, the control of the traveling system, the control of the work system, and the calculation of the vehicle body position described above are not limited.
　As described above, the control device 60 can automatically steer the tractor 1 (vehicle body 3).
[0075]
　By the way, when the steering changeover switch 52 is switched to the start of the automatic steering, the second control device 60B is energized, and when it is switched to the end of the automatic steering, the second control device 60B is energized. You may choose not to.
　The settings relating to traveling of the vehicle body 3 can be performed by the display device 45.
　Hereinafter, details of the display device 45 will be described.
[0076]
　As shown in FIG. 1, the display device 45 can acquire various information detected by the detection device 47 via an in-vehicle network or the like. The detection device 47 is an accelerator pedal sensor, 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, or the like. For example, the display device 45 can display the remaining fuel amount 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, and the like as the operation information.
[0077]
　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 obtains information on ON/OFF of the setting switch 51, information on start/end of automatic steering in the steering changeover switch 52, and information on commands of the start point P10 and the end point P11 of the traveling reference line L1 in the steering changeover switch 52. can do.
[0078]
　As shown in FIG. 18, the display device 45 includes a display unit 46 that displays various information. The display unit 46 includes a fixed display unit 46A that displays a warning and the like, and a variable display unit 46B that can change the information to be displayed. The fixed display unit 46A has a panel on which a graphic such as a warning is shown, and an irradiation unit such as an LED that irradiates the graphic on the panel with a light source. Further, the variable display section 46B is composed of a panel such as an organic EL or a liquid crystal, and displays various information regarding the operation (travel) of the tractor 1.
[0079]
　FIG. 6A shows an operation 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, that is, the operation screen M1 has an operation display unit 61 that shows operation information. The operation display unit 61 includes a rotation display unit 62 that displays the number of revolutions of the prime mover 4 (the number of revolutions of the prime mover) as the operation information. The rotation display unit 62 includes a level display unit 63. The level display part 63 is a part for displaying the number of revolutions of the prime mover in stages. For example, the level display part 63 includes a scale part 65 and an index part 80. The scale portion 65 has, for example, a first line 65A and a plurality of second lines 65B allocated along the first line 65A at predetermined intervals. In addition, the scale portion 65 has a first line 65A and a third line 65C separated by a predetermined distance. The first line 65A and the third line 65C are formed, for example, in a semicircular shape, and one end side (for example, left side) has a minimum value and the other end side (for example, right side) has a maximum value. ..
[0080]
　The index portion 80 is a bar whose length changes according to the magnitude of the rotation speed of the prime mover. The indicator portion 80 is located, for example, between the first line 65A and the third line 65C, and when the value of the prime mover rotational speed is the minimum value of zero, the indicator portion 80 is divided into the first line 65A and the third line 65C. When it is located at one end side (left side) and has the shortest length, and the value of the prime mover rotation speed is the maximum value, from the one end side (left side) of the first line 65A and the third line 65C to the first line 65A and It extends to the other end (right side) of the third line 65C and has the longest length. The rotation display unit 62 includes a number display unit 64. The number display unit 64 displays the number of revolutions of the prime mover as a number. For example, the rotation display unit 62 is arranged inside the semicircle of the first line 65A and the third line 65C.
[0081]
　Therefore, according to the operation display unit 61, the engine rotation speed such as the engine rotation speed can be displayed stepwise by the level display unit 63 and can be displayed by the rotation display unit 62 as a number.
　The operation screen M1 has an icon display section 67 that displays a plurality of icon sections 66. The icon display section 67 is a section in which various pieces of information are indicated by the icon section 66. That is, the icon section 66 displays the setting relating to traveling such as automatic steering, for example, the setting state set in the setting mode. The icon display portion 67 is located at a position different from the driving display portion 61, and is arranged, for example, above the driving screen M1.
[0082]
　The plurality of icon parts 66 includes a first icon part 66A, a second icon part 66B, a third icon part 66C, a fourth icon part 66D, a fifth icon part 66E, a sixth icon part 66F, a seventh icon part 66G, and a sixth icon part 66G. 8 icon part 66H. The operation screen M1 does not need to have all of the plurality of icon parts 66 (66A, 66B, 66C, 66D, 66E, 66F, 66G, 66H), and is not limited to the above-described embodiment.
[0083]
　The first icon portion 66A is displayed when a warning is issued. 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 portion 66D is displayed when the conditions for automatic steering are satisfied.
　For example, the fourth icon portion 66D is displayed when the setting mode is valid, the setting of the travel reference line L1 is completed, and the planned travel line L2 can be set.
[0084]
　Alternatively, the fourth icon portion 66D is displayed when the automatic steering is permitted. For example, the fourth icon portion 66D is displayed when the setting mode is valid and the setting of the traveling reference line L1 is completed. By looking at the fourth icon portion 66D, the worker can recognize that automatic steering is permitted. Then, the operator can start the automatic steering by operating the steering changeover switch 52.
[0085]
　The fifth icon portion 66E is displayed when the connecting portion 8 is in the up/down state. The sixth icon portion 66F is displayed when in the 4WD speed-up state. The color of the seventh icon portion 66G changes according to the reception sensitivity of the reception signal of the reception device 41.
　The display of the eighth icon portion 66H changes according to the conditions of automatic steering. The eighth icon portion 66H is configured to, for example, when the automatic steering cannot be performed, for example, when the setting mode is invalid, the reception sensitivity of the reception signal of the reception device 41 is low, and the vehicle body position cannot be detected, the traveling reference line L1. If the setting is not made, it will be gray to indicate that automatic steering cannot be performed. When the eighth icon portion 66H is in a state where automatic steering can be performed for some reason, for example, the setting mode is valid and the vehicle body position can be detected when the reception sensitivity of the reception signal of the reception device 41 is equal to or higher than a predetermined level. When the travel reference line L1 is set, the color is green indicating that automatic steering can be performed. The display form of the eighth icon portion 66H is not limited to the display form described above.
[0086]
　FIG. 6B shows an operation 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 operation screen M2 also includes an operation display unit 61 and an icon display unit 67, similar to the operation screen M1. In other words, the driving screen M2 is a screen capable of displaying the same information as the driving screen M1 at least for driving information. The operation display unit 61 and the icon display unit 67 are the same as the operation screen M1, and therefore description thereof is omitted.
[0087]
　When the setting mode is changed from invalid to valid, the display device 45 changes the display state of the operation display unit 61 of the operation screen M2 to a display mode different from the display state of the operation display unit 61 of the operation screen M1. .. That is, when the setting mode is valid, the display device 45 makes the display state of the driving display unit 61 when the setting mode is valid different from the display form of the driving display unit 61 when the setting mode is invalid.
　In the display device 45, the color (coloring) indicating the operation display unit 61 on the operation screen M2 is different from the color (coloring) indicating the operation display unit 61 on the operation screen M1. Specifically, in the display device 45, the color of the scale portion 65 of the level display portion 63 in the operation screen M2, that is, the color of the first line 65A, the second line 65B, and the third line 65C is the same as that of the operation screen M1. Meanwhile, the color of the indicator portion 80 of the driving screen M2 is different from that of the driving screen M1. That is, when the setting mode is enabled, the color of the index portion 80 is different from the color of the index portion 80 where the setting mode is disabled.
[0088]
　Further, the display device 45 makes the color of the number display portion 64 in the operation screen M2, that is, the color of the number indicating the motor rotation speed different from that of the operation screen M1. That is, when the setting mode is enabled, the color of the number display portion 64 is different from the color of the number display portion 64 where the setting mode is disabled.
　In the operation screen M2, since the setting mode is set, the setting before the start of the automatic steering can be performed. 7A to 7C show screen transitions of the operation screen M2 when setting the start point P10 and the end point P11 of the travel reference line L1 as settings before the start of automatic steering. As shown in FIG. 7A, when the travel reference line L1 is not set, the second icon portion 66B and the third icon portion 66C are not displayed on the operation screen M2. When the driver sets the starting point P10 of the traveling reference line L1 by operating the steering changeover switch 52, a second icon portion 66B is displayed on the driving screen M2 as shown in FIG. 7B. Further, when the driver operates the steering changeover switch 52 to set the end point P11 of the travel reference line L1, the third icon portion 66C is displayed on the driving screen M2 as shown in FIG. 7C.
[0089]
　Therefore, by operating the steering changeover switch 52 while traveling the tractor 1 while the operation screen M2 is displayed, the starting point P10 and the ending point P11 of the traveling reference line L1 can be set. Further, the driver sees whether or not the second icon portion 66B and the third icon portion 66C are displayed on the driving screen M2, and thereby whether or not the traveling reference line L1 is set on the driving screen M2. Can be confirmed.
[0090]
　Now, in order to perform automatic steering after setting the travel reference line L1, it is necessary to prepare the conditions for automatic steering. For example, as shown in FIG. 8, when the direction (traveling direction) of the tractor 1 after turning the tractor 1 is not parallel to the travel reference line L1, along the scheduled travel line L2 parallel to the travel reference line L1. It is difficult to steer the tractor 1, and in such a case, it is determined that the conditions for automatic steering are not satisfied. In this way, after the travel reference line L1 is set on the operation screen M2, if the conditions for automatic steering are not satisfied, the display device 45 displays a screen on the variable display section 46B as shown in FIGS. 9A to 9D. Is switched from the operation screen M2 to the guidance screen M3.
[0091]
　The guidance screen M3 is a screen for displaying commands (contents) regarding traveling of the vehicle body 3. In other words, the guidance screen M3 is a screen on which settings related to traveling can be set. For example, the guidance screen M3 is a screen that displays commands (contents) for adjusting traveling conditions such as automatic steering. For example, as shown in FIGS. 9A and 9B, the guidance screen M3 is a screen for instructing to change the orientation of the vehicle body 3 at least before the start of automatic steering. For example, as shown in FIG. 9 is a screen for giving an instruction to turn the vehicle body 3 to the right, or as shown in FIG. 9B, to turn the vehicle body 3 to the left. An instruction to turn the vehicle body 3 to the right or to turn the vehicle body 3 to the left is determined by the current traveling direction of the vehicle body 3. The traveling direction of the vehicle body 3 can be detected by the position detection device 40.
[0092]
　As shown in FIG. 8, when the traveling direction of the vehicle body 3 is oblique to the right with respect to the extending direction (longitudinal direction) of the travel reference line L1, 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 oblique to the left with respect to the longitudinal direction of the travel reference line L1, the guidance screen M3 indicates to direct the vehicle body 3 to the right. To do.
[0093]
　The guidance screen M3 includes a message display unit 70. The message display portion 70 is a portion for explaining the steering of the vehicle body 3 with characters (messages). That is, the message display unit 70 is a portion that indicates the steering direction of the vehicle body 3 in characters as a travel command (contents).
　As shown in FIG. 9A, the message display unit 70 displays a character indicating that the vehicle body 3 is turned to the right when the traveling direction of the vehicle body 3 needs to be turned to the right. As shown in FIG. 9B, when the traveling direction of the vehicle body 3 needs to be directed to the left, the message display unit 70 displays characters indicating that the vehicle body 3 is directed to the left.
[0094]
　In addition, as shown in FIG. 9C, the message display unit 70 displays a character indicating that the vehicle body 3 is going straight (straight) when the traveling direction of the vehicle body 3 is maintained. As shown in FIG. 9D, the message display unit 70 indicates that the vehicle body 3 has to travel straight for a predetermined distance, and if the straight travel distance does not reach the predetermined distance, the message indicates that the straight travel distance has not reached the predetermined distance. I do. Note that in FIG. 9D, a message indicating that the vehicle body 3 is going straight ahead for a predetermined distance may be displayed on the message display unit 70.
[0095]
　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 turn the vehicle body 3 to the right, the steering instruction section 69 displays an arrow that points the vehicle body 3 to the right. As shown in FIG. 9B, the steering instruction unit 69 displays an arrow that directs the traveling direction of the vehicle body 3 to the left when it is necessary to direct the traveling direction of the vehicle body 3 to the left. As shown in FIG. 9C, when the traveling direction of the vehicle body 3 is maintained, a pair of arrows facing each other are displayed to indicate that the vehicle body 3 is going straight (straight).
[0096]
　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 operation display unit 61 and the steering wheel display unit 68 are displayed on the same screen (same screen). Specifically, on the guidance screen M3, the operation display portion 61 and the steering wheel display portion 68 are displayed in the portion (range) MA1 where the description is changed. The driving display unit 61 on the guidance screen M3 is a portion that displays driving information, like 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 unit 61 on the guidance screen M3 includes a number display unit 64 that shows the number of revolutions of the prime mover by numbers, and displays the number of revolutions of the engine and the like. The operation display unit 61 in the guidance screen M3 may include the rotation display unit 62 shown in the operation screens M1 and M2. Alternatively, the operation display unit 61 on the guidance screen M3 may include both the number display unit 64 and the rotation display unit 62 shown in the operation screens M1 and M2.
[0097]
　The steering wheel display portion 68 is a portion that shows the steering wheel 30 in a figure or the like. The driving display unit 61 is displayed on one side or the other side of the steering wheel display unit 68. The steering wheel display section 68 and the steering instruction section 69 are displayed separately. The steering wheel display section 68 and the steering instruction section 69 may be displayed so as to overlap each other.
　The steering wheel display portion 68 has a circular grip portion 68A that is gripped by the driver on the steering wheel 30, and a connecting portion 68B that connects the grip portion 68A. The steering direction of the steering wheel display unit 68 is changed according to the instruction of the steering direction of the vehicle body 3.
[0098]
　For example, when the steering wheel display unit 68 and the message display unit 70 are displayed on the same screen, that is, the guidance screen M3, the steering direction of the steering wheel display unit 68 is changed according to the steering direction indicated by the message display unit 70. .. Alternatively, when the steering wheel display unit 68 and the steering instruction unit 69 are displayed on the same screen, that is, the guidance screen M3, the steering direction of the steering wheel display unit 68 is changed according to the steering direction indicated by the steering instruction unit 69. .. Alternatively, when the steering wheel display unit 68, the message display unit 70, and the steering instruction unit 69 are displayed on the same screen, that is, the guidance screen M3, the steering direction of the steering wheel display unit 68 is indicated by the message display unit 70 and the steering instruction unit 69. It is changed according to the steering direction.
[0099]
　As shown in FIG. 9A, when it is necessary to turn the traveling direction of the vehicle body 3 to the right, the handle display portion 68 rotates the grip portion 68A and the connecting portion 68B to the right around the center of the grip portion 68A. Indicates that the steering direction is 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 handle display section 68 rotates the grip section 68A and the connecting section 68B to the left around the center of the grip section 68B. Indicates that the steering direction is to the left. As shown in FIG. 9C, when the traveling direction of the vehicle body 3 is maintained, the steering direction is straight by not rotating the grip portion 68A and the coupling portion 68B.
[0100]
　16A and 16B show modifications of the guidance screen M3. The guidance screen M3 includes a plurality of condition display portions that show the traveling conditions. The plurality of condition display parts are a first condition display part 101 showing a first condition and a second condition display part 102 showing a second condition. In this embodiment, a condition display section showing two conditions will be described as an example, but the number of condition display sections is not limited to that in the embodiment.

The scope of the claims
[Claim 1]
　A work vehicle
　comprising: a drivable vehicle body, a steering handle for steering the vehicle body by a rotating operation,
　and a steering switch for steering the vehicle body, separately from the steering wheel
　.
[Claim 2]
　The work vehicle according to claim 1, wherein the steering switch is a switch that steers the vehicle body by a pressing operation or a sliding operation.
[Claim 3]
　The work vehicle according to claim 1, wherein the steering switch is provided around the steering handle.
[Claim 4]

　The work vehicle according to any one of claims 1 to 3 　, further comprising a steering shaft that rotatably supports the steering handle, and the steering switch is provided around the steering shaft.
[Claim 5]
　5. The work vehicle according to claim 1, wherein the steering switch includes a first steering unit that steers the vehicle body to one side and a second steering unit that steers the vehicle body to the other side.
[Claim 6]
　A position detecting device which is provided on the vehicle body and detects the position of the vehicle body based on a signal from a positioning satellite, and
　an automatic steering mechanism which automatically steers the vehicle body based on the position of the vehicle body detected by the position detecting device. When,
　with a
　said steering switch, said instructs the detected corrected position of the vehicle body position detecting device in operation or sliding operation of the pressing is performed, the automatic steering mechanism, the steering The work vehicle according to any one of claims 1 to 5, wherein the vehicle body is automatically steered based on a corrected vehicle body position which is a position of the vehicle body corrected by pressing a switch or a slide operation and a planned travel line.
[Claim 7]
　A
　movable vehicle body, a steering handle for steering the
　vehicle body by a rotating operation, a position detection device provided on the vehicle body and detecting the position of the vehicle body based on a signal from a positioning satellite, and the position
　detection device. A correction switch for instructing the correction of the position of the vehicle body detected by
　, a corrected vehicle body position which is the position of the vehicle body corrected by the operation of the steering switch, and an automatic steering system for automatically steering the vehicle body on the basis of a planned traveling line.
　A work vehicle including a steering mechanism .
[Claim 8]
　The correction switch includes a first correction unit that commands correction of the position of the vehicle on one side in the width direction of the vehicle body, and a second correction unit that commands correction of the position of the vehicle on the other side in the width direction of the vehicle body. The work vehicle according to claim 7, including a part.
[Claim 9]
　8. The control device which is connected to the correction switch and which controls the automatic steering mechanism,
　wherein the control device sets a correction amount of the position of the vehicle body based on the number of times the correction switch is operated. The work vehicle according to item 8.
[Claim 10]
　The work vehicle according to claim 9, wherein the control device sets a correction amount of a position of the vehicle body based on an operation amount of the correction switch.
[Claim 11]
　The work vehicle according to any one of claims 7 to 10, further comprising a steering changeover switch that switches between the automatic steering and the manual steering by the steering wheel.
[Claim 12]
　And the driver's seat,
　a control console provided on the front or side of the driver's seat
　equipped with,
　said operating member, a first state operable in a state of being mounted on the operating table, detached from the operation console A work vehicle whose position can be changed to a second state in which it can be operated in a closed state.
[Claim 13]
　The operation member is
　an operation section that is attached to the operation table in the first state and is detached from the operation table in the second state,
　and a cord section connected to the operation section. In the first state,
　The work vehicle according to claim 12, further comprising: a cord portion that is housed in the operation platform and that moves with the operation portion in the second state .
[Claim 14]
　The work vehicle according to claim 13, wherein the operation unit is located laterally or rearward of the driver's seat in the second state.
[Claim 15]
　The work vehicle according to claim 13 or 14, wherein the operation platform includes a recess in which the operation unit is mounted, and a cover that accommodates the code unit when the operation unit is mounted in the recess.
[Claim 16]
　The work vehicle according to any one of claims 12 to 15, wherein the operation member has an informing unit that informs that an operation is recommended.
[Claim 17]
　The work vehicle according to any one of claims 12 to 15 　, further
　comprising a vehicle body and a steering handle for steering the vehicle body
　,
wherein the operation member steers the vehicle body separately from the steering handle.
[Claim 18]
　The 　operating member includes a 　vehicle body
　, a steering wheel for steering the
vehicle body, and a position detection device
　provided on the vehicle body and capable of detecting the position of the vehicle body based on a signal from a positioning satellite.
The work vehicle according to any one of claims 12 to 16, which is a correction switch for instructing correction of the position of the vehicle body detected by a detection device.
[Claim 19]
　19. The work vehicle according to claim 18, further comprising a steering device that steers the vehicle body based on a corrected position which is a position of the vehicle body corrected by operating the correction switch and a planned travel line.
[Claim 20]
　A vehicle body,
　a steering wheel for performing the vehicle steering,
　a position detecting device for detecting a position of the vehicle based on a signal and positioning satellite is provided on the vehicle body,
　the position of the vehicle body detected by the position detecting device based on the the automatic steering mechanism for automatically steering a separate steering of the vehicle body from the manual steering by the steering wheel,
　the correction switch capable of setting the correction amount of the position of the vehicle detected by the position detecting device,
　the
　A work vehicle comprising: a control device that controls automatic steering of an automatic steering mechanism and that can change a correction amount in a predetermined operation of the correction switch .
[Claim 21]
　21. The work vehicle according to claim 20, wherein the automatic steering mechanism automatically steers the vehicle body based on a corrected vehicle body position which is a position of the vehicle body corrected based on the correction amount and a planned travel line.
[Claim 22]
　A traveling device having a first wheel provided on one side in the width direction of the vehicle body and a second wheel provided on the other side in the width direction of the vehicle body,
　and any one of the first wheel and the second wheel And a braking device capable of braking the vehicle
　,
　wherein the braking device eliminates the deviation when the deviation between the position of the vehicle body and the planned travel line is greater than or equal to a predetermined value. The work vehicle according to claim 20 or 21, which brakes one of two wheels.
[Claim 23]
　The position detection device detects an inertia of the vehicle body and an inertial measurement device that corrects the position of the vehicle body based on the detected inertia,
　and a display that displays that the amount of drift of the inertial measurement device has exceeded a predetermined amount. 　The work vehicle according to any one of claims 20 to 22 ,
　comprising a device and a reset switch that resets the inertial measurement device
.
[Claim 24]
　24. A working device provided on the vehicle body and capable of changing a working width
　, the working device changing the position of the working device based on a deviation between a position of the vehicle body and a planned travel line. The work vehicle according to any one of 1.
[Claim 25]
　The
　automatic steering mechanism includes a steering changeover switch for instructing start and end of the automatic steering, and the automatic steering mechanism 　controls a rotation of the steering motor
　capable of rotating a steering post that supports the steering wheel.
A disconnection switch that is connected to a power supply line of the control device that performs automatic steering and that can switch between a disconnection position that disconnects the power supply line and an energization position that energizes the power supply line
　,
　wherein the disconnection switch is the When the steering changeover switch issues a command to start the automatic steering, it switches to the energized position, and when the steering changeover switch issues a command from the command to start the automatic steering to the shutoff position. The work vehicle according to any one of claims 20 to 24, which is switched to.
[Claim 26]
　A steering changeover switch that switches between start and end of the automatic steering is provided, and the
　control device starts automatic steering by the steering device when the start of the automatic steering is switched by the steering changeover switch. The work vehicle according to any one of claims 20 to 25.
[Claim 27]
　And capable of detecting the position detector the position of the vehicle body,
　and the reference line setting switch for setting the start and end positions of the travel reference line detected vehicle position by the position detecting device
　according to claim which includes a The work vehicle according to any one of 20 to 26.