0001]The present invention relates to, for example, a work vehicle such as a tractor.
Background technology
[0002]
　Conventionally, a work vehicle disclosed in Patent Document 1 is known.
　The work vehicle disclosed in Patent Document 1 can travel by either manual steering in which steering is performed by the driver's operation or automatic steering in which the steering is automatically performed without the driver's operation. Has a car body.
Prior art literature
Patent documents
[0003]
Patent Document 1: Japanese Patent Publication "Japanese Unexamined Patent Publication No. 2017-12803"
Outline of the invention
Problems to be solved by the invention
[0004]
　In the work vehicle disclosed in Patent Document 1, the operating tool for performing the operation related to automatic steering is arranged in the vicinity of the steering handle in front of the driver's seat. Therefore, there is a problem that it is difficult to perform an operation related to automatic steering when the driver turns to the rear to perform the work.
　In view of the above problems, it is an object of the present invention to provide a work vehicle in which an operation related to automatic steering can be easily performed while the driver is looking backward.
Means to solve problems
[0005]
　The work vehicle according to one aspect of the present invention includes a driver's seat on which the driver sits, manual steering that is steered by the driver's operation, and a vehicle body that is detected by the positioning device without the driver's operation. A vehicle body capable of traveling by either automatic steering in which steering is automatically performed based on a position, and a first operating tool arranged on the side of the driver's seat for performing operations related to the automatic steering. It is provided with a first operating tool that either switches the start or end of the automatic steering in the reverse movement of the vehicle body, or corrects the position of the vehicle body in the reverse movement of the vehicle body.
[0006]
　Further, in front of the driver's seat, a second operating tool for performing an operation related to the automatic steering and having the same function as the first operating tool is provided.
　Further, a console arranged on the side of the driver's seat and an armrest arranged between the console and the driver's seat are provided, and the first operating tool is an upper part of the console and the armrest. It is located higher than.
[0007]
　Further, the first operating tool is arranged outside the vehicle width direction near the center of the armrest in the front-rear direction.
　Further, the first operating tool can be operated even when the driver seated in the driver's seat puts his elbow on the armrest.
　Further, the first operating tool is arranged behind the front end of the driver's seat and in front of the rear end.
[0008]
　Further, the second operating tool is arranged on the side opposite to the side where the first operating tool is arranged, with respect to the central portion of the driver's seat.
　Further, the first operating tool either switches the start or end of the automatic steering when the vehicle body advances, or corrects the position of the vehicle body when the vehicle body advances.
Effect of the invention
[0009]
　According to the above configuration, since the first operating tool is arranged on the side of the driver's seat, the driver can easily perform the operation related to the automatic steering while looking backward.
A brief description of the drawing
[0010]
FIG. 1 is a plan view of the cabin and the cabin interior.
[Fig. 2] Fig. 2 is a perspective view of a driver's seat, a console, and the like.
[Fig. 3] It is a side view of a driver's seat, a console, and the like.
[Fig. 4] It is a rear view around the steering wheel.
FIG. 5 is a diagram showing a tractor configuration and a control block diagram.
FIG. 6 is an explanatory diagram illustrating automatic steering.
FIG. 7 is an explanatory diagram illustrating an operation of automatic steering.
[Fig. 8] It is a side view of a tractor.
Embodiment for carrying out the invention
[0011]
　Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
　FIG. 8 is a side view showing an embodiment of the work vehicle 1. In the case of this embodiment, the work vehicle 1 is a tractor. However, the work vehicle 1 is not limited to the tractor, and may be an agricultural machine (agricultural vehicle) such as a combine or a transplant machine, or a construction machine (construction vehicle) such as a loader work machine.
[0012]
　The tractor (working vehicle) 1 will be described with reference to FIG. 8 and the like. Hereinafter, the front side of the driver seated in the driver's seat 10 of the tractor 1 will be described as the front side, the rear side of the driver as the rear side, the left side of the driver as the left side, and the right side of the driver as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the vehicle body width direction. Further, the direction of the tractor 1 from the central portion in the vehicle body width direction to the right portion or the left portion will be described as the outward direction in the vehicle width direction. In other words, the outside in the vehicle width direction is the direction away from the center in the width direction of the tractor 1 in the vehicle body width direction. The direction opposite to the outside in the vehicle width direction will be described as the inside in the vehicle width direction. In other words, the inward direction in the vehicle width direction is the direction in which the vehicle body width direction approaches the center in the width direction of the tractor 1.
[0013]
　As shown in FIG. 8, the tractor 1 includes a vehicle body 3, a motor 4, and a transmission 5. The vehicle body 3 has a traveling device 7 and can travel. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. 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 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch between forward and reverse of the traveling device 7. The cabin 6 is mounted on the vehicle body 3. Further, the vehicle body 3 is provided with a driver's seat 10. The driver's seat 10 is located at the rear of the cabin room. A steering handle (steering wheel) 30 is provided in front of the driver's seat 10.
[0014]
　Further, a connecting portion 8 composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. The working device 2 can be attached to and detached from the connecting portion 8. By connecting the working device 2 to the connecting portion 8, the working device 2 can be towed by the vehicle body 3. The work device 2 is a cultivating device for cultivating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass and the like, a ridge-raising device for raising ridges, and the like. , A device that performs work (ground work) on land such as fields.
[0015]
　As shown in FIG. 5, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission 5b, an auxiliary transmission 5c, a shuttle 5d, a PTO power transmission unit 5e, a front transmission 5f, and the like. It is equipped with. The propulsion shaft 5a is rotatably supported by the housing case (mission case) of the transmission 5, and the power from the crank shaft of the prime mover 4 is transmitted to the propulsion shaft 5a. The main transmission 5b has a plurality of gears and a shifter for changing the connection of the gears. The main speed change unit 5b changes the rotation input from the propulsion shaft 5a and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
[0016]
　Like the main transmission unit 5b, the auxiliary transmission unit 5c has a plurality of gears and a shifter for changing the connection of the gears. The auxiliary transmission 5c changes the rotation input from the main transmission 5b and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
　The shuttle section 5d has a shuttle shaft 12 and a forward / backward switching section 13. The power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via gears and the like. The forward / backward switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward movement and the reverse movement of the tractor 1 by turning on / off the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports the rear axle 21R to which the rear wheel 7R is attached.
[0017]
　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 is in a state where 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 by turning the hydraulic clutch on and off. Switch to the state.
[0018]
　The front speed change unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 can transmit the power from the propulsion shaft 5a, for example, the power of the shuttle shaft 12 is transmitted via the gear and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.
[0019]
　The first clutch 17 and the second clutch 18 are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from the hydraulic pump 33 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 oil passage is connected to a second operating valve 26. The second clutch 18 switches between a connected state and a disconnected state depending on the opening degree of the second operating valve 26. The first actuated valve 25 and the second actuated valve 26 are, for example, a two-position switching valve with a solenoid valve, and are switched to a connected state or a disconnected state by exciting or degaussing the solenoid of the solenoid valve.
[0020]
　When the first clutch 17 is in the disengaged state and the second clutch 18 is in the connected state, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18. As a result, the front wheels 7F and the rear wheels 7R are four-wheel drive (4WD) driven by power, and the rotation speeds of the front wheels 7F and the rear wheels 7R are substantially the same (4WD constant velocity state). On the other hand, when the first clutch 17 is connected and the second clutch 18 is disconnected, four-wheel drive is performed and the rotation speed of the front wheels 7F is faster than the rotation speed of the rear wheels 7R (4WD speed-increasing 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 7R are two-wheel drive (2WD) driven by the power.
[0021]
　As shown in FIG. 5, the tractor 1 includes a positioning device 40. The positioning device 40 can detect 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 positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (for example, latitude, longitude) based on the satellite signal. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device having an antenna or the like and receiving a satellite signal transmitted from a positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is arranged above the roof of the cabin 6 and attached to the cabin 6 via a support member. The mounting location of the receiving device 41 is not limited to the embodiment.
[0022]
　The inertial measurement unit 42 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. It is provided below the vehicle body 3, for example, below the steering wheel 30, below the driver's seat 10, and the like. The inertial measurement unit 42 can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.
　As shown in FIG. 5, the tractor 1 includes a steering device 11. The steering device 11 is a device capable of performing manual steering in which the vehicle body 3 is steered by the driver's operation and automatic steering in which the vehicle body 3 is automatically steered without the driver's operation. Therefore, the vehicle body 3 can travel by either manual steering, which is steered by the driver's operation, or automatic steering, which is automatically steered without the driver's operation.
[0023]
　The steering device 11 has a steering handle 30 and a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. Further, the steering device 11 has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) 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 the 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) that changes the direction of the front wheel 7F.
[0024]
　Therefore, if the driver grips the steering handle 30 and operates it in one direction or the other direction, the switching position and opening degree of the control valve 34 are switched according to the rotation direction of the steering handle 30, and the control valve 34 is switched. The steering direction of the front wheel 7F can be changed by expanding and contracting the steering cylinder 35 to the left or right according to the switching position and opening degree of. That is, the vehicle body 3 can change the traveling direction to the left or right by manually steering the steering handle 30.
[0025]
　As shown in FIG. 5, 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 (vehicle body position) of the vehicle body 3 detected by the positioning device 40. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor that can control the rotation direction, rotation speed, rotation angle, and the like based on the vehicle body position. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating around the steering shaft 31, and a gear provided on the rotating shaft of the steering motor 38 and rotating around the rotating 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 front wheels are aligned with the planned traveling line L2 (see FIG. 6). The steering direction on the 7th floor can be changed.
[0026]
　As shown in FIG. 6, when performing automatic steering, first, the traveling reference line L1 is set by the multi-switch 50 before performing automatic steering. After setting the travel reference line L1, automatic steering can be performed by setting the travel schedule line L2 parallel to the travel reference line L1. In the automatic steering, the tractor 1 (vehicle body 3) is automatically steered in the traveling direction so that the vehicle body position measured by the positioning device 40 and the planned travel line coincide with L2.
[0027]
　As shown in FIG. 1, the cabin 6 has a plurality of front pillars 71, rear pillars 72, and quarter pillars (center pillars) 73. The plurality of front pillars 71 include a first front pillar 71L and a second front pillar 71R arranged at the front portion of the cabin 6 at intervals in the aircraft width direction. The plurality of rear pillars 72 include a first rear pillar 72L and a second rear pillar 72R arranged at the rear of the cabin 6 at intervals in the airframe width direction. The plurality of quarter pillars 73 include a first quarter pillar 73L and a second quarter pillar 73R arranged so as to be spaced apart from each other in the airframe width direction between the front pillar 71 and the rear pillar 72. A windshield 74 is provided between the first front pillar 71L and the second front pillar 71R. A rear glass 75 that can be opened and closed is provided between the first rear pillar 72L and the second rear pillar 72R. An entrance / exit door 80 is provided between the front pillar 71 and the quarter pillar 73. A rear side glass 70 is provided between the quarter pillar 73 and the rear pillar 72.
[0028]
　The driver's seat 10 has a seat portion 10a on which the driver sits and a backrest portion 10b on which the driver leans back. On the side (right side) of the driver's seat 10, the armrest 76 and the console 77 are arranged side by side. The armrest 76 is arranged between the console 77 and the driver's seat 10. The armrest 76 has an elbow rest 78 at the rear. At the front of the armrest 76, a position lever 79 for raising and lowering the work device 2 and a transmission member 211 for operating the transmission stage of the transmission 5 are arranged. The console 77 is an interior cover that constitutes a part of the interior of the cabin 6. Various switches 81 are arranged on the console 77.
[0029]
　As shown in FIGS. 1 to 3, a first operating tool 54 for performing an operation related to automatic steering is arranged on the side of the driver's seat 10. The side of the driver's seat 10 is the side outside the driver's seat 10 in the vehicle width direction, as shown by the alternate long and short dash line X1 in FIG. In the present embodiment, the first operating tool 54 is arranged on the right side of the driver's seat 10. The first operating tool 54 may be arranged on the left side of the driver's seat 10.
[0030]
　As shown in FIG. 1, the first operating tool 54 is arranged on the console 77. The front portion of the console 77 is located outside the vehicle width of the steering wheel 30, and the rear end portion is located behind the second rear pillar 72R and in the vicinity of the rear glass 75. The first operating tool 54 is arranged between the front end 77a and the rear end 77b of the console 77. In the present embodiment, the first operating tool 54 is arranged near the center of the console 77 in the front-rear direction (including the center, the same applies hereinafter). The vicinity of the center is, for example, a portion corresponding to an intermediate portion when the member is divided into a front portion, a rear portion, and an intermediate portion between the front portion and the rear portion. The first operating tool 54 may be arranged at the front or the rear of the console 77.
[0031]
　As shown in FIG. 3, the first operating tool 54 is arranged on the upper part of the console 77. Specifically, the first operating tool 54 is arranged on the upper surface side of the console 77. The first operating tool 54 may be arranged on the inner surface of the console 77 in the vehicle width direction. Further, the upper portion of the console 77 is located higher than the seat portion 10a and higher than the armrest 76. That is, the first operating tool 54 is arranged above the seat portion 10a and above the armrest 76.
[0032]
　As shown in FIG. 1, the first operating tool 54 is behind the front end (front end of the seat portion 10a) 10c of the driver's seat 10 and forward of the rear end 10d (rear end of the backrest portion 10b) of the driver's seat 10. It is located in. Specifically, the first operating tool 54 is arranged behind the front end 10a of the seat 10a and in front of the rear end 10e of the seat 10a. In the present embodiment, the first operating tool 54 is located on the outer side (right side) in the vehicle width direction near the center of the seat portion 10a in the front-rear direction. The first operating tool 54 may be arranged outside the front portion of the seat portion 10a in the vehicle width direction or outside the rear portion of the seat portion 10a in the vehicle width direction. Further, the first operating tool 54 may be arranged on the front side of the driver's seat 10 or on the rear side of the driver's seat 10.
[0033]
　As shown in FIG. 1, the armrest 76 is arranged behind the front end 77a of the console 77 and in front of the rear end 77b of the console 77. The front end 76a of the armrest 76 is located in front of the front end 10c of the seat portion 10a, and the rear end 76b of the armrest 76 is located outside the lower portion of the backrest portion 10b in the vehicle width direction. The first operating tool 54 is arranged outside the armrest 76 in the vehicle width direction. Specifically, the first operating tool 54 is arranged on the outer side (right side) in the vehicle width direction near the center of the armrest 76 in the front-rear direction. The elbow rest 78 extends from the rear of the armrest 76 to the vicinity of the center in the front-rear direction.
[0034]
　The first operating tool 54 may be provided on the armrest 76. In this case, the first operating tool 54 is arranged in front of the elbow rest 78 and on the upper surface side of the armrest 76. It is not limited to this.
　The first operating tool 54 can be operated with the other hand (right hand) while the driver holds the steering handle 30 with one hand (left hand). Further, the first operating tool 54 can be operated by the driver seated in the driver's seat 10 and can be operated even when the driver puts his elbow on the elbow rest 78 of the armrest 76. As a result, the driver can easily operate the first operating tool 54.
[0035]
　In the present embodiment, the first operating tool 54 is a first steering switching tool that switches the start or end of automatic steering. Further, the first steering switching tool 54 is a switch for switching between manual steering and automatic steering. The first steering selector 54 is formed by, for example, an ON / OFF switch such as a push button switch or a seesaw switch, and when an ON operation (ON operation) is performed, it outputs a start of automatic steering and an OFF operation (OFF operation). ), The end of automatic steering is output. That is, the automatic steering function works by turning on the first steering switching tool 54, and the automatic steering function does not work by turning off the first steering switching tool 54, enabling manual steering.
[0036]
　The automatic steering function works when the mode switch 51, which will be described later, is turned on, and when the mode switch 51 is turned off, it does not work even if the first steering switch 54 is turned on.
　Since the first steering switch 54 is arranged on the side of the driver's seat 10, automatic steering is performed regardless of whether the driver is facing forward or turning backward. You can easily start or end the operation. Further, when the ground work is performed, it may be performed in one way (one direction without turning 180 degrees). In this case, when the driver turns to the rear and back-travels by automatic steering, the operation of starting or ending automatic steering can be easily performed by the first steering switching tool 54.
[0037]
　As shown in FIG. 1, a front cover (cab cover) 151 and a steering column 152 are arranged in front of the driver's seat 10. As shown in FIG. 4, the front cover 151 is provided with a display device (automatic steering monitor) 45 and a meter panel 46. The display device 45 can display various information about the tractor 1 (at least the operation information of the tractor 1). Further, in the display device 45, it is possible to set a work type which is a type of the work device 2, a work width which is the width of the work device 2, a lap width which is an overlap allowance of the adjacent existing work area, and the like. The meter panel 46 can display operating information such as fuel, water temperature, and engine speed.
[0038]
　As shown in FIG. 1, a plurality of second operating tools 83 for performing operations related to automatic steering are provided in front of the driver's seat 10. The plurality of second operating tools 83 are arranged in the vicinity of the steering handle 30. As shown in FIG. 4, the plurality of second operating tools 83 include a second steering switching tool 52, a mode switch 51, a multi-switch 50, and a correction switch 53. The second steering selector 52, the multi-switch 50, and the correction switch 53 are arranged on the steering column 152, and the mode switch 51 is arranged on the front cover 151.
[0039]
　The second steering switching tool 52 is an operating tool having the same function as the first steering switching tool 54. That is, the second steering switching tool 52 is a switch for switching the start or end of automatic steering. Therefore, the start and end of automatic steering (switching between manual steering and automatic steering) can be performed by either the first steering switching tool 54 or the second steering switching tool 52. The second steering switch 52 is formed by a lever-type switch that can be switched to two positions in the vertical direction, and when it is switched downward (operated to enter), it outputs the start of automatic steering and outputs it upward. When switched (turned off), the end of automatic steering is output.
[0040]
　When the mode switch 51 is turned off, the automatic steering function does not work even if the second steering switching tool 52 is turned on and operated.
　As shown in FIG. 1, the second steering switch 52 is arranged in front of the left portion of the driver's seat 10. That is, the second steering switching tool 52 is arranged on the side opposite to the side where the first steering switching tool 54 is arranged, with respect to the central portion of the driver's seat 10 in the vehicle body width direction.
[0041]
　Therefore, the driver can easily operate the second steering switching tool 52 with his left hand, while the first steering switching tool 54 is arranged to the right of the driver's seat 10, so that the driver can use his right hand for the first steering switch. The steering switch 54 can be easily operated. That is, the driver can easily start and end the automatic steering with either the left hand or the right hand. Further, since the start and end operations of the automatic steering can be performed by either the first steering switching tool 54 or the second steering switching tool 52 in the automatic steering when moving forward or when moving backward, various postures of the driver can be performed. , Can correspond to the state.
[0042]
　The mode switch 51 is a switch that enables an operation related to automatic steering. Specifically, the mode switch 51 is a switch that enables the setting (registration) of the traveling reference line L1 by the multi-switch 50 and the functions (automatic steering function) of the first steering switching tool 54 and the second steering switching tool 52. be. Specifically, the mode switch 51 can be switched to ON or OFF, and when it is ON (turned on), the travel reference line L1 is set by the multi-switch 50, the first steering switch 54 and the first steering switch 51. 2 A signal for enabling the function of the steering switch 52 is output, and when it is OFF (turned off), the travel reference line L1 is set by the multi-switch 50, the first steering switch 54 and the second steering switch 54 and the second. A signal for disabling the function of the steering switch 52 is output.
[0043]
　The multi-switch 50 is a switch that can be rotated and pushed. The multi-switch 50 can operate the display device 45 when it is connected to the display device 45 and the mode switch 51 is turned on and not operated. For example, by rotating (rotating) the multi-switch 50, items of various functions can be selected, and by pushing (pushing) the multi-switch 50, the selected items can be executed.
[0044]
　Further, when the mode switch 51 is turned on and operated, the traveling reference line L1 can be set by the multi-switch 50. Specifically, as shown in FIG. 6, the multi-switch 50 outputs that the start point P10 of the travel reference line L1 is set by the first push operation, and the end point P11 of the travel reference line L1 is set by the second push operation. Output to set. That is, the multi-switch 50 also serves as a registration switch for setting the start position (start point P10) and end position (end point P11) of the travel reference line L1.
[0045]
　Here, with reference to FIG. 6, a method of setting the traveling reference line L1 and switching of automatic steering will be described. To set the driving reference line L1, first, the tractor 1 (vehicle body 3) is moved to a predetermined position in the field (S1) before automatic steering, and a driver is provided on the tractor 1 at the predetermined position. When the multi-switch 50 is operated (S2), the vehicle body position measured by the positioning device 40 is set at the start point P10 of the travel reference line L1 (S3). Next, when the tractor 1 (vehicle body 3) is moved from the starting point P10 of the traveling reference line L1 (S4) and the driver operates the multi-switch 50 at a predetermined position (S5), the measurement is performed by the positioning device 40. The vehicle body position is set at 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.
[0046]
　After setting the travel reference line L1 (after S6), for example, the tractor 1 (vehicle body 3) is moved to a location different from the location where the travel reference line L1 is set (S7), and the driver moves the first steering switch 54. Alternatively, when the second steering switch 52 is turned on (S8), the planned travel line L2, which is a straight line parallel to the travel reference line L1, is set (S9). After setting the scheduled travel line L2, automatic steering is started, and the traveling direction of the tractor 1 (vehicle body 3) is changed so as to be along the scheduled travel line L2. For example, if the current vehicle body position is on the left side of the planned travel line L2, the front wheels 7F are steered to the right, and if the current vehicle body position is on the right side of the scheduled travel line L2, the front wheels 7F are steered to the right. Is steered to the left.
[0047]
　During automatic steering, the traveling speed (vehicle speed) of the tractor 1 (vehicle body 3) is the amount of operation of the accelerator (accelerator pedal, accelerator lever) 210 (see FIG. 5) manually provided on the tractor 1 by the driver. It can be changed by changing the speed change member (shift lever, shift switch) 211 (see FIG. 5) by changing the shift stage of the shift device 5.
　Further, after the start of automatic steering, when the driver performs a turning operation of the first steering switching tool 54 or the second steering switching tool 52 at an arbitrary position, the automatic steering can be ended. That is, the end point of the scheduled travel line L2 can be set by the end of automatic steering by the turning operation of the first steering switching tool 54 or the second steering switching tool 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 scheduled travel line L2 can automatically steer a distance longer than the length of the travel reference line L1 while traveling.
[0048]
　The correction switch 53 is a switch that corrects the vehicle body position (latitude, longitude) measured by the positioning device 40. That is, the correction switch 53 is a vehicle body position (referred to as a calculated vehicle body position) calculated by a satellite signal (position of a positioning satellite, transmission time, correction information, etc.) and measurement information (acceleration, angular velocity) measured by the inertial measurement unit 42. ) Is a switch to correct.
　The correction switch 53 is composed of, for example, a push switch that can be pressed, and the correction amount is set based on the number of operations of the correction switch 53. The correction switch 53 is a first portion that commands correction of the vehicle body position corresponding to one side in the width direction of the vehicle body 3, that is, the left side, and the vehicle body position corresponding to the other side in the width direction of the vehicle body 3, that is, the right side. It has a second part that commands correction. Each time the first part is pressed, the correction amount corresponding to the left side of the vehicle body 3 (left correction amount) increases, and each time the second part is pressed, the correction amount corresponding to the right side of the vehicle body 3 (right correction amount) Will increase.
[0049]
　The correction switch 53 may be composed of a slideable slide switch. In this case, the correction amount is set based on the operation amount of the correction switch 53.
　For example, although the actual position, which is the actual position of the tractor 1, does not deviate from the scheduled travel line L2, an error occurs in the positioning of the positioning device 40 due to various influences, and the positioning device 40 detects it. Assuming that the vehicle body position is displaced to the right with respect to the planned traveling line L2 (actual position) and the deviation amount is maintained, the tractor 1 determines that the calculated vehicle body position and the planned traveling line L2 are displaced. Then, the tractor 1 is steered to the left so as to eliminate the amount of deviation between the calculated vehicle body position and the scheduled travel line L2. Then, the actual position of the tractor 1 shifts to the left from the scheduled travel line L2. In this case, it is assumed that the driver notices that the tractor 1 is displaced to the left from the scheduled travel line L2 and operates the correction switch 53 to increase the right correction amount from zero. Then, the right correction amount is added to the calculated vehicle body position, and the corrected vehicle body position (corrected vehicle body position) can be made substantially the same as the actual position. That is, the vehicle body position of the positioning device 40 can be corrected in the direction of eliminating the deviation amount generated by the correction switch 53. Further, by operating the correction switch 53, steering can be performed separately from the steering handle 30. That is, the correction switch 53 is also a steering member that steers the vehicle body 3.
[0050]
　In the above, the case where the vehicle body position detected by the positioning device 40 is displaced to the right side with respect to the scheduled traveling line L2 has been described, but the vehicle body position detected by the positioning device 40 is displaced to the left side with respect to the scheduled traveling line L2. In that case, when the correction switch 53 is operated to increase the left correction amount from zero, the left correction amount is added to the calculated vehicle body position, and the corrected vehicle body position (corrected vehicle body position) is substantially the same as the actual position. Can be.
[0051]
　In the above description, the first operating tool 54 is the first steering switching tool, but the first operating tool 54 is not limited thereto. For example, the first operating tool 54 may be a correction switch (another correction switch) having the same function as the correction switch 53. That is, the correction switch 53 may be provided in front of the driver's seat 10 and another correction switch may be provided on the side of the driver's seat 10. Further, the first operating tool 54 may be a switch having the same function as the mode switch 51 (another mode switch) or a switch having the same function as the multi-switch 50 (another mode switch). Further, there may be a plurality of first operating tools 54. In this case, the plurality of first operating tools 54 include two or more switches of a first steering selector, another correction switch, another mode switch, and another multi-switch.
[0052]
　As shown in FIG. 5, the tractor 1 includes a plurality of control devices 60. The plurality of control devices 60 are devices that control the traveling system in the tractor 1, control the working system, calculate the vehicle body position, and the like. The plurality of control devices 60 are a first control device 60A, a second control device 60B, and a third control device 60C.
　The first control device 60A receives the satellite signal (received information) received by the receiving device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement unit 42, and the vehicle body position is based on the received information and the measurement information. Ask for.
[0053]
　Further, the first control device 60A has a reference registration unit 150. The reference registration unit 150 is composed of an electric / electronic circuit provided in the first control device 60A, a program stored in a CPU, and the like. As described above, the reference registration unit 150 registers the travel reference line L1, that is, sets the start point P10 and the end point P11. When the tractor 1 is driven by manual steering with the mode switch 51 turned on and operated, the reference registration unit 150 sets the vehicle body position to the start point P10 of the travel reference line L1 when the multi-switch 50 is first pressed. Then, when the multi-switch 50 is pressed and operated, the vehicle body position is set at the end point P11 of the travel reference line L1.
[0054]
　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. The automatic steering control unit 200 controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the scheduled travel line L2.
　As shown in FIG. 7, when the first steering switch 54 or the second steering switch 52 is turned on and operated, the automatic steering control unit 200 sets the planned travel line L2 parallel to the travel reference line L1. After setting the planned travel line L2, the automatic steering control unit 200 maintains the rotation angle of the rotation shaft of the steering motor 38 when the deviation between the vehicle body position and the scheduled travel line L2 is less than the threshold value. When the deviation (positional deviation) between the vehicle body position and the scheduled travel line L2 is equal to or greater than the threshold value and the tractor 1 is located on the left side of the scheduled travel line L2, the automatic steering control unit 200 of the tractor 1 The rotation axis of the steering motor 38 is rotated so that the steering direction is to the right. That is, the automatic steering control unit 200 sets the steering angle in the right direction so that the position deviation becomes zero. When the deviation between the vehicle body position and the scheduled travel line L2 is equal to or greater than the threshold value and the tractor 1 is located on the right side of the scheduled travel line L2, the automatic steering control unit 200 has the steering direction of the tractor 1 on the left. The rotation axis of the steering motor 38 is rotated so as to be in the direction. That is, the automatic steering control unit 200 sets the steering angle in the left direction so that the position deviation becomes zero.
[0055]
　In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned travel line L2, but the direction of the planned travel line L2 and the traveling direction of the tractor 1 (vehicle body 3). When the direction (vehicle body direction) F1 in the (traveling direction) is different, that is, when the angle θg of the vehicle body direction F1 with respect to the planned traveling line L2 is equal to or greater than the threshold value, the automatic steering control unit 200 sets the angle θg to zero ( The steering angle may be set so that the vehicle body direction F1 matches the direction of the planned traveling line L2). Further, the automatic steering control unit 200 sets the final steering angle in automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (direction deviation). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.
[0056]
　Further, when the accelerator 210 is operated while the automatic steering control unit 200 is performing automatic steering, the second control device 60B has a rotation speed of the prime mover 4 (motor) according to the operation amount of the accelerator 210. Rotation speed) is changed. Further, when the speed change member 211 is operated while the automatic steering control unit 200 is performing automatic steering, the second control device 60B changes the shift stage of the speed change device 5.
[0057]
　The third control device 60C raises and lowers the connecting portion 8 in response to the operation of the operating member provided around the driver's seat 10. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Further, the above-mentioned control of the traveling system, control of the working system, and calculation of the vehicle body position are not limited. As described above, the control device 60 can automatically steer the tractor 1 (vehicle body 3).
[0058]
　The work vehicle 1 travels by either a driver's seat 10 in which the driver sits, manual steering that is steered by the driver's operation, or automatic steering that is automatically steered without the driver's operation. A possible vehicle body 3 and a first operating tool 54 (first steering switching tool) for performing an operation related to automatic steering are provided, and the first operating tool 54 is arranged on the side of the driver's seat 10.
　According to this configuration, since the first operating tool 54 is arranged on the side of the driver's seat 10, the driver can easily perform the operation related to the automatic steering while looking backward.
[0059]
　Further, a second operating tool 83 for performing an operation related to automatic steering is provided in front of the driver's seat 10.
　According to this configuration, the operation related to the automatic steering can be performed by the first operating tool 54 on the side of the driver's seat 10 as well as the second operating tool 83 in front of the driver's seat 10.
　Further, the first operating tool 54 and the second operating tool 83 have the same function.
[0060]
　According to this configuration, both the first operating tool 54 and the second operating tool 83 relate to automatic steering regardless of whether the driver is facing forward or turning backward. You can do the same operation.
　Further, the first operating tool 54 is an operating tool for switching the start or end of automatic steering.
　According to this configuration, the driver can easily switch the start or end of the automatic steering while looking backward.
[0061]
　Further, the first operating tool 54 may be a correction switch that commands correction of the position of the vehicle body 3 detected by the positioning device 40.
　According to this configuration, the position of the vehicle body 3 can be easily corrected even while the driver is looking backward.
　Further, the first operating tool 54 is arranged behind the front end of the driver's seat 10 and in front of the rear end.
[0062]
　According to this configuration, the first operating tool 54 can be easily operated when working while turning to the rear.
　Further, the second operating tool 83 is arranged on the side opposite to the side where the first operating tool 54 is arranged, with respect to the central portion of the driver's seat 10.
　According to this configuration, the first operating tool 54 and the second operating tool 83 are arranged in a distribution pattern on the left and right with respect to the driver's seat 10, so that, for example, the first operating tool 54 and the second operating tool When the 83 is an operating tool having the same function, the driver can perform the same operation related to automatic steering with either the left hand or the right hand.
[0063]
　Although one embodiment of the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope of the claims.
Code description
[0064]
　　3 Body
　10 Driver's seat
　54 1st operating tool (1st steering switching tool)
　83 2nd operating tool (2nd steering switching tool)
　40 Positioning device

WE CLAIMS

The driver's seat where the driver sits, the
　manual steering that is steered by the driver's operation, and the automatic steering that is automatically performed based on the position of the vehicle body detected by the positioning device without the driver's operation. A vehicle body capable of traveling by either steering and a
　first operating tool arranged on the side of the driver's seat for performing an operation related to the automatic steering, wherein the automatic steering is started or the automatic steering is started in the reverse direction of the vehicle body.
　A work vehicle including a first operating tool for switching the end or correcting the position of the vehicle body in the reverse direction of the vehicle body.
[Claim 2]
　The first aspect of the present invention, wherein a second operating tool for performing an operation related to the automatic steering and having the same function as the first operating tool is provided in front of the driver's seat. Work vehicle.
[Claim 3]
　A console arranged on the side of the
　driver's seat and an armrest arranged between the console and the driver's seat
　are provided, and
　the first operating tool is an upper part of the console and more than the armrest. The work vehicle according to claim 1 or 2, which is located at a high position.
[Claim 4]
　The work vehicle according to claim 3, wherein the first operating tool is arranged outside the vehicle width direction near the center of the armrest in the front-rear direction.
[Claim 5]
　The work vehicle according to claim 3 or 4, wherein the first operating tool can be operated even when a driver seated in the driver's seat has an elbow placed on the armrest.
[Claim 6]
　The work vehicle according to any one of claims 1 to 5, wherein the first operating tool is arranged behind the front end of the driver's seat and in front of the rear end.
[Claim 7]
　The work vehicle according to claim 2, wherein the second operating tool is arranged on the side opposite to the side where the first operating tool is arranged, with respect to the central portion of the driver's seat.
[Claim 8]
　Any one of claims 1 to 7, wherein the first operating tool either switches the start or end of the automatic steering when the vehicle body advances, or corrects the position of the vehicle body when the vehicle body advances. The work vehicle described in the section.