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 body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line set parallel to the reference traveling line, manual traveling and automatic traveling. It is equipped with a changeover switch that can switch between running and running. 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
[0003]
Patent Document 1: JP-A-2017-123803
Summary of the invention
Problems to be Solved by the Invention
[0004]
　In the agricultural work machine of Patent Document 1, the reference travel line is set before automatic steering, but the driver cannot easily determine whether or not the reference travel line is set. is there.
　In addition, in the agricultural work machine of Patent Document 1, before automatic steering, the reference traveling line is set by operating the right instruction button, the left instruction button, or the like, and the marker device is used to set the reference traveling line during the setting of the reference traveling line. After aligning the aircraft using the drawn index line and the center mascot, automatic steering along the set travel line is started. The driver needs to know the traveling-related items such as the steering of the aircraft in the setting before the start of the automatic steering.If he/she cannot grasp the traveling-related items, the setting of the reference traveling line and the reference traveling It is difficult to run when setting the line and align the aircraft.
[0005]
　Therefore, in view of the above problems, it is an object of the present invention to provide a work vehicle capable of easily grasping whether or not a driver can easily perform a setting before automatic steering. ..
　Further, in view of the above problems, it is another object of the present invention to provide a work vehicle in which traveling conditions of a vehicle body can be easily adjusted.
Means for solving the problem
[0006]
　The technical means of the present invention for solving this technical problem is characterized by the following points.
　The work vehicle includes a steering wheel, a vehicle body that can be driven by any one of manual steering with the steering wheel, and automatic steering of the steering wheel based on a planned traveling line, and settings for performing settings at least before the start of the automatic steering. It has a setting switch for switching the mode to valid or invalid, and a driving display section for displaying driving information when the vehicle body is running, and when the setting mode is switched to valid, the display state of the driving display section is changed. And a display device for changing the display mode to a display state different from the invalid setting mode.
[0007]
　The work vehicle includes a prime mover, the operation display unit includes a rotation display unit that displays the rotation speed of the prime mover as the operation information, the display device, the color of the rotation display unit in the setting mode, Change the setting mode to a color different from invalid.
　In the work vehicle, the rotation display unit includes a level display unit that displays the rotation speed of the prime mover stepwise, and a number display unit that displays the rotation speed of the prime mover by numbers.
[0008]
　The work vehicle includes a position detection 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 a correction switch which corrects the position of the vehicle body detected by the position detection device. The driving display unit includes a correction display unit that displays a correction amount of the position of the vehicle body by the correction switch as the driving information, and the display device displays the correction display unit in the setting mode.
[0009]
　The correction display unit displays the number of times the correction switch is operated as the correction amount.
　The correction display unit displays the magnitude of the correction amount stepwise.
　The correction display unit displays a first correction display unit that displays a correction amount of the position of the vehicle body on one side in the width direction of the vehicle body, and a correction amount of the position of the vehicle body on the other side in the width direction of the vehicle body. And a second correction display section that does.
[0010]
　Further, the work vehicle includes a vehicle body that can travel, a steering wheel that steers the vehicle body, and a display device that can display at least a guidance screen that displays a command for adjusting traveling conditions of the vehicle body.
　The vehicle body can travel by either manual steering by the steering handle or automatic steering of the steering handle based on a planned travel line, and the display device displays the guidance screen before starting the automatic steering. In addition, a steering instruction section indicating the steering direction of the vehicle body corresponding to the traveling condition is displayed on the guidance screen.
[0011]
　The vehicle body can travel by either manual steering by the steering wheel or automatic steering of the steering wheel based on a planned travel line, and the display device displays the guidance screen before starting the automatic steering. In addition, a steering wheel display section showing the steering wheel which is directed in the steering direction of the vehicle body corresponding to the traveling condition is displayed on the guidance screen.
[0012]
　The work vehicle includes a steering changeover switch for switching between the manual steering and the automatic steering, and the display device displays a command for switching the steering changeover switch to the automatic steering on the guidance screen when traveling conditions in the traveling are satisfied. indicate.
　The display device displays driving information of the vehicle body on the guidance screen during the automatic steering.
[0013]
　When the traveling is started after the traveling conditions of the vehicle body are adjusted, the display device displays the condition for maintaining the traveling.
　The display device displays a condition for maintaining the automatic steering as a condition for maintaining the traveling after the start of the automatic steering.
　The work vehicle includes a position detection 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 a correction switch which commands correction of the position of the vehicle body detected by the position detection device. A vehicle body position corrected by operating the steering switch, and an automatic steering mechanism that automatically steers the vehicle body based on a planned travel line. The correction amount of the vehicle body position is displayed on the guidance screen.
Effect of the invention
[0014]
　According to the present invention, it is possible to easily comprehend whether or not the driver can easily perform the setting before the automatic steering.
　Further, according to the present invention, the traveling conditions of the vehicle body can be easily adjusted.
Brief description of the drawings
[0015]
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.
MODE FOR CARRYING OUT THE INVENTION
[0016]
　Embodiments of the present invention will be described below with reference to the drawings.

　FIG. 20 is a side view showing one embodiment of the work vehicle 1, and FIG. 20 is a plan view showing one embodiment of the work vehicle 1. In the case of this embodiment, the work vehicle 1 is a tractor. However, the work vehicle 1 is not limited to a tractor, and may be an agricultural machine (agricultural vehicle) such as a combine or transplanter, or a construction machine (construction vehicle) such as a loader working machine.
[0017]
　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.
[0018]
　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.
[0019]
　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.
[0020]
　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 the housing case (transmission case) of the transmission 5, and the power from the crankshaft of the 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.
[0021]
　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.
[0022]
　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.
[0023]
　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 20R rotatably supports the front axle 21F to which the front wheels 7F are attached.
[0024]
　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.
[0025]
　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, the front wheels and the rear wheels are driven by four wheels (4WD) by power, and the rotation speeds of the front wheels and the rear wheels are 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). In addition, when the first clutch 17 and the second clutch 18 are in the connected state, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, so that the rear wheels are driven by two wheels (2WD).
The
　tractor 1 includes a position detection device 40. The position detection device 40 is a device that detects its own position (positioning information including latitude and longitude) 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 the received signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (for example, latitude and longitude) based on the received signal. 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.
[0026]
　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.
[0027]
　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.
[0028]
　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.
[0029]
　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.
[0030]
　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.
[0031]
　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.
[0032]
　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.
[0033]
　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 37 includes a gear that is provided on the steering shaft 31 and rotates with the steering shaft 31, and a gear that is provided on the rotation shaft of the steering motor 38 and rotates 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 37, and the steering direction of the front wheels 7F is changed so that the vehicle body position matches the planned travel line L2. Can be changed.
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.
[0034]
　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.
[0035]
　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 can switch up, down, front, and rear from the neutral position, and when the setting mode is valid and the neutral position is switched to the downside, 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 at the starting point P10 of the travel reference line L1 when the setting mode is enabled and the position is subsequently changed over from the neutral position. 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.
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.
[0036]
　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. 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.
[0037]
　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. The above-described correction amount increasing method and increase ratio are not limited to the above-described numerical values.
[0038]
　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.
[0039]
　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.
[0040]
　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.
[0041]
　Next, the relationship between the correction amount (left correction amount, right correction amount) by the correction switch 53, the planned travel route L2, and the behavior 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, in the state where the automatic steering is started, the actual position (actual position W2) of the tractor 1 (vehicle body 3) and the calculated vehicle body position W1 match, and the actual position W2 and the planned travel route When L2 matches, the tractor 1 travels along the planned travel route L2. That is, in the section P1 in which the positioning of the position detection device 40 has no error 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 travels along the planned travel route 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.
[0042]
　Here, in the vicinity of the position P20, although the actual position W2 does not deviate from the planned traveling route L2, due to various influences, an error occurs in the positioning of the position detecting device 40, and the position detecting device 40 causes an error. If the detected vehicle body position W1 deviates to the right with respect to the planned traveling route L2 (actual position W2) and the deviation amount W4 is maintained, the tractor 1 shifts to the calculated vehicle body position W1 and the planned traveling route L2. It is determined that a deviation has occurred, and the tractor 1 is steered to the left so as to eliminate the deviation W4 between the calculated vehicle body position W1 and the planned travel route L2. Then, the actual position W2 of the tractor 1 is shifted to the planned travel route L2 by steering to the left. Then, it is assumed that the driver notices that the tractor 1 is displaced from the planned traveling route 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 travel route 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 to the right. The actual position W2 can be matched with the planned travel route L2.
[0043]
　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 match and the actual position W2 and the planned travel route L2 match in the state where the automatic steering is started, Similarly, the tractor 1 travels along the planned travel route L2. That is, as in FIG. 5A, in the section P2 where the positioning of the position detection device 40 has no error, the tractor 1 travels along the planned travel route L2. Further, as in FIG. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 have the same value.
[0044]
　Here, at the position P22, due to various influences, an error occurs in the positioning of the position detection device 40, the vehicle body position W1 detected by the position detection 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 route L2. Then, it is assumed that the driver notices that the tractor 1 is displaced from the planned traveling route 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 in the position P23 of FIG. 5B, when the actual position W2 of the tractor 1 is separated from the planned travel route L2 to the right 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 travel route L2.

　Next, the setting switch 51, the correction switch 53, and the screen changeover switch 54 will be described.
[0045]
　As shown in FIG. 18, the outer periphery of the steering shaft 31 is covered with a steering post 180. The outer periphery of the steering post 180 is covered with a cover 177. The cover 177 is provided in front of the driver's seat 10. The cover 177 includes a panel cover 178 and a column cover 179.
　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.
[0046]
　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.
[0047]
　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.
[0048]
　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.
[0049]
　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.
[0050]
　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.
[0051]
　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.
[0052]
　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.
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.
[0053]
　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 control device 60A determines the vehicle body position based on either the number of operations of the correction switch 53 or the operation amount (displacement amount) of the correction switch 53. 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.
[0054]
　The first controller 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 controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned traveling line L2 based on the control signal output from the first control device 60A.
[0055]
　As shown in FIG. 17, when the deviation between the vehicle body position and the planned travel line L2 is less than the threshold value, the second control device 60B maintains the rotation angle of the rotation shaft of the steering motor 38. When the 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 with respect to the planned traveling line L2, the second control device 60B controls the steering direction of the tractor 1 to the right. The rotation shaft of the steering motor 38 is rotated so as to be oriented. 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 of 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. In the embodiment described above, 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) are changed. When the azimuth (vehicle body direction) F1 of (travel 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 second control device 60B determines that the angle θ is zero (vehicle body azimuth direction). The steering angle may be set so that F1 coincides with the azimuth of the planned traveling line L2. In addition, the second control device 60B sets the final steering angle in the automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (azimuth deviation θ). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example, and the setting is not limited.
[0056]
　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.
The
　display device 45 can be used to set the traveling of the vehicle body 3.
[0057]
　Hereinafter, details of the display device 45 will be described.
　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, as the operation information, 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.
[0058]
　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.
[0059]
　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.

　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.
[0060]
　The display device 45, that is, the driving screen M1 has a driving display unit 61 that displays driving 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 portion 63 is a portion for displaying the number of revolutions of the prime mover in stages. For example, the level display section 63 includes a scale section 65 and an index section 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. ..
[0061]
　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.
[0062]
　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.
[0063]
　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.
[0064]
　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.
[0065]
　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.

　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 thus the description thereof is omitted.
[0066]
　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.
[0067]
　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.
[0068]
　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 thus whether or not the traveling reference line L1 is set on the driving screen M2. Can be confirmed.

　Now, in order to perform automatic steering after setting the traveling 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 travel planned 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.
[0069]
　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.
[0070]
　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.
[0071]
　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.
[0072]
　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.
[0073]
　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).
[0074]
　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.
[0075]
　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.
[0076]
　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.
[0077]
　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 unit 68 rotates the grip portion 68A and the connecting portion 68B to the left around the center of the grip portion 68. 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.
[0078]
　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.
[0079]
　The first condition display unit 101 displays, as a condition for automatic steering, that the traveling direction of the tractor 1 (vehicle body 3) is parallel to the reference traveling line L1, for example, "please make parallel to the reference line". The second condition display unit 102 displays, as a condition for automatic steering, that the tractor 1 (vehicle body 3) should be moved straight for a predetermined distance, for example, "go straight for 3 m." In the guidance screen M3, among the plurality of condition display units, the condition display unit (condition satisfaction display unit) where the traveling condition is satisfied is changed from the condition display unit (condition not satisfied display unit) where the traveling condition is not satisfied to change the display form. To do. For example, as shown in FIG. 16B, in automatic steering, when the traveling direction of the tractor 1 (vehicle body 3) is parallel to the reference traveling line L1 and the straight traveling distance is less than a predetermined distance, the first condition display unit is displayed. The color of 101 is colored with a low saturation (for example, white, gray, etc.), and the color of the second condition display unit 102 is colored with a high saturation. Specifically, the display device 45 sets the saturation of the character on the condition satisfied display unit to be lower than the saturation of the character on the condition not satisfied display unit. This allows the driver to easily understand the items that satisfy the traveling condition and the items that do not satisfy the traveling condition.
[0080]
　As described above, since the guidance screen M3 displays the command (content) for adjusting the traveling condition of the tractor 1 (vehicle body 3), the driver can see the command displayed on the guidance screen M3. The tractor 1 (vehicle body 3) can be brought into a state where traveling conditions are adjusted while steering and traveling. Since the guidance information is displayed on the guidance screen M3, when it is necessary to travel the tractor 1 in order to adjust the traveling conditions, the tractor 1 is traveled while the tractor 1 is traveled while watching the driving information of the tractor 1. The condition can be met. Further, since both the steering wheel display section 68 and the driving display section 61 are displayed on the guidance screen M3, for example, the tractor 1 is allowed to travel while grasping both driving information and the steering direction of the steering wheel 30. You can
[0081]
　As shown in FIG. 8, when the traveling direction of the tractor 1 (vehicle body 3) becomes substantially parallel to the travel reference line L1 and the automatic steering conditions are satisfied, the display device 45 displays a screen displayed on the variable display section 46B. The guidance screen M3 is returned to the operation screen M2. Here, when the driver operates the steering changeover switch 52 to start the automatic steering, the automatic steering can be performed while displaying the driving information on the driving screen M2 as shown in FIG. 10A. When the correction switch 53 is operated under the condition that the automatic steering is performed, the display device 45 displays the correction amount of the vehicle body position on the operation screen M2. As shown in FIGS. 10B and 10C, the operation display section 61 in the operation screen M2 includes a correction display section 71. The correction display part 71 is a part that displays the correction amount of the vehicle body position as the driving information. That is, the display device 45 displays the correction display unit 71 when the setting mode is valid.
[0082]
　As shown in FIGS. 10B and 10C, the number shown in the correction display section 71 indicates the number of times the correction switch 53 is operated, and the correction display section 71 displays the number of operations as a correction amount. As described above, since the correction amount corresponds to the number of operations, the driver can grasp the correction amount stepwise by looking at the number of operations.
　Specifically, the correction display unit 71 includes a first correction display unit 72 and a second correction display unit 73. The first correction display portion 72 is a portion that displays the correction amount (left correction amount) of the vehicle body position on one side in the width direction of the vehicle body 3, that is, the left side. The second correction display section 73 is a section for displaying the correction amount (right correction amount) of the vehicle body position on the other side in the width direction of the vehicle body 3, that is, on the right side. When the correction switch 53 is operated, one of the first correction display section 72 and the second correction display section 73 is displayed on the operation screen M2.
[0083]
　As shown in FIG. 10B, the first correction display unit 72 is displayed on the left side of the level display unit 63 when the first correction unit 53A is operated during automatic steering. As shown in FIG. 10C, the second correction display section 73 is displayed on the right side of the level display section 63 when the second correction section 53B is operated during automatic steering. That is, the first correction display unit 72 is displayed on the left side corresponding to the first correction unit 53A, and the second correction display unit 73 is displayed on the right side corresponding to the second correction unit 53B.
[0084]
　The first correction display portion 72 includes an arrow portion 74A and a numerical value portion 75A. The arrow portion 74A indicates the corrected direction, that is, one side (left side) in the width direction of the vehicle body 3. The numerical value portion 75A indicates the number of operations of the first correction portion 53A, and the numerical value is incremented as the number of operations increases. The second correction display portion 73 includes an arrow portion 74B and a numerical value portion 75B. The arrow portion 74B indicates the corrected direction, that is, the other side (right side) in the width direction of the vehicle body 3. The numerical value portion 75B indicates the number of operations of the second correction portion 53B, and the numerical value is incremented as the number of operations increases.
[0085]
　In the above-described embodiment, the correction display unit 71 displays the number of operations as the correction amount to indicate the magnitude of the correction amount stepwise, but instead of this, the correction amount is indicated stepwise. In some cases, as shown in FIG. 11, the lengths of the arrow parts 74A and 74B are changed based on the correction amount of the vehicle body position, or a plurality of levels (index parts) 76 are provided to the arrow parts 74A and 74B. The level 76 may be changed depending on the correction amount. In the indicator portion 76, for example, the display number increases as the number of times the correction switch 53 is operated increases, or the display number increases as the steering amount of the correction switch 53 increases. Further, the correction display unit 71 may display the correction amount itself by a number.
[0086]
　When the display device 45 displays the operation screen M2 of any of FIGS. 10A to 10C, when the steering changeover switch 52 is operated and the automatic steering ends, the automatic steering ends on the operation screen M2. A message to that effect is displayed, and the screen returns to either the operation screen M2 shown in FIG. 9C or the operation screen M1 shown in FIG. 6A.
　As described above, since the correction display unit 71 is displayed on the driving screen M2, the driver looks at the correction display unit 71 during automatic steering to perform the correction amount by the correction switch 53 and the correction amount in either direction. You can easily grasp what is happening.
In the
　above-described embodiment, when the setting switch 51 is turned from ON to OFF while the operation screen M1 is displayed on the display device 45, the vehicle body 3 travels via the operation screen M2. Although the guidance screen M3 for displaying a command regarding the operation screen is displayed, when the screen changeover switch 54 is operated from the state where the operation screen M1 is displayed or when the screen changeover switch 54 is operated from the state where the operation screen M2 is displayed, It is possible to display the guidance screen M4 as shown in FIGS. 12A to 12C. The guidance screen M4 is a screen for making settings relating to travel, and is a screen for displaying commands (contents) for setting the travel reference line L1 and adjusting travel conditions of the vehicle body 3, for example. In other words, the guidance screen M4 is a screen on which navigation for adjusting traveling conditions can be displayed.
[0087]
　As shown in FIGS. 12A to 12C, the guidance screen M4 includes a message display unit 77, a driving display unit 61, and a steering wheel display unit 68. That is, also 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).
　The message display unit 77 is a part for displaying various commands in characters, and when the setting mode is set to invalid as shown in FIG. 12A, the message display unit 77 indicates that the setting switch 51 is turned ON. Is displayed, for example, "Please switch to GS mode" is displayed. As shown in FIG. 12B, when the setting mode is set to be valid, the message display unit 77 displays a message indicating that the starting point P10 of the travel reference line L1 is set, for example, “please register the starting point”. .. Further, as shown in FIG. 12C, the message display unit 77 displays a message indicating that the starting point P11 of the travel reference line L1 is set, for example, “please register the ending point”.
[0088]
　Similarly to the driving screens M1 and M2, the driving display unit 61 on the guidance screen M4 is a portion for displaying driving information, and at least a part of the driving information shown on the driving screens M1 and M2 is displayed. In the guidance screen M4, the operation display section 61 is displayed in the part (range) MA2 where the description is changed. In this embodiment, the operation display unit 61 on the guidance screen M4 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 M4 may also include the rotation display unit 62 shown in the operation screens M1 and M2. Alternatively, the operation display unit 61 in the guidance screen M4 may also include both the number display unit 64 and the rotation display unit 62 shown in the operation screens M1 and M2.
[0089]
　The handle display portion 68 on the guidance screen M4 also has a grip portion 68A and a connecting portion 68B. Further, the steering wheel display section 68 on the guidance screen M4 shows a switching display section 78 in which the steering changeover switch 52 is shown in a figure. As shown in FIG. 12B, the switching display portion 78 shows the operation position when setting the starting point P10 of the travel reference line L1, and the tip end portion of the switching display portion 78 is below the grip portion 68A rather than the neutral position. Located on the side. As shown in FIG. 12C, the switching display unit 78 shows the operation position when setting the end point P11 of the travel reference line L1, and the tip end of the switching display unit 78 is above the grip portion 68A from the neutral position. Is located in. Further, in the guidance screen M4, when setting the start point P10 and the end point P11 of the traveling reference line L1, the operation direction of the steering changeover switch 52 is indicated by an arrow portion 79 corresponding to the changeover display portion 78. Further, on the guidance screen M4, a second icon portion 66B indicating the starting point P10 of the traveling reference line L1 and an end point P11 of the traveling reference line L1 are provided at a position different from the icon display portion 67, that is, at the center portion in the width direction. The third icon portion 66C shown is displayed.
[0090]
　When the screen changeover switch 54 is operated and the position detection device 40 needs to be warmed up, the display device 45 displays a warm-up screen indicating the warm-up as shown in FIG. When the warm-up is completed, the display device 45 switches to the guidance screen M4 shown in FIG. 12A.
　As described above, on the guidance screen M4, the travel reference line L1 can be set with explanation. That is, although the travel reference line L1 can be set also on the driving screen M2, the display device 45 displays the guidance screen M4 separately from the driving screen M4, so that the driver does not know the automatic steering setting. Even if the guidance screen M4 is set, the travel reference line L1 can be set.
[0091]
　When the driving reference line L1 or the like is set by a command relating to traveling on the guidance screen M4 and then the operating screens M1 and M2 are switched by an operation such as screen switching, the operating screens M1 and M2 include the traveling reference line L1. The setting of the start point P10 and the setting of the end point P11 are displayed by the second icon portion 66B and the third icon portion 66C.
　Further, as shown in FIGS. 12A to 12C, in the guidance screen M4, when the conditions for automatic steering are not satisfied after the setting of the traveling reference line L1, the display device 45 displays as shown in FIGS. 9A to 9D. , The screen displayed on the variable display section 46B is switched from the guidance screen M4 to the guidance screen M3. Further, the display device 45 switches the screen displayed on the variable display section 46B from the guidance screen M4 to the guidance screen M3, and then, if the conditions for automatic steering are satisfied, as shown in FIG. 14A, the guidance screen M4 is displayed again. Is displayed.
[0092]
　As shown in FIG. 14A, when the traveling reference line L1 is set and the conditions for automatic steering are satisfied, the guidance screen M4 displays the fourth icon portion 66D in addition to the second icon portion 66B and the third icon portion 66C. To be done. Further, in a situation where the automatic steering is not started, the message display portion 77 of the guidance screen M4 indicates that the automatic steering by the steering changeover switch 52 can be started, for example, "Please turn on the GS function." Is displayed. Further, in a situation where the automatic steering is not started, the arrow portion 83 is displayed on the guidance screen M4. The arrow portion 83 is located in the vicinity of the steering wheel display portion 68 and the switching display portion 78 and indicates the operation direction of the steering changeover switch 52 for instructing the start of automatic steering. As shown in FIG. 14A, when the automatic steering condition is satisfied and the automatic steering is not started, the message display portion 77 and the arrow portion 83 shown on the guidance screen M4 indicate that the automatic steering operation by the steering changeover switch 52 is performed. The instruction display unit indicates that the start is possible. The display method of the message display unit 77 and the arrow unit 83 is not limited to the above-described embodiment. Further, although both the message display section 77 and the arrow section 83 are shown as the instruction display section, the instruction display section may be either the message display section 77 or the arrow section 83.
[0093]
　When the driver operates the steering changeover switch 52 to start automatic steering, the display state of the guidance screen M4 changes to the state shown in FIGS. 14B and 14C. As shown in FIGS. 14B and 14C, the driving display section 61 and the steering wheel display section 68 are displayed on the guidance screen M4 even after the automatic steering is started.
　As shown in FIGS. 14B and 14C, after starting the automatic steering, a message display section 82 is displayed on the guidance screen M4 in addition to the message display section 77. The message display unit 82 displays a message indicating that the automatic steering is stopped (finished) by operating the steering changeover switch 52, for example, "stop function by lever operation". After the start of automatic steering, an arrow 81 is displayed on the guidance screen M4. An arrow portion 81 is located in the vicinity of the steering wheel display portion 68 and the switching display portion 78 and indicates the operation direction of the steering changeover switch 52 for instructing the end of automatic steering.
[0094]
　Further, when the correction switch 53 is operated under the condition that the automatic steering is performed, the display device 45 displays the correction amount of the vehicle body position, that is, the correction display portion 71 on the guidance screen M4. The correction display unit 71 displayed on the guidance screen M4 is the same as the correction display unit 71 displayed on the operation screen M2, and displays the number of operations as a correction amount. The correction display unit 71 displayed on the guidance screen M4 also includes a first correction display unit 72 and a second correction display unit 73. As shown in FIG. 14B, the first correction display unit 72 of the guidance screen M4 is displayed on the left side of the message display unit 82 when the first correction unit 53A is operated during automatic steering. As shown in FIG. 14C, the second correction display section 73 is displayed on the right side of the message display section 82 when the second correction section 53B is operated during automatic steering. Although the first correction display section 72 of the guidance screen M4 includes an arrow section 74A and a numerical value section 75A, the second correction display section 73 of the guidance screen M4 includes an arrow section 74B and a numerical value section 75B. Since the operation screen is the same as the operation screen M2, the description is omitted.
[0095]
　When the display device 45 displays the guidance screen M4 of either FIG. 14B or FIG. 14C, when the steering changeover switch 52 is operated and the automatic steering ends, the automatic steering ends on the guidance screen M4. A message to that effect is displayed, and the screen returns to either the guidance screen M4 shown in FIG. 14A or the operation screen M1 shown in FIG. 6A.
　Now, as described above, the display device 45 can display the conditions for maintaining the traveling such as the automatic steering after the traveling conditions such as the automatic steering have been established. Specifically, the display device 45 displays the guidance screen M4 for maintaining the automatic steering during the automatic steering. 14B and 14C, when the vehicle speed of the tractor 1 (vehicle body 3) becomes equal to or higher than a predetermined speed in the situation where the automatic steering is performed while displaying the guidance screen M4 shown in FIGS. 14B and 14C, The guidance screen M4 switches to the guidance screen M4 in FIG. 15A. The message display unit 77 of the guidance screen M4 of FIG. 15A displays the state of the tractor 1 during automatic steering, that is, the fact that the vehicle speed is excessive. Further, the message display portion 82 of the guidance screen M4 displays, as a condition for maintaining the automatic steering, a message indicating that the vehicle speed is to be reduced, "speed is over. Please slow down". The operation display section 61 of the guidance screen M4 includes a vehicle speed display section 90. The vehicle speed display unit 90 displays the current vehicle speed, that is, the vehicle speed during automatic steering as a number. When the driver operates the accelerator or the like to reduce the vehicle speed of the tractor 1 (vehicle body 3) to the vehicle speed determined by the automatic steering or less, the guidance screen M4 is switched to the guidance screen M4 shown in FIGS. 14B and 14C again. ..
[0096]
　Further, when the vehicle speed of the tractor 1 (vehicle body 3) becomes zero in a situation where automatic steering is performed while displaying the guidance screen M4 shown in FIGS. 14B and 14C, the guidance screen M4 shown in FIGS. 14B and 14C. Switches to the guidance screen M4 in FIG. 15B. The message display unit 77 of the guidance screen M4 of FIG. 15B displays the state of the tractor 1 during automatic steering, that is, the fact that the vehicle speed is zero. Further, the message display portion 82 of the guidance screen M4 displays, as a condition for maintaining the automatic steering, a message indicating that the vehicle speed is higher than zero, "the vehicle is stopped. Please recover the speed". When the driver operates the accelerator or the like to increase the vehicle speed of the tractor 1 (vehicle body 3) above zero, the guidance screen M4 is switched to the guidance screen M4 shown in FIGS. 14B and 14C again.
[0097]
　In the above-described embodiment, while the guidance screen M4 displayed after the start of the automatic steering is being displayed, FIGS. 15A and 15B are shown as screens showing the conditions for maintaining the automatic steering. When performing automatic steering while displaying the screen M2, when the vehicle speed becomes equal to or higher than a predetermined speed or when the vehicle speed becomes zero, a screen displayed on the variable display unit 46B is displayed from the operation screen M2. You may switch to the guidance screen M4 of 15A or the guidance screen M4 of FIG. 15B. After the screen displayed on the variable display section 46B is switched to the guidance screen M4 of FIG. 15A and the guidance screen M4 of FIG. 15B, when the condition for maintaining the automatic steering is satisfied, the guidance screen M4 is switched to the driving screen M2.
[0098]
　The work vehicle 1 is provided with a vehicle body 3 capable of traveling, a steering handle 30 for steering the vehicle body 3 by a rotation operation, and a position detection provided on the vehicle body 3 for detecting the position of the vehicle body 3 based on a signal from a positioning satellite. The device 40, the correction switch 53 for instructing the correction of the position of the vehicle body 3 detected by the position detection device 40, the corrected vehicle body position which is the position of the vehicle body 3 corrected by the operation of the correction switch 53, and the planned travel line L2. And an automatic steering mechanism 37 for automatically steering the vehicle body 3 based on the above. According to this, when the position of the vehicle body 3 (calculated vehicle body position W1) detected by the position detecting device 40 due to various influences deviates from the actual position W2 of the work vehicle 1 (vehicle body 3) such as the actual tractor 1. Even if there is, by correcting the position of the vehicle body 3 (vehicle body position) by the correction switch 53 after the start of automatic steering, it is possible to drive the vehicle body 3 along the planned traveling line L2. That is, since the calculation vehicle body position W1 can be corrected by the correction switch 53, the influence of the detection accuracy of the position detection device 40 can be reduced.
[0099]
　The correction switch 53 commands a first correction unit 53A for instructing correction of the position of the vehicle body 3 on one side in the width direction of the vehicle body 3 and a second correction unit 53 for instructing correction of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. The correction unit 53 is included. According to this, even when the calculated vehicle body position W1 deviates to one side or the other side, the calculated vehicle body position W1 can be easily adjusted in the direction of deviation by the first correction unit 53A and the second correction unit 53B. Can be corrected.
[0100]
　A correction switch 53 is connected and a control device 60 for controlling the automatic steering mechanism 37 is provided. The control device 60 sets a correction amount for the position of the vehicle body 3 based on the number of times the correction switch 53 is operated. According to this, the driver can change the correction amount only by increasing or decreasing the number of times the correction switch 53 is operated.
　The control device 60 sets the correction amount of the position of the vehicle body 3 based on the operation amount of the correction switch 53. According to this, the driver can change the correction amount only by adjusting the operation amount of the correction switch 53.
[0101]
　The work vehicle 1 includes a steering changeover switch 52 that switches between automatic steering and manual steering. According to this, the switching between the automatic steering in which the vehicle body 3 travels along the planned travel line L2 and the manual steering in which the driver travels the vehicle body 3 using the steering wheel 30 can be easily performed.
　Further, the work vehicle 1 includes a steering wheel 30, a vehicle body 3 that can travel by either manual steering by the steering wheel 30, or automatic steering of the steering wheel 30 based on a planned travel line, and at least before starting the automatic steering. It has a setting switch 51 for switching the setting mode for performing setting to valid or invalid, and a driving display section 61 for displaying driving information when the vehicle body 3 is running, and the driving display section when the setting mode is switched to valid. And a display device 45 for changing the display state of 61 to a display state different from the invalid setting mode. According to this, in the vehicle body 3 in which the manual steering and the automatic steering can be performed, the driver can easily perform the setting before the automatic steering only by looking at the driving display portion 61. Whether or not it can be easily grasped.
[0102]
　The work vehicle 1 includes the prime mover 4, the operation display unit 61 includes a rotation display unit 62 that displays the rotation speed of the prime mover as driving information, and the display device 45 sets the color of the rotation display unit 62 in the setting mode. Change the mode to a different color than disabled. According to this, it is possible to indicate whether the setting mode is valid or invalid depending on the color difference in the rotation speed of the prime mover that the driver particularly pays attention to when driving. In other words, the driver can be promptly aware that the setting mode is effective.
[0103]
　The rotation display unit 62 includes a level display unit 63 that displays the rotation speed of the prime mover stepwise, and a number display unit 64 that displays the rotation speed of the prime mover by numbers. According to this, the driver can easily understand whether the setting mode is valid or invalid, at least at the time of looking at either the level display portion 63 or the rotation speed of the prime mover.
　The work vehicle 1 is provided on the vehicle body 3 and detects a position of the vehicle body 3 based on a signal from a positioning satellite, and a correction switch 53 for correcting the position of the vehicle body 3 detected by the position detection device 40. The driving display unit 61 includes a correction display unit 71 that displays the correction amount of the position of the vehicle body 3 by the correction switch 53 as the driving information, and the display device 45 displays the correction display unit 71 in the setting mode. .. According to this, the driver can simultaneously grasp the driving information displayed on the driving display unit 61 and the correction amount displayed on the correction display unit 71, and can easily grasp the situation of automatic steering.
[0104]
　The correction display unit 71 displays the number of operations of the correction switch 53 as the correction amount. According to this, the driver can easily understand how much the calculated vehicle body position W1 has been corrected, simply by looking at the number of times the correction switch 53 is displayed on the correction display unit 71. The correction display unit 71 displays the amount of correction in stages. According to this, the driver can easily grasp how much the calculated vehicle body position W1 has been corrected, simply by looking at the level of the correction amount displayed on the correction display unit 71.
[0105]
　The correction display unit 71 displays the correction amount of the position of the vehicle body 3 on one side in the width direction of the vehicle body 3 and the correction amount of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. The second correction display unit 73 for displaying is included. According to this, the driver only looks at either the first correction display section 72 or the second correction display section 73, and what is the calculated correction amount W1 for one side or the other side in the width direction of the vehicle body 3. You can easily grasp what.
[0106]
　The work vehicle 1 includes a display device 45. The display device 45 includes a steering wheel display unit 68 showing the steering wheel 30, and a driving display unit 61 for displaying driving information when the vehicle body 3 is running. The display unit 68 and the operation display unit 61 are displayed on the same screen. According to this, since the steering wheel display section 68 and the driving display section 61 are displayed on the same screen, when performing either automatic steering or manual steering, the state regarding the steering wheel 30 and the driving information are grasped at the same time. can do. That is, the driver can easily grasp the steering of the steering wheel. For example, by looking at the driving display portion and the steering wheel display portion that are displayed on the same screen, the driver can determine whether the driving information at the time of traveling and the steering of the steering wheel are steered during either manual steering or automatic steering. You can control while grasping both.
[0107]
　The steering wheel display section 68 and the driving display section 61 are displayed on a guidance screen for instructing to change the orientation of the vehicle body 3 at least before the start of automatic steering. According to this, when it is necessary to change the direction of the vehicle body 3 before the start of the automatic steering, the driver can steer the steering wheel 30 while looking at the steering wheel display portion 68, and at the time of steering the steering wheel 30. The driving information can be determined from the driving display unit 61.
[0108]
　The display device 45 has a steering instruction section 69 which is displayed on the same screen and indicates the steering direction of the vehicle body 3. According to this, the driver can simultaneously view the steering wheel display unit 68 and the steering display unit 69 on the same screen, the steering wheel 30 needs to be steered from the steering wheel display unit 68, the steering direction of the steering wheel 30. It is possible to easily understand which direction is.
[0109]
　The display device 45 has a message display unit 70 that displays a message explaining the steering of the vehicle body 3 on the same screen. According to this, the driver can simultaneously view the steering wheel display unit 68 and the message display unit 70 on the same screen, and it is necessary to steer the steering wheel 30 from the steering wheel display unit 68. You can easily understand about.
[0110]
　The steering direction of the steering wheel display unit 68 is changed according to the instruction of the steering direction. According to this, the driver can grasp the steering direction of the steering wheel 30 only by looking at the steering wheel display section 68.
　The work vehicle 1 includes at least a setting switch 51 that switches to a setting mode in which setting is performed before the start of automatic steering. In the setting mode, the steering wheel display unit 68 and the driving display unit 61 are displayed on the same screen. According to this, the setting before the start of the automatic steering can be easily performed while observing the steering wheel display section 68 and the operation display section 61.
[0111]
　The display device 45 includes a steering changeover switch 52 that switches the start or end of automatic steering in the setting mode, and the display device 45 has an instruction display unit indicating that automatic steering can be started by the steering changeover switch 52. ing. According to this, in the case where the driver can know whether or not the automatic steering can be performed and also can perform the automatic steering only by looking at the instruction display unit displayed on the display device 45. In addition, the start of automatic steering can be easily switched by the steering changeover switch 52.
[0112]
　The work vehicle 1 includes a vehicle body 3 that can travel, a steering wheel 30 that steers the vehicle body 3, a driving screen that displays driving information when the vehicle body 3 travels, and a guidance screen that displays a command regarding traveling of the vehicle body 3. And a display device 45 capable of displaying. The display device 45 displays at least a part of the driving information displayed on the driving screen on the guidance screen. According to this, when the driver sets the traveling of the vehicle body 3 while looking at the guidance screen, the driving information is displayed on the guidance screen, so that the traveling-related setting can be easily performed. In other words, the driver can easily drive while looking at the guidance screen.
[0113]
　The work vehicle 1 includes the prime mover 4, and the display device 45 displays the rotation speed of the prime mover on the guidance screen as driving information. According to this, since the rotation speed of the prime mover which is important in the operation of the work vehicle 1 is displayed on the guidance screen, the driver can drive the work vehicle 1 while watching the rotation speed of the prime mover on the guidance screen. ..
　The work vehicle 1 includes a driver seat 10, and the display device 45 is provided in front of the driver seat 10 and at a position corresponding to the steering wheel 30. According to this, the driver can see the guidance screen displayed on the display device 45 while sitting in the normal driver's seat 10 and driving, and can drive while grasping the information on the guidance screen. ..
[0114]
　The display device 45 displays, on the guidance screen, message display units 70 and 77 that indicate commands (contents) in characters and a driving display unit 61 that indicates driving information. According to this, it is possible to perform the operation corresponding to the message display units 70 and 77 while observing both the information of the message display units 70 and 77 and the operation information displayed on the operation display unit 61.
　The work vehicle 1 includes a vehicle body 3 that can travel, a steering wheel 30 that steers the vehicle body 3, and a display device 45 that can display at least a guidance screen that displays a command for adjusting the traveling conditions of the vehicle body 3. .. According to this, when it is necessary to adjust the traveling conditions in the work vehicle 1 to perform traveling, the driver can easily adjust the traveling conditions simply by looking at the guidance screen.
[0115]
　The display device 45 displays the guidance screen before the start of the automatic steering and also displays the steering instruction section 69 indicating the steering direction of the vehicle body 3 corresponding to the traveling condition on the guidance screen. According to this, when it is necessary to adjust the traveling condition before the start of the automatic steering, the driver can perform steering to adjust the traveling condition of the automatic steering simply by looking at the steering instruction section 69 displayed on the guidance screen. It can be carried out.
[0116]
　The display device 45 displays the guidance screen before the start of the automatic steering, and also displays the steering wheel display unit 68 showing the steering handle 30 facing the steering direction of the vehicle body 3 corresponding to the traveling condition on the guidance screen. According to this, when it is necessary to adjust the traveling condition before the start of the automatic steering, the driver only needs to look at the steering wheel display portion 68 of the guidance screen to set the steering wheel in the steering direction indicated by the steering wheel display portion 68. It can be easily grasped that the traveling condition of the automatic steering can be adjusted by steering the steering wheel 30, and the traveling condition of the automatic steering can be easily adjusted.
[0117]
　The work vehicle 1 includes a steering changeover switch 52 for switching between manual steering and automatic steering, and the display device 45 displays a command for switching the steering changeover switch 52 to automatic steering on the guidance screen when traveling conditions are satisfied during traveling. .. According to this, the driver can easily understand that the automatic steering can be performed when the command for switching the steering changeover switch 52 to the automatic steering is displayed.
[0118]
　When the traveling is started after the traveling conditions of the vehicle body 3 are adjusted, the display device 45 displays the condition for maintaining the traveling. According to this, even after the traveling of the vehicle body 3, the conditions for maintaining the traveling can be adjusted.
　The display device 45 displays the condition for maintaining the automatic steering as the condition for maintaining the traveling after the start of the automatic steering. According to this, even after the automatic steering of the vehicle body 3 is started, the conditions for maintaining the automatic steering can be adjusted.
[0119]
　The display device 45 displays the driving information of the vehicle body 3 on the guidance screen during automatic steering. According to this, it is possible to grasp the driving situation during automatic steering on the guidance screen.
　The work vehicle 1 is provided on the vehicle body 3 and a position detection device 40 that detects the position of the vehicle body 3 based on a signal from a positioning satellite, and a correction commanding a correction of the position of the vehicle body 3 detected by the position detection device 40. The display device 45 includes a switch 53, a corrected vehicle body position that is the position of the vehicle body 3 corrected by operating the correction switch 53, and an automatic steering mechanism 37 that automatically steers the vehicle body 3 based on the planned travel line L1. The amount of correction of the position of the vehicle body 3 by the correction switch 53 is displayed on the guidance screen. According to this, it is possible to perform automatic steering while displaying the guidance screen.
In the
　above-described embodiment, the calculated vehicle body position is corrected when the vehicle body 3 is automatically steered based on the corrected vehicle body position detected by the position detection device 40 and the planned travel line. The steering of the vehicle body 3 can be changed by the correction switch 53. That is, the correction switch 53 functions as a steering switch that steers the vehicle body 3 separately from the steering handle 30. That is, the work vehicle 1 includes a steering switch. In the description of the steering switch, the correction switch 53 in the above-described embodiment may be read as the steering switch 53, and the description of the steering switch is omitted. It suffices to read the first correction unit 53A as the first steering unit and the second correction unit 53B as the second steering unit, and the description of the first steering unit and the second steering unit is omitted.
[0120]
　That is, the work vehicle 1 includes a vehicle body 3 that can travel, a steering handle 30 that steers the vehicle body 3 by rotating, and a steering switch that steers the vehicle body 3 separately from the steering handle 30. .. Therefore, the driver can steer the work vehicle 1 only by operating the steering switch without operating the steering wheel 30.
　The steering switch is a switch that steers the vehicle body 3 by pressing or sliding. According to this, the driver can easily steer the vehicle body 3 by performing either an operation of pressing the steering switch or an operation of sliding.
[0121]
　The steering switch is provided around the steering handle 30. According to this, the driver can quickly change from the operation of the steering wheel 30 to the steering by the steering switch. In other words, the driver can travel the work vehicle 1 while easily using both steering by the steering wheel 30 and steering by the steering switch. The work vehicle 1 includes a steering shaft 31 that rotatably supports the steering handle 30, and the steering switch is provided around the steering handle 30. According to this, the driver can quickly change from operating the steering wheel 30 to steering with the steering switch.
[0122]
　The steering switch includes a first steering section that steers the vehicle body 3 to one side and a second steering section that steers the vehicle body 3 to the other side. Therefore, the driver can steer the vehicle body 3 to one side by operating the first steering portion by pressing or sliding, and can operate the second steering portion by pressing or sliding. The vehicle body 3 can be steered to the other by.
　The work vehicle 1 is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on a signal from a positioning satellite, and the vehicle body 3 based on the position of the vehicle body 3 detected by the position detecting device 40. An automatic steering mechanism 37 for automatically steering, and the steering switch commands the correction of the position of the vehicle body 3 detected by the position detection device 40 when a pressing or sliding operation is performed, and the automatic steering mechanism The vehicle body 3 is automatically steered based on a corrected vehicle body position, which is a position of the vehicle body 3 corrected by pressing a steering switch or operating a slide, and a planned travel line. According to this, when the automatic steering is being performed by the automatic steering mechanism, the steering direction at the time of automatic steering can be easily changed by steering the steering switch.
[0123]
　FIG. 19 is a diagram showing a control block diagram in a modified example of the work vehicle including the steering switch. The description of the same configuration as that of the above-described embodiment in FIG. 19 will not be repeated.
　The tractor 1 includes a steering switch 153. The steering switch 153 is composed of a push switch that can be pressed or a slide switch that can slide. Hereinafter, the case where the steering switch 153 is each of a push switch and a slide switch will be described.
[0124]
　When the steering switch 153 is a push switch, the steering amount is set based on the number of times the push switch is operated. The steering amount is determined by the steering amount=the number of operations×the amount of steering per one operation. When the steering switch 153 is a slide switch, the steering amount is set based on the operation amount (displacement amount) of the slide switch. For example, the steering amount is determined by the steering amount=the displacement amount from the predetermined position. In addition, the method of increasing the steering amount and the rate of increase are not limited to the above-described numerical values.
[0125]
　The steering switch 153 has a first steering portion 153A and a second steering portion 153B. The first steering portion 153A is a portion that sets steering on one side in the width direction of the vehicle body 3, that is, on the left side. The second steering portion 153B is a portion that sets the steering on the other side in the width direction of the vehicle body 3, that is, on the right side.
　When the steering switch 153 is a push switch, the first steering unit 153A and the second steering unit 153B are ON or OFF switches that automatically return each time an operation is performed. The switch forming the first steering unit 153A and the switch forming the second steering unit 153B are integrated. The switch forming the first steering unit 153A and the switch forming the second steering unit 153B may be arranged separately from each other. Every time the first steering portion 153A is pressed, the steering amount (left steering amount) corresponding to the left side of the vehicle body 3 increases. Further, every time the second steering portion 153B is pressed, the steering amount (right steering amount) corresponding to the right side of the vehicle body 3 increases.
[0126]
　When the steering switch 153 is a slide switch, the first steering portion 153A and the second steering portion 153B include a knob portion that moves left or right along the longitudinal direction of the long hole. When the steering switch 153 is a slide switch, the first steering portion 153A and the second steering portion 153B are arranged apart from each other in the width direction. When the knob portion is gradually displaced to the left from the predetermined reference position, the left steering amount increases according to the displacement amount. Further, when the knob portion is gradually displaced rightward from the predetermined reference position, the right steering amount increases in accordance with the displacement amount. In the case of a slide switch, the first steering portion 153A and the second steering portion 153B are integrally formed, the reference position of the knob portion is set to the central portion, and the left steering wheel is moved when the reference position is moved to the left. The amount may be set, and the right steering amount may be set when the knob is moved from the intermediate position to the right.
[0127]
　The tractor 1 is a mechanism in which the steering mechanism 137 rotates (turns) the steering shaft 31 based on the steering of the steering switch 153. The steering mechanism 137 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 and the gear mechanism 39 are the same as those in the above-described embodiment.
　The fourth control device 60D is provided. The fourth control device 60D controls the steering motor 38 based on the operation of the steering switch 153. When the first steering unit 153A is operated, the fourth control device 60D sets the rotation amount (rotation angle) of the steering shaft 31 in accordance with the left steering amount set by the first steering unit 153A. , The rotation shaft of the steering motor 38 is rotated so that the steering direction of the tractor 1 is leftward. When the second steering unit 153B is operated, the fourth control device 60D sets the rotation amount (rotation angle) of the steering shaft 31 in accordance with the right steering amount set by the second steering unit 153B. , The rotation shaft of the steering motor 38 is rotated so that the steering direction of the tractor 1 is rightward. As described above, by operating the steering switch 153, the tractor 1 can be steered to the left or right. In the modification described above, the steering motor 138 is rotated by the steering mechanism 137, but instead of this, the control valve 34 is configured by a control valve with an electromagnetic valve or the like capable of setting the movement amount of the spool, The fourth control device 60D may steer the tractor 1 by controlling the switching position and the opening degree of the control valve 34 according to the left steering amount or the right steering amount.
[0128]
　The embodiments disclosed this time are to be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.
Explanation of symbols
[0129]
　1 Work Vehicle
　3 Vehicle Body
　4 Motor
　30 Steering Handle
　37 Automatic Steering Mechanism
　40 Position Detecting Device
　45 Display
　46 Display
　51 Setting Switch
　53 Correction Switch
　61 Driving Display
　62 Rotation Display
　63 Level Display
　64 Numeric Display
　68 Handle Display
　69 Steering instruction section
　71 Correction display section
　72 First correction display section
　73 Second correction display section
　L2 Planned travel lines
　M3, M4, M5 Guidance screen
The scope of the claims
[Claim 1]
　A steering wheel,
　a vehicle body capable of traveling by any one of manual steering with the steering wheel and automatic steering of the steering wheel based on a planned traveling line,
　and a setting mode for performing at least setting before starting the automatic steering or It has a setting switch for switching to invalid and
　a driving display section for displaying driving information when the vehicle body is traveling, and when the setting mode is switched to valid, the display state of the driving display section is changed to the setting mode.
　A work vehicle including: a display device that changes to a display state different from invalid .
[Claim 2]
　A
　driving
　machine is provided, and the operation display section includes a rotation display section that displays the number of rotations of the prime mover as the operation information, and the display device sets the color of the rotation display section in the setting mode to the setting mode invalid. The work vehicle according to claim 1, wherein the work vehicle is changed to a different color.
[Claim 3]
　The work vehicle according to claim 2, wherein the rotation display unit includes a level display unit that displays the rotation speed of the prime mover in a stepwise manner and a number display unit that displays the rotation speed of the prime mover by a number.
[Claim 4]
　The 　driving system 　includes a
　position detection device that is provided on the vehicle body and detects the position of the vehicle body based on a signal from a positioning satellite; and a correction switch that corrects the position of the vehicle body detected by the position detection device. The display unit includes a correction display unit that displays a correction amount of the position of the vehicle body by the correction switch as the driving information, and the 　display device displays the correction display unit in the setting mode. Work vehicle according to any one.

[Claim 5]
　The work vehicle according to claim 4, wherein the correction display unit displays the number of times the correction switch is operated as the correction amount.
[Claim 6]
　The work vehicle according to claim 4 or 5, wherein the correction display unit displays the magnitude of the correction amount stepwise.
[Claim 7]
　The correction display unit displays a first correction display unit that displays a correction amount of the position of the vehicle body on one side in the width direction of the vehicle body, and a correction amount of the position of the vehicle body on the other side in the width direction of the vehicle body. The work vehicle according to any one of claims 4 to 6, further comprising a second correction display unit that performs the operation.
[Claim 8]
　A work vehicle
　comprising: a vehicle body capable of traveling , a steering wheel for steering the vehicle body, and
　a display device capable of displaying at least a guidance screen for displaying a command for adjusting traveling conditions of the vehicle body
　.
[Claim 9]
　The vehicle body can travel by either manual steering by the steering handle or automatic steering of the steering handle based on a planned travel line, and the
　display device displays the guidance screen before starting the automatic steering. The work vehicle according to claim 8, further comprising: displaying a steering instruction section indicating a steering direction of the vehicle body corresponding to the traveling condition on the guidance screen.
[Claim 10]
　The vehicle body can travel by either manual steering by the steering handle or automatic steering of the steering handle based on a planned travel line, and the
　display device displays the guidance screen before starting the automatic steering. The work vehicle according to claim 8 or 9, wherein a steering wheel display section showing the steering wheel in the steering direction of the vehicle body corresponding to the traveling condition is displayed on the guidance screen.
[Claim 11]
　A steering changeover switch for switching between the manual steering and the automatic steering is provided, and the
　display device displays a command for switching the steering changeover switch to the automatic steering on the guidance screen when traveling conditions in the traveling are satisfied. The work vehicle according to 9 or 10.
[Claim 12]
　The work vehicle according to any one of claims 9 to 11, wherein the display device displays driving information of the vehicle body on the guidance screen during the automatic steering.
[Claim 13]
　13. The work vehicle according to claim 8, wherein the display device displays a condition for maintaining the traveling when the traveling is started after the traveling condition of the vehicle body is adjusted.
[Claim 14]
　The work vehicle according to claim 13, wherein the display device displays a condition for maintaining the automatic steering as a condition for maintaining the traveling after the start of the automatic steering.
[Claim 15]
　A position detection device which is provided on the vehicle body and detects the position of the vehicle body based on a signal from a positioning satellite,
　a correction switch which commands the correction of the position of the vehicle body detected by the position detection device, and the
　steering switch and correcting the vehicle position is the position of the vehicle body that is corrected by the operation of an automatic steering mechanism for automatically steering the vehicle based on the driving schedule line
　provided with,
　the display device, the position of the vehicle body by the correction switch 15. The work vehicle according to claim 8, wherein the correction amount is displayed on the guidance screen.