JP2021043556A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably start automatic steering. SOLUTION: A work vehicle is a standard for registering a traveling reference line based on a vehicle body capable of traveling by either manual steering by a steering handle or automatic steering of a steering handle, and a vehicle body driven by manual steering. The registration unit, the automatic steering control unit that sets the planned travel line in automatic steering and controls the automatic steering based on the travel reference line, the vehicle body orientation display unit that indicates the orientation of the vehicle body, and the orientation of the travel reference line. The display device includes a display device having a reference direction display unit for indicating, and the display device changes the display position of the reference direction display unit according to the direction difference between the direction of the traveling reference line and the direction of the vehicle body. [Selection diagram] Fig. 1

Description

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

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. Further, the agricultural work machine sets the start point of the reference traveling line after pressing the right instruction button while traveling along the ridge, and sets the end point of the reference traveling line by pressing the left instruction button during traveling. That is, the reference traveling line is set before the automatic steering.

JP-A-2017-123803

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. In automatic running, the agricultural work machine travels along the reference running line, so it is good that the direction of travel of the agricultural work machine and the direction of the reference running line match immediately before the automatic running, and both directions. If is significantly deviated, the behavior of the agricultural work machine during initial running may not be stable.

Therefore, in view of the above problems, an object of the present invention is to provide a work vehicle capable of stably starting automatic steering.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The work vehicle is a reference registration unit that registers a travel reference line based on the positions of a vehicle body that can be driven by either manual steering by the steering handle or automatic steering of the steering handle, and a vehicle body that is driven by the manual steering. An automatic steering control unit that sets a planned travel line in the automatic steering and controls the automatic steering based on the travel reference line, a vehicle body orientation display unit that indicates the orientation of the vehicle body, and the travel reference line. The display device includes a display device having a reference direction display unit for indicating the direction of the vehicle, and the display device displays a display position of the reference direction display unit according to a direction difference between the direction of the traveling reference line and the direction of the vehicle body. change.

The display device includes a vehicle body display unit that indicates the vehicle body and is superimposed on the vehicle body orientation display unit, and the reference orientation display unit rotates about the vehicle body display unit in accordance with the orientation difference.
The display device increases the angle between the reference directional display unit and the vehicle body display unit as the directional difference increases, and causes the reference directional display unit and the vehicle body display unit to decrease as the directional difference decreases. Reduce the angle.

The display device displays that the automatic steering can be performed when the directional difference becomes less than the threshold value.
The automatic steering control unit does not allow the automatic steering when the directional difference is equal to or more than the threshold value, and permits the automatic steering when the directional difference is less than the threshold value.
The display device has a line display unit that indicates at least the next scheduled travel line from the scheduled travel line on which the vehicle body is traveling.

The display device changes the display position of the line display unit together with the reference orientation display unit according to the directional difference between the orientation of the traveling reference line and the orientation of the vehicle body.
The work vehicle is provided with a line change switch for changing the planned travel line, and the display device guides the planned travel line two ahead of the current scheduled travel line when the line change switch is operated. ..

According to the present invention, automatic steering can be started stably.

It is a figure which shows the structure of the tractor and the control block diagram. It is explanatory drawing explaining the automatic steering. It is explanatory drawing explaining the operation of automatic steering. It is the schematic which showed the turning running J1 from the straight running running simply. It is a figure which shows the state which the direction (body direction) F1 of a traveling direction and the direction (line direction) F2 of a traveling reference line L1 are different. It is a figure which shows an example of the turning guidance screen M1 when the azimuth difference ΔF3 is coincident. It is a figure which shows an example of the turning guidance screen M1 when the azimuth difference ΔF3 is different. It is a figure which shows an example of the turning guidance screen M1 when the direction difference ΔF3 becomes within a threshold value after turning. It is a figure which shows an example of the turning guidance screen M1 which shows that the automatic steering was started. It is a figure which shows an example of the turning guidance screen M1 when the traveling schedule line L2 of two ahead is shown by a turning guide part. It is a figure which shows an example of the operation screen M2. It is an overall view of a tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 7 is a side 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.

The tractor (working vehicle) 1 will be described with reference to FIG. 7 and the like. Hereinafter, the front side of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 will be described as the front side, the rear side of the driver as the rear side, the left side of the driver as the left side, and the right side of the driver as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the vehicle body width direction.
As shown in FIG. 7, 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.

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, a connecting portion 8 composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. The work device 2 can be attached to and detached from the connecting portion 8. By connecting the work device 2 to the connecting portion 8, the work device 2 can be towed by the vehicle body 3. The working device 2 is a tilling device for tilling, 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, etc. , A device that performs work (ground work) on the ground such as fields.

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 the housing case (mission case) of the transmission 5, and the 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.

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.

The PTO power transmission unit 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch or the like, and is in a state where the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14 when the hydraulic clutch is turned on and off. Switch to the state.

The front transmission 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 can transmit the power from the propulsion shaft 5a, for example, the power of the shuttle shaft 12 is transmitted via the gear and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

The first clutch 17 and the second clutch 18 are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from the hydraulic pump 33 is supplied. The first clutch 17 switches between a connected state and a disconnected state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operating valve 26. The second clutch 18 switches between a connected state and a disconnected state depending on the opening degree of the second operating valve 26. The first 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.

When the first clutch 17 is in the disengaged state and the second clutch 18 is in the connected state, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18. As a result, the front wheels 7F and the rear wheels 7R are four-wheel drive (4WD) driven by power, and the rotation speeds of the front wheels 7F and the rear wheels 7R are substantially the same (4WD constant velocity state). On the other hand, when the first clutch 17 is connected and the second clutch 18 is disconnected, four-wheel drive is performed and the rotation speed of the front wheels 7F is faster than the rotation speed of the rear wheels 7R (4WD 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 7R are two-wheel drive (2WD) driven by the power.

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 a positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to the receiving device 41 above the roof of the cabin via a support member. The mounting location of the receiving device 41 is not limited to the embodiment.

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.

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) that changes the direction of the front wheels 7F.

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 wheels 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.

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.

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 is provided with a steering changeover switch (registration switch) on the tractor 1 at the predetermined position. When the operation of 52 is performed (S2), the vehicle body position measured by the positioning device 40 is set at the start point P10 of the traveling 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 (registration switch) 52 at a predetermined position (S5), the positioning device 40 The vehicle body position measured by the above 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.

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 be along 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 are steered to the right. 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 (accelerator pedal, accelerator lever) 210 provided on the tractor 1. It can be changed by changing the shift stage of the transmission 5 by the transmission member (shift lever, shift switch) 211.

Further, after the start of the 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.

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.

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. A rotation operation member 50 is connected to the display device 45, and the display device 45 can be operated by operating the rotation operation member 50. The rotation operation member 50 includes, for example, a rotating body 50b rotatably supported on the vertical axis 50a and a switch 50c provided on the rotating body 50b. By rotating the rotating body 50b, the cursor, pointer, etc. displayed on the display device 45 can be moved, and by pushing the switch 50c, determination and cancellation can be performed.

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.
The setting switch 51 can be switched to ON or OFF, and when it is ON, it outputs a signal in which the setting mode is valid, and when it is OFF, it outputs a signal in which the setting mode is invalid. 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.

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. It outputs, 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 start point P10 of the traveling reference line L1 is set when the setting mode is effectively switched from the neutral position, and the steering changeover switch 52 sets the setting mode. When the neutral position is switched forward while is valid, it is output that the end point P11 of the traveling reference line L1 is set. That is, the steering changeover switch 52 serves both as a registration switch for setting the start position (start point P10) and end position (end point P11) of the travel reference line L1 and a switch for switching the start or end of automatic steering.

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.

Further, the first control device 60A has a reference registration unit 150. The reference registration unit 150 is composed of an electric / electronic circuit provided in the first control device 60A, a program stored in a CPU, and the like. As described above, the reference registration unit 150 registers the travel reference line L1, that is, sets the start point P10 and the end point P11. When the steering changeover switch 52 is operated to the start point setting side in the situation where the tractor 1 is driven by manual steering in the setting mode, the reference registration unit 150 sets the vehicle body position to the start point P10 of the travel reference line L1. When the steering changeover switch 52 is operated to the end point setting side, the vehicle body position is set to the end point P11 of the travel reference line L1.

The second control device 60B has an automatic steering control unit 200. The automatic steering control unit 200 is composed of an electric / electronic circuit provided in the second control device 60B, a program stored in a CPU, and the like. The automatic steering control unit 200 controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the scheduled travel line L2.
As shown in FIG. 3, when the steering changeover switch 52 is operated to the start side of the automatic steering, the automatic steering control unit 200 sets the planned traveling line L2 parallel to the traveling reference line L1. After setting the planned traveling line L2, the automatic steering control unit 200 maintains the rotation angle of the rotation axis of the steering motor 38 when the deviation between the vehicle body position and the planned traveling line L2 is less than the threshold value. To do. 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.

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. The direction (body direction) F1 of the vehicle body 3 can be obtained by the positioning device 40.

Further, in the second control device 60B, when the accelerator 210 is operated when the automatic steering control unit 200 is performing automatic steering, the rotation speed of the prime mover 4 (motor) is determined according to the amount of operation of the accelerator 210. Change the number of revolutions). Further, the second control device 60B changes the speed change stage of the speed change device 5 when the speed change member 211 is operated while the automatic steering control unit 200 is performing automatic steering.

The third control device 60C raises and lowers the connecting portion 8 in response to the operation of the operating member provided around the driver's seat 10. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Further, the above-mentioned control of the traveling system, control of the working system, and calculation of the vehicle body position are not limited. As described above, the control device 60 can automatically steer the tractor 1 (vehicle body 3).

By the way, as shown in FIG. 4A, after setting the end point P11 of the traveling reference line L1 or after the end of the automatic steering, P12 makes the tractor 1 manually operate the turning traveling J1 in order to start the automatic steering. After that, it is necessary to adjust the conditions for automatic steering. For example, as shown in FIG. 4B, the difference between the direction of travel (vehicle body direction) F1 of the tractor 1 and the direction (line direction) F2 of the traveling reference line L1 after turning the tractor 1 and before automatic steering. When the directional difference ΔF3 is significantly different, it is difficult to steer the tractor 1 along the planned travel line L2 parallel to the travel reference line L1 even if the automatic steering is started.

Therefore, the display device 45 automatically displays the turning guidance screen M1 as shown in FIGS. 5A to 5E at P12 after setting the end point P11 of the traveling reference line L1 or after the end of automatic steering. It makes it easier to steer. Hereinafter, the display of the turning guidance screen M1 and the processing of the display device 45 will be described in detail.
As shown in FIG. 1, the display device 45 includes a control unit (display control unit) 46. The control unit 46 performs various controls on the display of the screen of the display device 45 and the like. The control unit 46 is composed of an electric / electronic circuit provided in the display device 45, a program stored in a CPU, and the like.

The control unit 46 displays the turning guidance screen M1 on P12 after setting the end point P11 of the traveling reference line L1 or after the end of automatic steering, as shown in FIGS. 5A and 5B. The control unit 46 causes the vehicle body orientation display unit 301, the vehicle body display unit 302, the reference orientation display unit 303, and the message unit 304 to be displayed on the turning guidance screen M1. Further, the control unit 46 has a symbol mark 307a indicating that the setting of the start point P10 of the travel reference line L1 has been completed, and a symbol mark 307b indicating that the setting of the end point P11 of the travel reference line L1 has been completed. Is displayed on the turning guidance screen M1. For convenience of explanation, the vehicle body orientation display unit 301 is shown by a dotted line.

The vehicle body orientation display unit 301 is a portion indicating the vehicle body orientation F1, and is indicated by a straight line (a straight line extending up and down on the turning guidance screen M1) on the turning guidance screen M1. The display position of the vehicle body direction display unit 301 is fixed on the turning guidance screen M1 and the position does not change. The vehicle body display unit 302 is a portion in which the vehicle body 3 is represented by a figure and is superimposed on the vehicle body orientation display unit 301. The vehicle body display portion 302 is a polygonal figure, includes a tip portion 302a having a sharp tip, and the tip portion 302a indicates the front portion of the vehicle body 3 (tractor 1).

The reference direction display unit 303 is a portion indicating the direction F2 of the traveling reference line, and is indicated by a straight line on the turning guidance screen M1. As shown in FIG. 5A, when the vehicle body orientation F1 and the line orientation F2 match, the vehicle body orientation display unit 301 and the reference orientation display unit 303 are displayed so as to overlap each other. Since the coloring of the vehicle body orientation display unit 301 and the reference orientation display unit 303 are different, the driver or the like can visually recognize that the vehicle body orientation F1 and the line orientation F2 match.

As shown in FIG. 5B, when the orientation difference ΔF3 between the vehicle body direction F1 and the line direction F2 becomes large due to the turning travel J1 of the vehicle body 3 (tractor 1), the control unit 46 displays the linear reference direction display unit 303. The display position is changed according to the directional difference ΔF3. Specifically, when the vehicle body display unit 302 is the center O1, the reference directional display unit 303 rotates as the center O1 of the vehicle body display unit according to the magnitude of the orientation difference ΔF3. The display device 45 (control unit 46) increases the angle θ1 between the reference directional display unit 303 and the vehicle body display unit 302 as the directional difference ΔF3 increases, and increases the angle θ1 between the reference directional display unit 303 and the vehicle body display unit 302, and increases the directional difference ΔF3 with the reference directional display unit 303. The angle θ1 with the vehicle body display unit 302 is reduced.

As shown in FIG. 5C, when the directional difference ΔF3 between the vehicle body azimuth F1 and the line directional F2 becomes smaller due to the turning J1 and the directional difference ΔF3 becomes less than the threshold value, the control unit 46 informs the message unit 304. Displays that the automatic steering is ready (the conditions for automatic steering are met). For example, the message unit 304 indicates that automatic steering can be performed, for example, that the GS function should be turned on.

As shown in FIG. 5D, when the driver operates the steering changeover switch 52 to the start side of the automatic steering in a state where the directional difference ΔF3 is less than the threshold value, the turning guidance screen M1 indicates that the automatic steering has been started. The symbol mark 308 is displayed. When the directional difference ΔF3 is equal to or greater than the threshold value, the automatic steering control unit 200 does not permit (execute) the automatic steering even if the driver operates the steering changeover switch 52 to the start side of the automatic steering, and the directional difference. When ΔF3 is less than the threshold value, automatic steering is permitted (executed).

As shown in FIG. 6, when the automatic steering is started, the control unit 46 of the display device 45 displays the operation screen M2. On the operation screen M2, the past scheduled travel line L2a actually traveled by automatic steering and the current scheduled travel line L2b traveling by automatic steering are displayed separately, and the vehicle body display unit is displayed on the scheduled travel line L2b. 302 is displayed.
As shown in FIGS. 5A to 5C, the display device 45 (control unit 46) causes the line display unit 310 to be displayed on the turning guidance screen M1. The line display unit 310 is a portion of at least the next scheduled travel line L2c from the scheduled travel line L2b on which the vehicle body 3 (tractor 1) is traveling, and the line display unit 310 is a straight-moving portion in which the vehicle body 3 (tractor 1) travels straight during self-propelled steering. Shown. The line display unit (straight-ahead unit) 310 is shown at a position separated from the vehicle body direction display unit 301 by a predetermined distance on the turning guidance screen M1. In FIGS. 5A to 5C, the line display unit (straight-ahead unit) 310 includes a first straight-ahead unit 310a indicating the first scheduled travel line L2c and a second straight-ahead unit 310b indicating the second scheduled travel line L2c. I'm out. A vehicle body display unit 311 is superimposed and displayed on the first straight-ahead unit 310a. The vehicle body display unit 311 is a portion in which the vehicle body 3 is shown graphically like the vehicle body display unit 302, includes a tip portion 311a having a sharp tip, and the tip portion 311a forms a front portion of the vehicle body 3 (tractor 1). Shown. The direction of the tip portion 302a of the vehicle body display unit 302 and the direction of the tip portion 311a of the vehicle body display unit 311 are opposite to each other, and by looking at the tip portion 311a of the vehicle body display unit 311, the first straight traveling portion 310a is next. It can be visually grasped that it is the planned traveling line L2c.

As shown in FIGS. 5A and 5C, when the vehicle body orientation F1 and the line orientation F2 coincide with each other (direction difference ΔF3) is zero, the first straight-ahead portion 310a and the second straight-ahead portion 310b have a vehicle body orientation. It is parallel to the display unit 301. As shown in FIG. 5B, when the vehicle body direction F1 and the line direction F2 are different, the control unit 46 has the same as the reference direction display unit 303, and the first straight unit 310a and the second straight unit 310b have an orientation difference ΔF3. Correspondingly, the display position is changed together with the reference direction display unit 303. Specifically, the line display unit 310 (first straight unit 310a, second straight unit 310b) rotates as the center O1 of the vehicle body display unit according to the magnitude of the directional difference ΔF3. The display device 45 (control unit 46) tilts the line display unit 310 (first straight-ahead unit 310a, second straight-ahead unit 310b) in the same direction as the reference directional display unit 303 tilts in accordance with the directional difference ΔF3. In other words, when there is an orientation difference ΔF3, the reference orientation display unit 303 and the line display unit 310 (first straight unit 310a, second straight unit 310b) are parallel to each other.

Further, as shown in FIGS. 5A, 5B and 5E, the display device 45 (control unit 46) is an assist display unit that guides which of the plurality of next scheduled travel lines L2c to go to. Display 315. The assist display unit 315 includes a plurality of straight-ahead units corresponding to n scheduled traveling lines L2cn (n = 1, 2, 3 ...), And a turning guide unit 316. In this embodiment, the assist display unit 315 has a straight line 315a corresponding to the current scheduled travel line L2b immediately before turning and the first line display unit 310 (first straight line 310a) of the next scheduled travel line L2c. A straight-ahead portion 315b corresponding to the above, a straight-ahead portion 315c corresponding to a second line display portion 310 (second straight-ahead portion 310b), and a turning guide portion 316 are included. The turning guide unit 316 is composed of a figure (symbol mark or the like) indicating turning.

When guiding to the first line display unit 310 (first straight-ahead unit 310a) adjacent to the current scheduled travel line L2b, the control unit 46 is a straight-ahead unit, as shown in FIGS. 5A and 5B. The turning guide portion 316 connecting the 315a and the straight-ahead portion 315b is displayed. Further, when guiding from the current scheduled travel line L2b to the second line display unit 310 (second straight-ahead unit 310b), the control unit 46 advances straight to the straight-ahead unit 315a as shown in FIG. 5E. The turning guide unit 316 connecting the unit 315c is displayed. That is, the display device 45 (control unit 46) guides the second straight-ahead unit 310b indicating the planned travel line L2c at least two ahead of the current scheduled travel line L2b.

More specifically, as shown in FIG. 1, the tractor 1 includes a line change switch 318 for changing the scheduled travel line L2. The line change switch 318 is, for example, an automatic return type switch that can be switched ON / OFF, and is connected to the second control device 60B. The line change switch 318 is a switch that accepts the intention to change the line, and when it is ON, it accepts the change of the line, and when it is OFF, it does not accept the change of the line. When the driver is working on the current scheduled travel line L2b and is working on the first next scheduled travel line L2c adjacent to the scheduled travel line L2b, the driver does not operate the line change switch 318. In addition, the line change switch 318 is held OFF. The turning guide section 316 displays an arrow connecting the straight section 315a and the straight section 315b.

On the other hand, in the situation where the driver is working on the current scheduled travel line L2b, the driver is working on the second scheduled travel line L2c instead of the first next scheduled travel line L2c adjacent to the scheduled travel line L2b. When performing the above, the line change switch 318 is operated to keep the line change switch 318 ON. The turning guide section 316 displays an arrow connecting the straight section 315a and the straight section 315c. That is, by operating the line change switch 318, the work place (scheduled travel line L2) can be skipped.

In the above-described embodiment, when the line change switch 318 is turned on, an arrow connecting the straight-ahead portion 315a and the straight-ahead portion 315c two ahead is displayed, but the line change is not limited to this. When the switch 318 is turned on a plurality of times in a short period of time, the turning guide unit 316 may be displayed so as to connect the straight-ahead portion 315a that skipped the scheduled travel line L2c as many times as the switch 318 is turned on.

The work vehicle 1 registers a travel reference line L1 based on the positions of the vehicle body 3 that can be driven by either manual steering by the steering handle 30 or automatic steering of the steering handle 30, and the vehicle body 3 that is driven by manual steering. The reference registration unit 150, the automatic steering control unit 200 that sets the planned travel line L2 in the automatic steering and controls the automatic steering based on the travel reference line L1, and the vehicle body orientation display unit 301 that indicates the orientation of the vehicle body 3. A display device 45 having a reference direction display unit 303 indicating the direction of the travel reference line L1 and the display device 45 according to the orientation difference ΔF3 between the direction of the travel reference line L1 and the direction of the vehicle body 3. , The display position of the reference direction display unit 303 is changed. According to this, the display position of the reference direction display unit 303 with respect to the vehicle body direction display unit 301 changes according to the directional difference ΔF3 between the direction of the travel reference line L1 and the direction of the vehicle body 3, so that the direction of the vehicle body 3 travels. Whether or not it matches the direction of the reference line L1 can be easily grasped, and automatic steering can be started stably.

The display device 45 includes a vehicle body display unit 302 indicating the vehicle body 3 and superposed on the vehicle body orientation display unit 301, and the reference orientation display unit 303 rotates about the vehicle body display unit 302 with the vehicle body display unit 302 as the center O1 according to the orientation difference ΔF3. .. According to this, it is easy to visually grasp the magnitude of the directional difference ΔF3 by observing the state of rotation of the reference directional display unit 303 with respect to the center O1.
The display device 45 increases the angle θ1 between the reference directional display unit 303 and the vehicle body display unit 302 as the directional difference ΔF3 increases, and increases the directional difference ΔF3 between the reference directional display unit 303 and the vehicle body display unit 302. The angle θ1 of is reduced. According to this, when the direction difference ΔF3 is large, the angle θ1 between the reference direction display unit 303 and the vehicle body display unit 302 becomes large, so that the direction of the vehicle body 3 is significantly deviated from the direction of the travel reference line L1. When the direction difference ΔF3 is small, the angle θ1 between the reference direction display unit 303 and the vehicle body display unit 302 becomes small, so that the direction of the vehicle body 3 is relative to the direction of the travel reference line L1. It can be grasped that it is getting smaller. That is, whether the directional difference ΔF3 is large or small can be easily grasped by the change in the angle θ1 between the reference directional display unit 303 and the vehicle body display unit 302.

The display device 45 displays that automatic steering can be performed when the directional difference ΔF3 becomes less than the threshold value. According to this, automatic steering can be performed when the direction of the vehicle body 3 and the direction of the traveling reference line L1 substantially match, and the behavior of the vehicle body 3 at the start of automatic steering can be stabilized.
The automatic steering control unit 200 does not allow automatic steering when the directional difference ΔF3 is equal to or greater than the threshold value, and permits automatic steering when the directional difference ΔF3 is less than the threshold value. According to this, when the direction of the vehicle body 3 and the direction of the travel reference line L1 are significantly different, automatic steering is not permitted. Therefore, the direction of the vehicle body 3 and the direction of the travel reference line L1 are reduced before automatic steering. Can be encouraged to do.

The display device 45 has a line display unit 310 indicating at least the next scheduled travel line L2c from the scheduled travel line L2b on which the vehicle body 3 is traveling. According to this, it is possible to easily grasp the positional relationship of the next scheduled travel line L2c under the situation where the vehicle is traveling on the scheduled travel line L2b.
The display device 45 changes the display position of the line display unit 310 together with the reference direction display unit 303 according to the direction difference ΔF3 between the direction of the travel reference line L1 and the direction of the vehicle body 3. According to this, it is possible to grasp how much the next scheduled travel line L2c is different from the direction of the travel reference line L1.

The work vehicle 1 is provided with a line change switch 318 for changing the scheduled travel line L2, and the display device 45 is a travel schedule line two ahead of the current travel schedule line L2b when the line change switch 318 is operated. Guide L2c. According to this, when traveling (working) is not performed on the scheduled traveling line L2c adjacent to the current scheduled traveling line L2b, the vehicle body 3 (working vehicle 1) is guided to the scheduled traveling line L2c two ahead. Can be easily grasped.

When the automatic steering is started in the forward automatic steering, it may be notified that the forward automatic steering is started by a notification device such as a buzzer or a voice. Whether or not to notify by the notification device whether or not the advance has started can be set by an ON / OFF switch or the like.
Further, the tractor 1 can move backward while automatically steering along the scheduled travel line L2. When the tractor 1 automatically steers backward, the display device 45 displays on the screen of the display device 45 such as "Please work while looking backward" to encourage the driver to look behind. ..

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.

1: Work vehicle (tractor)
2: Working device 3: Body 4: Motor 5: Transmission 5a: Propulsion shaft 5b: Main transmission 5c: Auxiliary transmission 5d: Shuttle 5e: PTO power transmission 5f: Front transmission 7: Traveling device 7F: Front wheels 7R: Rear wheel 8: Connecting part 10: Driver's seat 11: Steering device 12: Shuttle shaft 13: Forward / backward switching part 14: PTO propulsion shaft 15: PTO clutch 16: PTO shaft 17: First clutch 18: Second clutch 20F : Front wheel diff device 20R: Rear wheel diff device 21F: Front axle 21R: Rear axle 22: Front transmission shaft 25: First actuating valve 26: Second actuating valve 30: Steering handle 31: Steering shaft 32: Auxiliary mechanism 33: Hydraulic Pump 34: Control valve 35: Steering cylinder 37: Automatic steering mechanism 38: Steering motor 39: Gear mechanism 40: Positioning device 41: Receiver device 42: Inertivity measuring device 45: Display device 46: Control unit 50: Rotation operation member 50a : Vertical axis 50b: Rotating body 50c: Switch 51: Setting switch 52: Steering changeover switch 60: Control device 60A: First control device 60B: Second control device 60C: Third control device 150: Reference registration unit 200: Automatic steering Control unit 210: Accelerator 211: Speed change member 301: Vehicle body orientation display unit 302: Vehicle body display unit 302a: Tip unit 303: Reference orientation display unit 304: Message unit 308: Symbol mark 310: Line display unit 310a: First straight-ahead unit 310b : Second straight part 311: Body display part 311a: Tip part 315: Assist display part 315a: Straight part 315b: Straight part 315c: Straight part 316: Turning guide part 318: Line change switch F1: Body direction F2: Line direction J : Turning running L1: Driving reference line L2: Scheduled running line L2a: Scheduled running line L2b: Scheduled running line L2c: Scheduled running line M1: Turning guidance screen M2: Driving screen O1: Center P10: Start point P11: End point P12: After the end ΔF3: Orientation difference θ1: Angle θg: Angle

The technical means of the present invention for solving this technical problem is characterized by the following points.
The work vehicle is a reference registration unit that registers a travel reference line based on the position of a vehicle body that can be driven by either manual steering by a steering handle or automatic steering of the steering handle, and a vehicle body that is driven by the manual steering. An automatic steering control unit that sets a planned travel line in the automatic steering and controls the automatic steering based on the travel reference line, a vehicle body orientation display unit that indicates the orientation of the vehicle body, and the travel reference line. The display device includes a display device having a reference direction display unit indicating the direction of the vehicle body, and the display device responds to the direction difference between the direction of the traveling reference line and the direction of the vehicle body after the automatic steering of the vehicle body is completed. The display position of the reference direction display unit is changed.

Claims (8)

A vehicle body that can be driven by either manual steering with the steering wheel or automatic steering of the steering handle,
A standard registration unit that registers a driving reference line based on the position of the vehicle body driven by the manual steering.
An automatic steering control unit that sets a planned travel line in the automatic steering and controls the automatic steering based on the travel reference line.
A display device having a vehicle body direction display unit indicating the vehicle body direction and a reference direction display unit indicating the direction of the traveling reference line.
With
The display device is a work vehicle that changes the display position of the reference direction display unit according to the direction difference between the direction of the traveling reference line and the direction of the vehicle body. The display device includes a vehicle body display unit that indicates the vehicle body and is superimposed on the vehicle body direction display unit.
The work vehicle according to claim 1, wherein the reference directional display unit rotates around the vehicle body display unit according to the directional difference. The display device increases the angle between the reference orientation display unit and the vehicle body display unit as the orientation difference increases, and the reference orientation display unit and the vehicle body display unit as the orientation difference decreases. The work vehicle according to claim 2, wherein the angle is reduced. The work vehicle according to any one of claims 1 to 3, wherein the display device displays that the automatic steering can be performed when the directional difference becomes less than a threshold value. The method according to any one of claims 1 to 4, wherein the automatic steering control unit does not allow the automatic steering when the directional difference is equal to or more than a threshold value, and permits automatic steering when the directional difference is less than the threshold value. Work vehicle. The work vehicle according to any one of claims 1 to 5, wherein the display device has a line display unit indicating at least the next scheduled travel line from the scheduled travel line on which the vehicle body is traveling. The work vehicle according to claim 6, wherein the display device changes the display position of the line display unit together with the reference orientation display unit according to the directional difference between the orientation of the traveling reference line and the orientation of the vehicle body. Equipped with a line change switch that changes the planned travel line
The work vehicle according to any one of claims 1 to 7, wherein the display device guides a travel schedule line two ahead of the current travel schedule line when the line change switch is operated.

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