Invention name: 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 work machine of Patent Document 1 is a traveling machine capable of switching between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line set parallel to a reference traveling line, and manual traveling and automatic traveling. It is equipped with a changeover switch that can be switched between running and running. In addition, the agricultural work machine sets the start point of the reference travel line after pressing the right instruction button while traveling along the ridge, and sets the end point of the reference travel line by pressing the left instruction button during travel. That is, the reference traveling line is set before the automatic steering.
Prior art literature
Patent documents
[0003]
Patent Document 1: Japanese Patent Publication "2017-123803"
Outline of the invention
Problems to be solved by the invention
[0004]
　In the agricultural work machine of Patent Document 1, automatic running can be easily performed by switching from manual running to automatic running with a changeover switch. However, in Patent Document 1, even when various work devices are attached to the agricultural work machine, the control of automatic running is the same, and the actual situation is that automatic running cannot be performed corresponding to the work devices. ..
　Therefore, in view of the above problems, an object of the present invention is to provide a work vehicle capable of changing the movement of automatic steering in response to a work device connected to a vehicle body.
Means to solve problems
[0005]
　The technical means of the present invention for solving this technical problem is characterized by the following points.
　The work vehicle includes a steering device that steers the vehicle body, a work device connected to the vehicle body, an automatic steering control unit that automatically steers the steering device based on a deviation between a planned traveling line and the position of the vehicle body. It is provided with a parameter changing unit that changes the control parameters of the automatic steering according to the working device connected to the vehicle body.
[0006]
　The work vehicle includes a display device capable of displaying and inputting the association between the control parameter of the automatic steering and the work device, a storage device for storing the association between the control parameter input to the display device, and the work device. The parameter changing unit changes the control parameter according to the association stored in the storage device.
[0007]
　The work vehicle can receive the first communication device provided in the work device and transmitting the device information of the work device to the vehicle body and the device information provided in the vehicle body and transmitted from the first communication device. The second communication device is provided, and the parameter changing unit changes the control parameter based on the device information received by the second communication device.
　　The work vehicle includes a lifting device having a lift arm for raising and lowering the working device, and the parameter changing unit changes control parameters based on the lifting height of the lift arm.
[0008]
　The parameter changing unit changes the control gain for calculating the steering angle of the steering device at the time of the automatic steering as the control parameter.
　The work vehicle is provided with a steering changeover switch for switching between the start and end of the automatic steering, and the control device is automatically operated by the steering device when the start of the automatic steering is switched by the steering changeover switch. Start steering.
[0009]
　The work vehicle includes a positioning device capable of detecting the position of the vehicle body and a reference line setting switch for setting the position of the vehicle body detected by the positioning device at the start position and the end position of the traveling reference line. The steering control unit sets the planned travel line based on the travel reference line at the start of the automatic steering by the steering changeover switch.
Effect of the invention
[0010]
　According to the present invention, the movement of automatic steering can be changed according to the working device connected to the vehicle body.
A brief description of the drawing
[0011]
FIG. 1 is a diagram showing a tractor configuration and a control block diagram.
FIG. 2 is an explanatory diagram illustrating automatic steering.
FIG. 3A is an explanatory diagram illustrating a correction amount in the 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 a push switch.
FIG. 4B is a diagram showing a first correction unit and a second correction unit in the slide switch.
[Fig. 5A] Shows the state when the calculated vehicle body position shifts to the right while traveling straight during automatic steering.
[Fig. 5B] Shows the state when the calculated vehicle body position shifts to the left while traveling straight during automatic steering.
[Fig. 6] The cover in front of the driver's seat is viewed from the driver's seat side.
FIG. 7 is an explanatory diagram illustrating control in automatic steering.
[Fig. 8] Fig. 8 is a diagram showing an elevating device and the like.
FIG. 9 is a diagram showing an example of a registration screen M40.
FIG. 10 is a diagram showing an example of a selection screen M41.
FIG. 11A is a diagram showing a state in which work is performed on a tractor without correcting parameters (control gain).
FIG. 11B is a diagram showing a state in which a parameter (control gain) is corrected and work is performed on a tractor.
FIG. 12 is a diagram showing a tractor configuration and a control block diagram in a modified example.
[Fig. 13] Fig. 13 is a diagram showing an example of a conversion table.
[Fig. 14] It is an overall view of a tractor.
Mode for carrying out the invention
[0012]
　Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　FIG. 14 is a side view showing one embodiment of the work vehicle 1, and FIG. 14 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 the tractor, and may be an agricultural machine (agricultural vehicle) such as a combine harvester or a transplanter, or a construction machine (construction vehicle) such as a loader work machine.
[0013]
　Hereinafter, the front side (direction of arrow A1 in FIG. 14) of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 is forward, the rear side of the driver (direction of arrow A2 in FIG. 14) is rear, and the left side of the driver. Will be described as the left side, and the driver's right side as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the vehicle body width direction.
　As shown in FIG. 14, 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 a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type.
[0014]
　The prime mover 4 is a diesel engine, an electric motor, or the like, and is composed of a diesel engine in this embodiment. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward. The vehicle body 3 is provided with a driver's seat 10.
　Further, the rear portion of the vehicle body 3 is composed of a three-point link mechanism or the like, and is provided with a connecting portion including an elevating device 8. A working device can be attached to and detached from the connecting portion. By connecting the work device to the connecting portion, the work device can be towed by the vehicle body 3. The working equipment is a tilling device for cultivating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass, a spreading device for spreading grass, and grass. A grass collecting device for collecting grass, a molding device for molding grass, and the like.
[0015]
　As shown in FIG. 1, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission 5b, an auxiliary transmission 5c, a shuttle 5d, a PTO power transmission unit 5e, a front transmission 5f, and the like. It has. The propulsion shaft 5a is rotatably supported by a housing case (transmission case) of the transmission 5, and power from the crankshaft of the prime mover 4 is transmitted to the propulsion shaft 5a. The main transmission 5b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission 5b changes the rotation input from the propulsion shaft 5a and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
[0016]
　Like the main transmission 5b, the auxiliary transmission 5c has a plurality of gears and a shifter for changing the connection of the gears. The auxiliary transmission 5c changes the rotation input from the main transmission 5b and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
　The shuttle unit 5d has a shuttle shaft 12 and a forward / backward switching unit 13. The power output from the auxiliary transmission 5c is transmitted to the shuttle shaft 12 via gears and the like. The forward / backward switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward movement and the reverse movement of the tractor 1 by turning on / off the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports the rear axle 21R to which the rear wheel 7R is attached.
[0017]
　The PTO power transmission unit 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and is in a state where the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14 when the hydraulic clutch is turned on and off. Switch to the state.
[0018]
　The front transmission 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch can transmit the power from the propulsion shaft 5a, for example, the power of the shuttle shaft 12 is transmitted via the gear and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.
[0019]
　The first clutch 17 and the second clutch 18 are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from a 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 oil passage is connected to a second operating valve 26. The second clutch 18 switches between a connected state and a disconnected state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, a two-position switching valve with a solenoid valve, and are switched to a connected state or a disconnected state by exciting or degaussing the solenoid of the solenoid valve.
[0020]
　When the first clutch 17 is in the disengaged state and the second clutch 18 is in the connected state, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18. As a result, the front wheels and the rear wheels are driven by power in four-wheel drive (4WD), and the rotation speeds of the front wheels and the rear wheels are substantially the same (4WD constant velocity state). On the other hand, when the first clutch 17 is in the connected state and the second clutch 18 is in the disconnected state, the four-wheel drive is performed and the rotation speed of the front wheels is faster than the rotation speed of the rear wheels (4WD acceleration state). Further, when the first clutch 17 and the second clutch 18 are in the disengaged state, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, so that the rear wheels are driven by the power, which is a two-wheel drive (2WD).
[0021]
　As shown in FIG. 8, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end portion of the lift arm 8a is swingably supported upward or downward above the rear upper portion of a case (transmission case) accommodating the transmission 5. The lift arm 8a swings (elevates) by being driven by the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to the hydraulic pump via a control valve 29. The control valve 29 is a solenoid valve or the like, and expands and contracts the lift cylinder 8e.
[0022]
　The front end portion of the lower link 8b is swingably supported upward or downward in the lower rear portion of the transmission 5. The front end of the top link 8c is swingably supported above or below the rear of the transmission 5 above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear part of the lower link 8b and the rear part of the top link 8c. When the lift cylinder 8e is driven (expanded / contracted), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a moves up and down via the lift rod 8d. As a result, the working device 2 swings (up and down) upward or downward with the front portion of the lower link 8b as a fulcrum.
[0023]
　The tractor 1 includes a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (for example, latitude, longitude) based on the satellite signal. The positioning device 40 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device having an antenna or the like and receiving a satellite signal transmitted from the positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to a lops provided on the vehicle body 3. The mounting location of the receiving device 41 is not limited to the embodiment.
[0024]
　The inertial measurement unit 42 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The vehicle body 3, for example, provided below the driver's seat 10, can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3 by the inertial measurement unit 42.
　As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 is a device capable of performing manual steering in which the vehicle body 3 is steered by the driver's operation and automatic steering in which the vehicle body 3 is automatically steered without the driver's operation.
[0025]
　The steering device 11 has a steering handle (steering wheel) 30 and a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. Further, the steering device 11 has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is, for example, a three-position switching valve that can be switched by moving 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.
[0026]
　Therefore, when the driver grips the steering handle 30 and operates it in one direction or the other direction, the switching position and opening degree of the control valve 34 are switched according to the rotation direction of the steering handle 30, and the control valve 34 is switched. The steering direction of the front wheel 7F can be changed by expanding and contracting the steering cylinder 35 to the left or right according to the switching position and opening degree of. That is, the vehicle body 3 can change the traveling direction to the left or right by manually steering the steering handle 30.
[0027]
　Next, automatic steering will be described.
　As shown in FIG. 2, when performing automatic steering, first, the traveling reference line L1 is set before performing automatic steering. After setting the travel reference line L1, automatic steering can be performed by setting the travel schedule line L2 parallel to the travel reference line L1. In the automatic steering, the tractor 1 (vehicle body 3) is automatically steered in the traveling direction so that the vehicle body position measured by the positioning device 40 and the planned travel line coincide with L2.
[0028]
　Specifically, the tractor 1 (vehicle body 3) is moved to a predetermined position in the field (S1) before the automatic steering is performed, and the driver operates the steering changeover switch 52 provided on the tractor 1 at the predetermined position. When this is done (S2), the vehicle body position measured by the positioning device 40 is set at the start point P10 of the travel reference line L1 (S3). Further, when the tractor 1 (vehicle body 3) is moved from the starting point P10 of the traveling reference line L1 (S4) and the driver operates the steering changeover switch 52 at a predetermined position (S5), the measurement is performed by the positioning device 40. The vehicle body position is set at the end point P11 of the traveling 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.
[0029]
　After setting the driving reference line L1 (after S6), for example, the tractor 1 (vehicle body 3) is moved to a place different from the place where the driving reference line L1 is set (S7), and the driver operates the steering selector 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 scheduled travel line L2, automatic steering is started, and the traveling direction of the tractor 1 (vehicle body 3) is changed so as to follow the scheduled travel line L2. For example, if the current vehicle body position is on the left side of the scheduled travel line L2, the front wheels 7F are steered to the right, and if the current vehicle body position is on the right side of the scheduled travel line L2, the front wheels 7F Is steered to the left. During automatic steering, the traveling speed (vehicle speed) of the tractor 1 (vehicle body 3) can be changed by the driver manually changing the operation amount of the accelerator members (accelerator pedal, accelerator lever) provided on the tractor 1. It can be changed by changing the shift stage of the transmission.
[0030]
　Further, after the start of automatic steering, 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 scheduled travel line L2 can be set by the end of automatic steering by operating the steering changeover switch 52. That is, the length from the start point to the end point of the scheduled travel line L2 can be set longer or shorter than the travel reference line L1. In other words, the planned travel line L2 is not associated with the length of the travel reference line L1, and the scheduled travel line L2 can automatically steer a distance longer than the length of the travel reference line L1.
[0031]
　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 (vehicle body position) of the vehicle body 3 detected by the positioning device 40. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the vehicle body position. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating around the steering shaft 31, and a gear provided on the rotating shaft of the steering motor 38 and rotating around the rotating shaft. When the rotation shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (rotates) via the gear mechanism 39, and the steering direction of the front wheels 7F is adjusted so that the vehicle body position coincides with the planned traveling line L2. Can be changed.
[0032]
　As shown in FIG. 1, 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 can display at least the operation information of the tractor 1. The display device 45 is provided in front of the driver's seat 10.
　As shown in FIG. 1, the tractor 1 includes a setting switch 51. The setting switch 51 is a switch for switching to a setting mode for setting at least before the start of automatic steering. The setting mode is a mode in which various settings related to the automatic steering are performed before the automatic steering is started. For example, a mode in which the start point and the end point of the traveling reference line L1 are set.
[0033]
　The setting switch 51 can be switched to ON or OFF, and outputs a signal in which the setting mode is valid when it is ON, and outputs a signal in which the setting mode is invalid when it is OFF. Further, the setting switch 51 outputs a signal in which the setting mode is valid to the display device 45 when it is ON, and outputs a signal in which the setting mode is invalid to the display device 45 when it is OFF.
[0034]
　The tractor 1 includes a steering changeover switch 52. The steering changeover switch 52 is a switch for switching the start or end of automatic steering. Specifically, the steering selector switch 52 can be switched from the neutral position to the top, bottom, front, and rear, and when the setting mode is enabled and the steering switch 52 is switched from the neutral position to the bottom, automatic steering is started. Output, and when the setting mode is enabled and the position is switched upward from the neutral position, the end of automatic steering is output. Further, the steering changeover switch 52 outputs that the current vehicle body position is set to the start point P10 of the traveling reference line L1 when the setting mode is enabled and is later switched from the neutral position, and the steering changeover switch 52 is used. The 52 outputs that the current vehicle body position is set at the end point P11 of the traveling reference line L1 when the neutral position is switched forward while the setting mode is enabled. That is, the steering changeover switch 52 also serves as a reference line setting switch for setting the start position (start point P10) and end position (end point P11) of the travel reference line L1. The steering changeover switch 52 may be configured separately from the steering changeover switch 52 for switching the start or end of automatic steering and the reference line setting switch.
[0035]
　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 positioning device 40. That is, the correction switch 53 is a vehicle body position (referred to as an calculated vehicle body position) calculated by satellite signals (position of positioning satellite, transmission time, correction information, etc.) and measurement information (acceleration, angular velocity) measured by the inertial measurement unit 42. ) Is a switch to correct.
[0036]
　The correction switch 53 is composed of a push switch that can be pressed or a slide switch that can be slid. Hereinafter, a case where the correction switch 53 is a push switch and a slide switch will be described.
　When the correction switch 53 is a push switch, the correction amount is set based on the number of operations of the push switch. The correction amount is determined by the correction amount = the number of operations × the amount of correction per number of operations. For example, as shown in FIG. 3A, the correction amount increases by several centimeters or several tens of centimeters each time the push switch is operated. The number of operations of the push switch is input to the first control device 60A, and the first control device 60A sets (calculates) the correction amount based on the number of operations.
[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 amount of displacement from a predetermined position. For example, as shown in FIG. 3B, every time the displacement amount of the slide switch increases by 5 mm, the correction amount increases by several centimeters or several tens of centimeters. The operation amount (displacement amount) of the slide switch is input to the first control device 60A, and the first control device 60A sets (calculates) the correction amount based on the displacement amount. The method of increasing the correction amount and the rate of increase described above are not limited to the above-mentioned numerical values.
[0038]
　Specifically, as shown in FIGS. 4A and 4B, the correction switch 53 has a first correction unit 53A and a second correction unit 53B. The first correction unit 53A is a portion that commands correction of the vehicle body position corresponding to one side in the width direction of the vehicle body 3, that is, the left side. The second correction unit 53B is a portion that commands correction of the vehicle body position corresponding to the other side in the width direction of the vehicle body 3, that is, the right side.
[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 an operation is performed. The switch constituting the first correction unit 53A and the switch constituting the second correction unit 53B are integrated. The switch constituting the first correction unit 53A and the switch constituting the second correction unit 53B may be arranged apart 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, each 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 portion 55 that moves to the left or right along the longitudinal direction of the elongated hole. There is. When the correction switch 53 is a slide switch, the first correction 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 portion 55 is gradually displaced to the left from a predetermined reference position, the left correction amount increases according to the displacement amount. Further, when the knob portion 55 is gradually displaced to the right from a 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, the reference position of the knob portion 55 is set to the central portion, and the reference position is set. The left correction amount may be set when the knob portion 55 is moved to the left side, and the right correction amount may be set when the knob portion 55 is moved from the intermediate position to the right side.
[0041]
　Next, the relationship between the correction amount (left correction amount, right correction amount) by the correction switch 53, the scheduled travel line L2, and the behavior (travel locus) of the tractor 1 (vehicle body 3) will be described.
　FIG. 5A shows a state in which the calculated vehicle body position W1 shifts to the right during automatic steering and going straight. 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 traveling line If it matches L2, the tractor 1 travels along the scheduled travel line L2. That is, in the section P1 in which there is no error in the positioning of the positioning device 40 and the vehicle body position (calculated vehicle body position W1) detected by the positioning device 40 is the same as the actual position W2, the tractor 1 travels along the scheduled travel line L2. .. If there is no error in the positioning of the positioning device 40 and no correction is performed, the calculated vehicle body position W1 and the corrected vehicle body position (corrected vehicle body position) W3 corrected by the correction amount are the same values. 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 scheduled travel line L2, an error occurs in the positioning of the positioning device 40 due to various influences, and the positioning device 40 detects it. Assuming that the vehicle body position W1 is displaced to the right with respect to the planned traveling line L2 (actual position W2) and the deviation amount W4 is maintained, the tractor 1 is displaced between the calculated vehicle body position W1 and the planned traveling line L2. It is determined that the tractor 1 has occurred, and the tractor 1 is steered to the left so as to eliminate the deviation amount W4 between the calculated vehicle body position W1 and the scheduled travel line L2. Then, the actual position W2 of the tractor 1 is shifted to the scheduled travel line L2 by steering to the left. After that, it is assumed that the driver notices that the tractor 1 is deviated from the scheduled travel line L2 and steers the second correction unit 53B at the position P21 to increase the right correction amount from zero. The right correction amount is added to the calculated vehicle body position W1, and the corrected vehicle body position (corrected vehicle body position) W3 can be substantially the same as the actual position W2. That is, by setting the right correction amount by the second correction unit 53B, the vehicle body position of the positioning device 40 can be corrected in the direction of eliminating the deviation amount W4 generated in the vicinity of the position P20. As shown in position P21 of FIG. 5A, when the actual position W2 of the tractor 1 is separated from the scheduled traveling line L2 to the left after the vehicle body position is corrected, the tractor 1 is steered to the right and the tractor 1 is steered to the right. The actual position W2 can be matched with the scheduled travel line L2.
[0043]
　FIG. 5B shows a state in which the calculated vehicle body position W1 shifts to the left during automatic steering and going straight. 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 traveling line L2 match in the state where the automatic steering is started, the actual position W2 and the planned traveling line L2 match. Similarly, the tractor 1 travels along the scheduled travel line L2. That is, as in FIG. 5A, the tractor 1 travels along the scheduled travel line L2 in the section P2 where there is no error in the positioning of the positioning device 40. Further, similarly to FIG. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 have the same values.
[0044]
　Here, at the position P22, an error occurs in the positioning of the positioning device 40 due to various influences, the vehicle body position W1 detected by the positioning device 40 shifts to the left side with respect to the actual position W2, and the shift amount W5 is maintained. If so, 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 traveling line L2. After that, it is assumed that the driver notices that the tractor 1 is deviated from the scheduled travel line L2, and the driver steers the first correction unit 53A at the position P23 to increase the left correction amount from zero. Then, the left correction amount is added to the calculated vehicle body position W1, and the corrected vehicle body position (corrected vehicle body position) W3 can be substantially the same as the actual position W2. That is, by setting the left correction amount by the first correction unit 53A, the vehicle body position of the positioning device 40 can be corrected in the direction of eliminating the deviation amount W5 generated in the vicinity of the position P22. As shown in position P23 of FIG. 5B, when the actual position W2 of the tractor 1 is separated from the scheduled traveling line L2 to the right after the correction of the vehicle body position, the tractor 1 is steered to the left and the tractor 1 is steered to the left. The actual position W2 can be matched with the scheduled travel line L2.
[0045]
　Next, the setting switch 51 and the correction switch 53 will be described.
　As shown in FIG. 6, the outer circumference of the steering shaft 31 is covered with the steering post 180. The outer circumference 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.
[0046]
　The panel cover 178 supports the display device 45. The upper plate portion 178a of the panel cover 178 is provided with a support portion 178e that supports the display device 45. 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 and the correction switch 53 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 at the front portion of the upper plate portion 178a, and the mounting surface 178f is located at the rear portion of the upper plate portion 178a. The setting switch 51 and the correction switch 53 are mounted on the mounting surface 178f. As a result, the setting switch 51 and the correction switch 53 are arranged around the steering shaft 31.
[0047]
　The 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 / backward 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 rearward, the forward / backward switching unit 13 is in a state of outputting the reverse power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the reverse direction. When the shuttle lever 181 is in the neutral position, no power is output to the traveling device 7.
[0048]
　The column cover 179 is arranged below the steering handle 30 and covers the periphery of the upper part of the steering shaft 31. The column cover 179 is formed in a substantially square tubular shape, and projects upward from the mounting surface 178f of the panel cover 178. That is, the mounting surface 178f is provided around the column cover 179. Therefore, the setting switch 51 and the correction switch 53 mounted on the mounting surface 178f are arranged around the column cover 179.
[0049]
　Next, the arrangement of the setting switch 51, the steering changeover switch 52, and the correction switch 53 will be described in detail. As shown in FIG. 6, the setting switch 51, the steering changeover switch 52, and the correction switch 53 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 swing with a base end portion provided on the steering shaft 31 side as a fulcrum. The base end portion 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.
[0050]
　The correction switch 53 is arranged on the other side (right side) of the steering shaft 31. More specifically, the correction switch 53 is arranged to the right and rearward (obliquely to the right rear) of the steering shaft 31. The correction switch 53 is arranged on the right side and rearward (diagonally right rearward) of the column cover 179 in the positional relationship with the column cover 179. The correction switch 53 is arranged at 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 portion of the inclined mounting surface 178f, it is possible to secure a long distance between the correction switch 53 and the steering handle 30. As a result, unintended operation of the correction switch 53 and steering of the steering handle 30 can be prevented more reliably.
[0051]
　As described above, the setting switch 51, the steering changeover switch 52, and the correction switch 53 are arranged around the steering shaft 31. In other words, the setting switch 51, the steering changeover switch 52, and the correction switch 53 are collectively present around the steering shaft 31. Therefore, the driver can grasp the position of each switch at a glance. In addition, the driver can operate each switch while sitting in the driver's seat 10 without changing his / her posture. Therefore, the operability is improved and erroneous operation can be prevented. In addition, the harness (wiring) arranged from each switch can be shortened.
[0052]
　Regarding the arrangement of the switches described above, the left and right may be interchanged. That is, one side may be on the left and the other side may be on the right, or one side may be on the right and the other side may be on the left. 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.
[0053]
　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, control the working system, calculate the vehicle body position, and the like in the tractor 1. The plurality of control devices 60 are a first control device 60A, a second control device 60B, and a third control device 60C.
　The first control device 60A receives the satellite signal (received information) received by the receiving device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement unit 42, and the vehicle body position is based on the received information and the measurement information. Ask for. For example, in the first control device 60A, 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 calculated vehicle body calculated by the received information and the measurement information. The calculated vehicle body position W1 is determined to be 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 to be used during automatic steering.
[0054]
　The first control device 60A sets a control signal based on the vehicle body position (calculated vehicle body position W1, corrected vehicle body position W3) and the scheduled travel line L2, and outputs the control signal to the second control device 60B. The second control device 60B has an automatic steering control unit 200. The automatic steering control unit 200 is composed of an electric / electronic circuit provided in the second control device 60B, a program stored in a CPU, and the like. The automatic steering control unit 200 controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the scheduled travel line L2 based on the control signal output from the first control device 60A.
[0055]
　As shown in FIG. 7, when the deviation between the vehicle body position and the planned traveling line L2 is less than the threshold value, the automatic steering control unit 200 maintains the rotation angle of the rotation shaft of the steering motor 38. When the deviation (positional deviation) between the vehicle body position and the scheduled travel line L2 is equal to or greater than the threshold value and the tractor 1 is located on the left side with respect to the scheduled travel line L2, the automatic steering control unit 200 of the tractor 1 The rotation axis of the steering motor 38 is rotated so that the steering direction is to the right. That is, the automatic steering control unit 200 sets the steering angle in the right direction so that the position deviation becomes zero. When the deviation between the vehicle body position and the scheduled travel line L2 is equal to or greater than the threshold value and the tractor 1 is located on the right side with respect to the scheduled travel line L2, the automatic steering control unit 200 sets the steering direction of the tractor 1 to the left. The rotation axis of the steering motor 38 is rotated so as to be in the direction. That is, the automatic steering control unit 200 sets the steering angle in the left direction so that the position deviation becomes zero.
[0056]
　In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned traveling line L2, but the direction of the planned traveling line L2 and the traveling direction of the tractor 1 (vehicle body 3). When the direction (vehicle body direction) F1 of the (traveling direction) is different, that is, when the angle θg of the vehicle body direction F1 with respect to the planned traveling line L2 is equal to or greater than the threshold value, the automatic steering control unit 200 sets the angle θg to zero ( The steering angle may be set so that the vehicle body direction F1 matches the direction of the planned traveling line L2). Further, the automatic steering control unit 200 sets the final steering angle in automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the direction (direction deviation). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.
[0057]
　The third control device 60C raises and lowers the elevating device 8 in response to the operation of the operating member provided around the driver's seat 10. An elevating switch 101 is connected to a control device 60 such as the third control device 60C. The elevating switch 101 is provided around the driver's seat 10 and is a three-position changeover switch. When the elevating switch 101 is switched from the neutral position to one side, an ascending signal for elevating the elevating device 8 (lift arm 8a) is input to the third control device 60C. Further, when the elevating switch 101 is switched from the neutral position to the other, a descending signal for lowering the elevating device 8 (lift arm 8a) is input to the third control device 60C. When the third control device 60C acquires an ascending signal, it outputs a control signal to the control valve 29 to raise the elevating device 8, and when it acquires a descending signal, it outputs a control signal to the control valve 29 to raise the elevating device 8. Lower. That is, the third control device 60C can perform manual elevating control for elevating and elevating the elevating device 8 in response to the manual operation of the elevating switch 101. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Further, the above-mentioned control of the traveling system, control of the working system, and calculation of the vehicle body position are not limited.
[0058]
　By the way, the control device 60 changes the control of automatic steering based on the work device 2 connected to the vehicle body 3. The work device 2 connected to the vehicle body 3 can be displayed and input by the display device 45. As shown in FIG. 9, when a predetermined operation is performed on the display device 45, the display device 45 displays the registration screen M40 of the work device 2. The registration screen M40 displays an information input unit 198 for inputting information (device information) regarding the work device 2. In the information input unit 168, it is possible to input the work contents of the work device 2, for example, tillage, fertilizer spraying, pesticide spraying, harvesting, cutting, diffusion, weed collection, molding and the like. Further, in the information input unit 168, it is possible to input the type of the working device 2, the tilling device, the fertilizer spraying device, the pesticide spraying device, the harvesting device, the cutting device, the diffusion device, the weed collecting device, the molding device and the like. .. The model number, model, etc. of the work device 2 may be input to the information input unit 168.
[0059]
　On the registration screen M40, a control input unit 199 for inputting information (control information) regarding control parameters is displayed. The control information is information on control parameters for obtaining a steering angle when performing automatic steering. For example, a value of control gain G1 or a value corresponding to control gain G1 can be input as control parameters. It is possible. The input of the control gain to the control input unit 199 may be the value of the control gain itself, or instead of the control gain G1, the work load on the ground such as a field in the work device 2 (ground work load). May be input as a numerical value and then the input ground work load may be converted into the control gain G1. The ground work load is a numerical value of the load on the work device 2 when the work is performed on the ground by the work device 2. For example, tillage and ridges in which the work device 2 directly exerts a force on the ground. The ground work load for vertical work is high, and the ground work load is low for chemical spraying and the like on which the work device 2 does not directly exert a force. When converting the ground work load into the control gain G1, the higher the ground work load, the higher the control gain G1, and the lower the ground work load, the lower the control gain G1.
[0060]
　The device information input to the registration screen M40 and the control information related to the control parameters are associated with each other and stored in the storage device 81 provided in the tractor 1 as shown in FIG. That is, the storage device 81 stores the control parameters input to the display device 45 in association with the work device 2.
　As shown in FIG. 1, the automatic steering control unit 200 includes a parameter changing unit 200d, a steering angle calculation unit 200b, and a steering control unit 200c. The parameter changing unit 200d, the steering angle calculation unit 200b, and the steering control unit 200c are composed of electrical and electronic components provided in the control device 60, a program incorporated in the control device 60, and the like.
[0061]
　The parameter changing unit 200d corrects the parameters applied by the automatic steering based on the working device 2. For example, when the work performed by the work device 2 is chemical spraying, the chemical is often sprayed from above the field, and when the work device 2 is a chemical sprayer, the chemical sprayer rarely comes into direct contact with the field. Therefore, the work load on the ground is small. In such a case, when the tractor 1 (vehicle body 3) is steered, the traveling direction of the tractor 1 can be easily changed according to the steering angle. Therefore, the parameter changing unit 200d reduces the control gain when the working device 2 is a chemical spraying device having a small work load on the ground.
[0062]
　On the other hand, for example, when the work performed by the work device 2 is tillage, the soil in the field is directly caused. Therefore, when the work device 2 is a tillage device, the tillage device often comes into direct contact with the field. The load is heavy. In such a case, when the tractor 1 (vehicle body 3) is steered, it is difficult to change the traveling direction of the tractor 1 according to the steering angle. Therefore, the parameter changing unit 200d increases the control gain when the working device 2 is a tilling device having a large work load on the ground.
[0063]
　Hereinafter, parameter correction and automatic steering by the parameter changing unit 200d will be described in detail.
　When the operator (operator) performs a predetermined operation on the display device 45 when performing automatic steering, the display device 45 displays the selection screen M41 as shown in FIG. The selection screen M41 displays a list of device information and control information stored in the storage device 81. On the selection screen M41, when the operator selects device information (work content, type, model number, etc. of the work device 2) corresponding to the work device 2 mounted on the vehicle body 3, the control gain G1 corresponding to the selected device information is selected. Or a value (ground workload) corresponding to the control gain G1 is determined.
[0064]
　The parameter changing unit 200d sets the control gain G1 to be used at the time of automatic steering by the control gain G1 determined on the selection screen M41 or the ground work load corresponding to the control gain G1. That is, the parameter changing unit 200d changes the control parameter (control gain G1) based on the device information of the working device 2 stored in the storage device 81. For example, when the working device 2 is a tilling device, the control gain G1 is set to 1.5, and when the working device 2 is a chemical spraying device, the control gain G1 is set to 0.8.
[0065]
　The steering angle calculation unit 200b calculates the steering angle of the steering device 11 to reduce the deviation based on the deviation (positional deviation, directional deviation) between the planned traveling line L2 and the vehicle body 3 and the parameters. Specifically, the steering angle in automatic steering is determined based on the position deviation between the vehicle body position (calculated vehicle body position W1, corrected vehicle body position W3) and the planned travel line L2, and the control gain G1 determined by the parameter changing unit 200d. To do. The steering angle calculation unit 200b obtains the steering angle by, for example, multiplying the position deviation by the control gain G1. The steering angle calculation unit 200b may obtain the steering angle by using the control gain G1, and the calculation method of the steering angle is not limited.
[0066]
　Alternatively, the steering angle calculation unit 200b determines the steering angle in automatic steering based on the directional deviation between the vehicle body direction and the planned travel line L2 and the control gain G1 determined by the parameter changing unit 200d. The steering angle calculation unit 200b obtains the steering angle by, for example, multiplying the directional deviation by the control gain G1.
　The steering control unit 200c controls the steering device 11 based on the steering angle (calculated steering angle) calculated by the steering angle calculation unit 200b. As described above, the steering control unit 200c is a steering motor so that when the tractor 1 is located on the left side with respect to the scheduled travel line L2, the steering angle of the tractor 1 to the right becomes the calculated steering angle. 38 is controlled. Further, as described above, when the tractor 1 is located on the right side with respect to the scheduled travel line L2, the steering control unit 200c sets the steering angle of the tractor 1 to the left as the calculated steering angle. Controls the steering motor 38.
[0067]
　As shown in FIG. 11A, when the tractor 1 works with a tillage device having a large work load on the ground, when the tractor 1 steers at a steering angle θ1 without correcting the control gain G1, the traveling vehicle body 3 becomes Since the plowing device enters the ground greatly, the change in the traveling direction of the tractor 1 is small. Therefore, the tractor 1 stays at a position in front of the scheduled travel line L2.
　On the other hand, when the tractor 1 works with a tillage device having a large work load on the ground, the control gain G1 is changed by the parameter changing unit 200d, and as shown in FIG. 11B, the steering angle θ2 in automatic steering is shown in FIG. It is assumed that the steering angle is larger than the steering angle θ1 of 11A. In this case, since the steering angle is set to θ2, which is larger than θ1, it is easy to change the traveling direction of the tractor 1 even when the plowing device enters the ground greatly, and the traveling locus K is traveling. It can be easily matched to the scheduled line L2.
[0068]
　In the above-described embodiment, the tillage device and the chemical spraying device have been described, but these are examples and are not limited. Further, the numerical values ​​such as the control gain are examples, and are not limited as a matter of course.
　Further, in the above-described embodiment, the control parameters are changed by inputting and displaying the device information and the control information on the display device 45, but instead of this, the device information or the like is wirelessly transmitted from the work device 2. May be obtained.
[0069]
　FIG. 12 shows a block diagram of a modified example in which device information is acquired from the working device 2 wirelessly or the like. As shown in FIG. 12, a first communication device 400 is attached to the work device 2. The first communication device 400 is a device that wirelessly transmits device information, and is a communication standard IEEE802.11 series Wi-Fi (WireNess FideNity, registered trademark), RFID tag, BLE (Bluetooth (registered trademark) Low Energy). ) Etc. to perform wireless communication.
[0070]
　The first communication device 400 has a storage unit 400a. The storage unit 400a is composed of, for example, a non-volatile memory or the like, and stores device information such as work contents, types, and model numbers. The first communication device 400 transmits the device information stored in the storage unit 400a to the second communication device 410, for example, when there is a request from the second communication device 410 provided on the vehicle body 3 side.
　A second communication device 410 is attached to the vehicle body 3. The second communication device 410 is a device that can receive device information transmitted from the first communication device 400, and is a communication standard IEEE802.11 series Wi-Fi (WireNess FideNity, registered trademark), RFID tag, BLE. (Bluetooth® Low Energy) is a communication module that performs wireless communication.
[0071]
　When the prime mover 4 is started or the automatic steering is started, the first communication device 400 transmits the device information to the second communication device 410. When the second communication device 410 acquires the device information, the second communication device 410 outputs the device information to the second control device 60B. The parameter changing unit 200d of the second control device 60B obtains the control gain G1 based on the device information output from the second communication device 410. For example, the parameter changing unit 200d has a control table in which the device information and the control gain G1 are associated with each other in advance, and obtains the control gain G1 corresponding to the device information output by the second communication device 410 from the control table. That is, the parameter changing unit 200d changes the control gain G1 based on the device information received by the second communication device 410.
[0072]
　In the above-described embodiment, the control parameters are changed based on the device information, but instead, the control parameters are changed based on the height of the lifting device 8, that is, the height of the lift arm 8a. May be good. The work device 2 has a range of heights for the lift arm 8a when performing work. For example, when the working device 2 is a tilling device, a ridge device, or the like, the height of the lift arm 8a tends to be low, and when the working device 2 is a chemical spraying device, the height of the lift arm 8a tends to be high. That is, the work device 2 can be estimated from the height of the lift arm 8a. As shown in FIG. 13, the parameter changing unit 200d has a conversion table showing the relationship between the height of the lift arm 8a and the control gain G1. When the parameter changing unit 200d performs automatic steering and the steering angle is not an angle corresponding to turning, the parameter changing unit 200d refers to the current height of the lift arm 8a, and the current height of the lift arm 8a and a conversion table. The control gain G1 is obtained from and. Alternatively, the parameter changing unit 200d refers to the current height of the lift arm 8a when switched to the start of automatic steering by the steering changeover switch 52, and from the current height of the lift arm 8a and the conversion table. The control gain G1 is obtained. The height of the lift arm 8a may be obtained by a height detection device that detects the height of the lift arm 8a, or may be estimated from a control signal output to the control valve 29. Further, the numerical values ​​shown in FIG. 13 are the values ​​described for convenience of explanation, and are not limited thereto.
[0073]
　The work vehicle 1 automatically steers the steering device 11 based on the deviation between the steering device 11 for steering the vehicle body 3, the work device 2 connected to the vehicle body 3, and the planned traveling line and the position of the vehicle body 3. It includes a control unit 200 and a parameter changing unit 200d that changes the control parameters of automatic steering according to the working device 2 connected to the vehicle body 3. According to this, for example, when the vehicle body 2 is driven by automatic steering and the work is performed by the work device 2 connected to the vehicle body 2, the movement of the vehicle body 2 in the automatic steering is changed according to the characteristics of the work device 2. be able to.
[0074]
　The work vehicle 1 has a display device 45 capable of displaying and inputting an association between the control parameter of automatic steering and the work device 2, and a storage device 81 for storing the association between the control parameter input to the display device 45 and the work device 2. And, the parameter changing unit 200d changes the control parameter according to the association stored in the storage device 81. According to this, the relationship between the work device 2 and the control parameters corresponding to the work device 2 can be easily input by the display device 45, and the relationship between the work device 2 stored in the storage device 81 and the control parameters. Can be confirmed.
[0075]
　The work vehicle 1 receives the first communication device 400 provided in the work device 2 and transmitting the device information of the work device 2 to the vehicle body 3 and the device information provided in the vehicle body 3 and transmitted from the first communication device 400. The possible second communication device 410 and the parameter changing unit 200d change the control parameters based on the device information received by the second communication device 410. According to this, the device information of the work device 2 connected to the vehicle body 3 can be automatically acquired on the vehicle body 3 side, and the control parameters corresponding to the work device 2 can be easily set based on the acquired device information. be able to.
[0076]
　The work vehicle 1 includes an elevating device 8 having a lift arm 8a for elevating and elevating the work device 2, and the parameter changing unit 200d changes control parameters based on the elevating height of the lift arm 8a. According to this, the control parameter can be easily changed depending on the height of the lift arm 8a.
　The parameter changing unit 200d changes the control gain for calculating the steering angle of the steering device 11 at the time of automatic steering as a control parameter. According to this, the steering angle at the time of automatic steering can be easily obtained by the control gain which is a control parameter.
[0077]
　The work vehicle 1 includes a steering changeover switch 52 that switches between the start and end of automatic steering, and the control device 60 (second control device 60B) switches the start of automatic steering by the steering changeover switch 52. In this case, the steering device 11 starts automatic steering. According to this, the automatic steering can be easily started or ended at a place where automatic steering is desired by simply switching the steering changeover switch 52.
[0078]
　The work vehicle 1 has a positioning device 40 capable of detecting the position of the vehicle body 3 and a reference line setting switch for setting the position of the vehicle body 3 detected by the positioning device 40 at the start position and the end position of the traveling reference line L1. The automatic steering control unit 200 sets the planned travel line L2 based on the travel reference line L1 at the start of automatic steering by the steering changeover switch 52. According to this, the travel reference line L1 can be easily set, and the travel schedule line L2 can be easily set by the travel reference line L1.
[0079]
　It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.
Code description
[0080]
　1 Work vehicle
　2 Work device
　3 Body
　8
　Lifting device 8a Lift arm
　11 Steering device
　40 Positioning device
　45 Display device
　52 Steering changeover switch
　60 Control device
　60B Second control device
　81 Storage device
　200 Automatic steering control unit
　200d Parameter change unit
　400 1st Communication device
　410 Second communication device
　L1 Travel reference line
　L2 Scheduled travel line
The scope of the claims
[Claim 1]
　A steering device that steers the
　vehicle body, a work device connected to the vehicle body,
　an automatic steering control unit that automatically steers the steering device based on the deviation between the planned traveling line and the position of the vehicle body, and the
　automatic steering
　A work vehicle including a parameter change unit that changes control parameters according to the work device connected to the vehicle body .
[Claim 2]
　A display and input display device capable of association between the working device and the control parameters of the automatic steering,
　and a storage device for storing the association between the control parameters entered into the display device and the working device
　comprises a,
　the The work vehicle according to claim 1, wherein the parameter changing unit changes the control parameter according to the association stored in the storage device.
[Claim 3]
　A first communication device provided in the work device and transmitting device information of the work device to the vehicle body, and a second communication device
　provided in the vehicle body and capable of receiving the device information transmitted from the first communication device. device and,
provided with,
　the parameter changing section, the work vehicle according to claim 1 or 2 changes the control parameters based on the device information and the second communication device receives.
[Claim 4]

　The work vehicle according to any one of claims 1 to 3 　, further comprising a lifting device having a lift arm for raising and lowering the work device, wherein the parameter changing unit changes control parameters based on the lifting height of the lift arm.
[Claim 5]
　The working machine according to any one of claims 1 to 4, wherein the parameter changing unit changes a control gain for calculating a steering angle of the steering device at the time of automatic steering as the control parameter.
[Claim 6]
　A steering changeover switch for switching between the start and end of the automatic steering is provided, and the
　control device starts automatic steering by the steering device when the start of the automatic steering is switched by the steering changeover switch. The work vehicle according to any one of claims 1 to 5.
[Claim 7]
　And capable of detecting the positioning device the position of the vehicle body,
　and the reference line setting switch for setting the start and end positions of the travel reference line detected vehicle position by the positioning device
　comprising a,
　the automatic steering control unit The work vehicle according to claim 6, wherein the planned travel line is set based on the travel reference line at the start of the automatic steering by the steering changeover switch.