Work machine

Abstract

The invention provides a work machine which can easily realize improvement of visual confirmation of a display part. A work machine (10) is provided with: a machine body (11) having an automatic steering function; a display unit (61); and a support member (7). The display unit (61) displays at least information relating to the automatic steering function. The support member (7) supports the display unit (61). The support member (7) has a first attachment section (701) and a second attachment section (702). The first mounting part (701) is fixed to a first fixing part (101) of the machine body (11). The second mounting part (702) is fixed to a second fixing part (102), different from the first fixing part (101), of the machine body (11). The first fixing part (101) and the second fixing part (102) are arranged on one side of the left-right direction (D3) when viewed from the center of the left-right direction (D3) of the machine body (11).

Description

Technical Field

[0001] The invention relates to a working machine with an automatic steering control function. Background Art

[0002] As a related technology, the following working machine (working vehicle) is known, which includes: a steering wheel; and a steering shaft that supports the steering wheel so as to be rotatable, and the working machine can travel by automatically steering the steering wheel (for example, see Patent Document 1). The working machine includes a display unit (display device) arranged in front of the steering shaft.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-151867 Summary of the invention

[0006] In the above-mentioned related art structure, the display unit is arranged in front of the steering wheel. Therefore, the driver may have difficulty seeing the display screen of the display unit due to the angle of the steering wheel, the driver's posture or the driver's body shape.

[0007] An object of the present invention is to provide a working machine that can easily improve the visibility of a display unit.

[0008] A working machine according to one aspect of the present invention comprises: a machine body having an automatic steering function; a display unit; and a support member. The display unit displays at least information related to the automatic steering function. The support member supports the display unit. The support member comprises a first mounting portion and a second mounting portion. The first mounting portion is fixed to a first fixing portion of the machine body. The second mounting portion is fixed to a second fixing portion of the machine body that is different from the first fixing portion. When viewed from the center of the machine body in the left-right direction, the first fixing portion and the second fixing portion are arranged on one side in the left-right direction.

[0009] Effects of the Invention

[0010] According to the present invention, it is possible to provide a working machine in which the visibility of a display unit can be easily improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic side view showing the appearance of the working machine according to the first embodiment.

[0012] Figure 2 This is a schematic block diagram of the working machine according to the first embodiment.

[0013] Figure 3 This is a schematic diagram showing a usage example of the working machine according to the first embodiment.

[0014] Figure 4 This is a schematic plan view showing the appearance of the working machine according to the first embodiment.

[0015] Figure 5 This is a schematic perspective view of the working machine according to the first embodiment as seen from the right rear.

[0016] Figure 6 This is a schematic perspective view of the working machine according to the first embodiment as seen from the right front.

[0017] Figure 7 This is a schematic perspective view showing the support structure of the display operation device of the working machine according to the first embodiment, as seen from the right rear.

[0018] Figure 8 This is a schematic perspective view showing a support structure of a display and operating device for a working machine according to Embodiment 1, as seen from the left front.

[0019] Fig. 9 This is a schematic rear view showing a support structure of the display operation device of the working machine according to the first embodiment.

[0020] Fig.10 This is a schematic right side view showing the support structure of the display operation device of the working machine according to the first embodiment.

[0021] Description of Reference Numerals

[0022] 5…driving unit; 7…support component; 8…reflector; 10…operating mechanism; 11…machine body; 55…floor; 54…fender frame (auxiliary component); 57…instrument panel frame (auxiliary component); 61…display unit; 62…operating unit; 71…(first) supporting frame; 101…first fixing unit; 102…second fixing unit; 701…first mounting unit; 702…second mounting unit; 703…closing plate; D1…up and down direction; D3…left and right direction. DETAILED DESCRIPTION

[0023] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following embodiment is an example for realizing the present invention, and the intent thereof is not to limit the technical scope of the present invention.

[0024] (Implementation Method 1)

[0025] [1] Overview

[0026] First, refer to Figure 1 to Figure 4 The outline of the working machine 10 according to the present embodiment will be described.

[0027] The working machine 10 includes a machine body 11. The machine body 11 is configured to be able to mount a working machine 12. The machine body 11 has an automatic steering function.

[0028] In this embodiment, the working machine 10 includes a control device 2 (see Figure 2 ). The control device 2 and the terminal device 3 (refer to Figure 2 ) together constitute a control system 1 for controlling the working machine 10. The working machine 10 and the terminal device 3 are capable of communicating with each other. "Capable of communicating" as mentioned in the present disclosure means being able to send and receive information directly through an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium) or indirectly with the help of a communication network (network) or a repeater, etc. Communication networks include, for example, the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone lines, mobile phone line networks, data packet line networks, or wireless LANs. The structure in which the working machine 10 and the terminal device 3 are capable of communicating with each other is not an indispensable structure in the control system 1.

[0029] In this embodiment, as an example, the terminal device 3 is composed of a general-purpose terminal such as a tablet terminal, a smart phone or a laptop computer. A dedicated application software (program) is installed on the terminal device 3 composed of a general-purpose terminal, and the terminal device 3 functions as the terminal device 3 of the control system 1 by starting the application software.

[0030] The working machine 10 is in the target area F1 (see Figure 1 ) and performs some kind of work in the target area F1 using the work machine 12. The "work" referred to in this disclosure is the work performed by the work machine 12 on the target area F1, including various agricultural works such as tillage, leveling, sowing, fertilization, pesticide spraying, planting (transplanting) or harvesting, and various works such as construction work. In this embodiment, as an example, the work performed by the work machine 10 is set as tillage work.

[0031] When the machine body 11 of the working machine 10 moves in the target area F1, the working machine 12 performs work in the target area F1. In the present embodiment, as an example, the working machine 12 is a tilling machine such as a rotary tiller or a plow that performs tilling work.

[0032] Among such working machines 12, there are direct-mounted working machines directly mounted on a three-point linkage, and towed working machines towed by a machine body 11. In the present embodiment, as an example, the working machine 12 is a direct-mounted rotary tiller mounted on the machine body 11 of the working machine 10 in a detachable manner. Here, the working machine 12 is mounted on the rear side of the machine body 11 (the side opposite to the forward direction of the machine body 11). That is, the (direct-mounted) working machine 12 is connected to the rear side of the machine body 11, and when the machine body 11 moves forward, it moves forward together with the machine body 11 and performs work. In the present embodiment, the working machine 12 is included in the components of the working machine 10, but the working machine 12 can be removed from the machine body 11, and therefore, the working machine 12 may not be included in the components of the working machine 10.

[0033] The "working machine" mentioned in the present disclosure means, for example, a vehicle that performs various operations in an object area F1 such as a field, and as an example, agricultural machinery (agricultural machinery) such as a tractor, a seed drill, a rice transplanter, a spreader, a sprayer, a transplanter, and a harvester. The working machine 10 may also be, for example, a construction machine (construction machine), etc. In the present embodiment, unless otherwise stated, the case where the working machine 10 is a tractor equipped with a rotary tiller as the working machine 12 is cited as an example for explanation. That is, the (direct-mounted) rotary tiller as the working machine 12 is connected to the tractor as the machine body 11 to form the working machine 10. With regard to the working machine 10, the machine body 11 travels in the object area F1 such as a field, so that the tillage operation of the object area F1 can be performed.

[0034] Thus, in this embodiment, the machine body 11 is a type of vehicle that moves by traveling in the target area F1. Figure 1 and Figure 4 As shown, the vehicle body 11 includes a steering wheel 111 including a pair of left and right front wheels and a driving wheel 112 including a pair of left and right rear wheels. The vehicle body 11 travels in the target area F1 using the four wheels (a pair of steering wheels 111 and a pair of driving wheels 112). Figures 4 to 6 Illustration of axles etc. is omitted.

[0035] In addition, in this embodiment, as an example, the working machine 10 is set as an automatic machine that can be ridden by a driver (operator) but can also perform actions by automatic driving (autonomous driving, etc.). However, it is not limited to this, and the working machine 10 can be an automatically driven drone, or can perform actions through the operation (including remote operation) of the driver (operator).

[0036] The "target area" referred to in the present disclosure is an area where the working machine 10 moves while performing various operations such as tilling, leveling, sowing, fertilizing, spreading pesticides, planting (transplanting) or harvesting, including paddy fields, dry fields, orchards, and pastures. For example, when a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are cultivated is the target area F1, the crops cultivated in the target area F1 are agricultural products. In addition, when trees are cultivated in a tree-planting dry field, the tree-planting dry field is the target area F1, and when trees that become timber are cultivated in a forest as in forestry, the forest is the target area F1. In this case, the crops cultivated in the target area F1 are planted trees or trees, etc. In this embodiment, unless otherwise stated, the case where the working machine 10 is used for tillage operations in a field (target area F1) and the target area F1 is a paddy field for rice cultivation is cited as an example for explanation. In addition, the target area F1 is not limited to a field. For example, if the working machine 10 is a construction machine, the site where the construction machine performs work becomes the target area F1.

[0037] In addition, the working machine 10 can move by automatic driving not only in the target area F1 (here, the field), but also on roads such as off-field paths outside the target area F1. The working machine 10 is configured to be able to automatically drive (move) along a target path (including an off-field path) pre-set in the target area F1 and outside the target area F1 based on the position information of the current position of the working machine 10 measured by the positioning device 15. The off-field path is, for example, an inter-field connecting road that connects multiple target areas F1 (fields). The inter-field connecting road is a farm road, a forest road, a highway, a private road or a driveway, etc., and can be a road dedicated to the working machine 10 or a road that can be passed by general vehicles (passenger cars, etc.).

[0038] In addition, the “automatic driving” referred to in the present disclosure includes “autonomous driving” in which the working machine 10 drives autonomously without relying on the operation of the operator, and “semi-automatic driving” in which only the steering operation is automated, such as straight driving assist.

[0039] "Autonomous driving" is a driving mode in which the vehicle speed and other aspects are automatically controlled based on the automatic steering of the steering wheel 111, such as when the working machine 10 is driving along a target path. "Straight-travel assistance" is a driving mode in which the vehicle speed and other aspects are controlled by the operator's operation, such as when the working machine 10 is driving along a straight path parallel to a straight line (reference line) that serves as a reference, while only the steering of the steering wheel 111 is automatically steered. That is, with regard to "semi-automatic driving", although the working machine 10 cannot be driven without the operator's operation, the burden of steering control can be reduced for the operator, and the working machine can be driven along a target path such as a straight path, thereby improving the working efficiency. Moreover, the steering wheel 111 is automatically steered regardless of whether the driving is autonomous or semi-automatic, so it can be called a mode of "automatic steering control mode".

[0040] In the automatic steering mode, the automatic steering mechanism including the steering motor performs automatic steering on the steering wheel 111. That is, instead of the operator operating the steering operation unit 41 (see Figure 1 ) is operated by using the output of the steering motor to change the direction of the steering wheel 111 to achieve automatic steering control. In short, the body 11 of the working machine 10 involved in this embodiment has an automatic steering control function for automatically steering the steering wheel 111.

[0041] [2] Structure of operating machinery

[0042] Next, refer to Figure 1 to Figure 6 The structure of the working machine 10 according to the present embodiment will be described in detail.

[0043] In this embodiment, for convenience of description, the vertical direction in a state where the working machine 10 can be used is defined as the up-down direction D1 (see Figure 1 The front-rear direction D2 and the left-right direction D3 are defined based on the direction viewed from the driver (operator) riding on the body 11 (driving unit 5) of the working machine 10 (refer to Figure 4 The left side of the left-right direction D3 refers to the left side when the machine body 11 is moving forward (advancing), and the right side of the left-right direction D3 refers to the right side when the machine body 11 is moving forward (advancing). However, the purpose of the above directions is not to limit the use direction (direction when using) of the working machine 10.

[0044] like Figure 2As shown, on the basis of the machine body 11 and the working machine 12, the working machine 10 further includes a control device 2, a travel device 13, a steering device 14, a positioning device 15, a detection device 16, a communication device 17, a power source 18, and a display operation device 6. The control device 2, the travel device 13, the steering device 14, the positioning device 15, the detection device 16, the communication device 17, the power source 18, and the display operation device 6 are all mounted on the machine body 11.

[0045] The machine body 11 has a driving part 5 (see Figure 1 The steering device 14 includes a steering operation unit 41, an operating lever 42, and a pedal 43. The steering operation unit 41, the operating lever 42, and the pedal 43 are operating units operated by an operator. Therefore, the working machine 10 is configured to be capable of not only automatic driving but also manual driving through manual operation by an operator.

[0046] A work machine connection portion 46 composed of a three-point linkage mechanism or the like is provided at the rear of the machine body 11. The work machine 12 can be mounted on the work machine connection portion 46. The power generated by the power source 18 can be transmitted to the work machine 12 for towing via the transmission 44 and the power output shaft (PTO shaft) arranged at the rear of the machine body 11. Here, the work machine 12 is connected to the work machine connection portion 46 in a detachable manner, so that a device separate from the work machine 12 can also be connected to the machine body 11.

[0047] In the present embodiment, the working machine 12 is a direct-mounted rotary tiller, so when the machine body 11 moves forward, it can perform tillage work on the field as the target area F1. The relative position (relative height) of the working machine 12 in the up-down direction D1 relative to the machine body 11 is variable. Thus, the height of the working machine 12 when the ground surface of the target area F1, i.e., the field surface, is used as a reference is variable. For example, by raising the working machine 12 to a height separated from the ground surface of the target area F1, the working machine 10 can also travel in a non-working state without using the working machine 12 for work.

[0048] like Figure 1 As shown, the travel device 13 is a device that drives the driving wheels 112 (a pair of left and right rear wheels) to make the working machine 10 travel. The travel device 13 includes a transmission device 44, which transmits the power generated by the power source 18 to the driving wheels 112 by means of the transmission device 44 to make the machine body 11 move forward or backward. In addition, the travel device 13 includes a braking device, which can also slow down or stop the machine body 11. In this embodiment, the driving wheel 112 is a normal wheel, but it is not limited to this. For example, it can also be a semi-tracked machine body 11 using a crawler for the driving wheel 112.

[0049] like Figure 1 As shown in FIG. 1 , the steering device 14 is a device for steering the steering wheels 111 formed of a pair of left and right front wheels. The steering device 14 includes a steering operation unit 41, and the steering wheels 111 are steered according to the operation of the steering operation unit 41 by the operator. Figure 4 As shown, the pair of steering wheels 111 are oriented in the front-rear direction D2, that is, the rotation axis is along the left-right direction D3 as a reference posture when viewed from above, and are steered in a manner tilted to the left or right from the reference posture by the steering device 14. That is, the steering device 14 steers the steering wheels 111 by changing the direction of the pair of steering wheels 111.

[0050] If the steering operation unit 41 is operated in a clockwise direction from the state where the pair of steering wheels 111 are in the reference posture, the steering device 14 performs steering in a manner that (the front ends of) the pair of steering wheels 111 are tilted to the right, and the body 11 turns right when the body 11 moves forward. On the other hand, if the steering operation unit 41 is operated in a counterclockwise direction from the state where the pair of steering wheels 111 are in the reference posture, the steering device 14 performs steering in a manner that (the front ends of) the pair of steering wheels 111 are tilted to the left, and the body 11 turns left when the body 11 moves forward. In the present embodiment, the steering operation unit 41 is operated by the operator during manual steering, but the present invention is not limited thereto, and for example, the operator may perform manual steering by operating an operating lever or the like.

[0051] By using the travel device 13 and the steering device 14, the machine body 11 can be driven in the target area F1 in the front-rear direction D2 and the left-right direction D3. For example, when the driving wheel 112 is driven by the travel device 13 to drive the machine body 11 forward, if the angle of the steering wheel 111 is changed by the steering device 14, the machine body 11 turns in the left-right direction D3 and the moving direction of the machine body 11 is changed.

[0052] The positioning device 15 obtains the current position (latitude, longitude, altitude, etc.) of the aircraft 11. Specifically, the positioning device 15 is disposed on the rollover protection frame 114, for example, and calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as a GNSS (Global Navigation Satellite System). That is, the positioning device 15 has a function of receiving signals from a plurality of satellites 202 (see Figure 3 ) is used to calculate the current position based on the positioning signal. In addition, the positioning device 15 includes an inertial sensor and can also detect the current orientation and other postures of the body 11.

[0053] In addition, the positioning device 15 calculates the current position of the working machine 10 using the correction information corresponding to the base station 201 (reference station) close to the working machine 10, and adopts a higher-precision positioning method such as RTK (Real Time Kinematic) positioning. The current position of the body 11 can be the same position as the positioning position (the position of the positioning antenna), or it can be a position offset from the positioning position such as the center position of the body 11 when viewed from above. As the positioning device 15, for example, a mobile terminal, a smart phone, a tablet terminal, or a quantum compass can be used instead.

[0054] The detection device 16 detects obstacles in the detection area. The detection device 16 includes an obstacle sensor and a detection processing unit. The obstacle sensor may include various sensors such as a camera (image sensor), a sonar sensor, a human sensor, a radar, or a LiDAR (Light Detection and Ranging). The obstacle sensor may be a 3D sensor that measures the distance to an object (obstacle) by using a TOF (Time Of Flight) method based on the round-trip time for light or sound to reach the ranging point and return. The detection processing unit detects obstacles based on the measurement information obtained from the obstacle sensor. Here, the detection processing unit may only detect whether an obstacle exists, or may detect the position, shape, quantity, or attributes (including type, etc.) of the obstacle.

[0055] The detection result of the detection device 16 is output to the control device 2. When the detection device 16 detects an obstacle at least during the automatic driving of the working machine 10, the control device 2 performs output of an alarm (including notification based on sound and / or light) and obstacle avoidance processing (including bypassing, deceleration or stopping, etc.) based on controlling the driving device 13 and the steering device 14. In addition, the control device 2 can output the position information of the obstacle and the execution history of the avoidance processing to the terminal device 3 and display it on the terminal device 3.

[0056] The communication device 17 is an interface that enables the working machine 10 (control device 2 and positioning device 15, etc.) to be connected to an external device in a wired or wireless manner, and is used to perform data communication with the external device based on a prescribed communication protocol. In this embodiment, the communication device 17 is at least capable of communicating with the terminal device 3 as an external device. As the communication device 17, for example, a mobile phone terminal, a smart phone, or a tablet terminal can be used instead.

[0057] The power source 18 is a driving source for supplying power to at least the travel device 13. The power source 18 is arranged at the front of the machine body 11 so as to be covered by the engine cover 45. The power source 18 is a driving source of the working machine 10, and is, for example, a diesel engine. However, the power source 18 of the working machine 10 is not limited to a diesel engine, and may be an engine such as a gasoline engine, an electric motor, or a hybrid system of an engine and an electric motor.

[0058] Furthermore, the power source 18 drives the hydraulic pump, and the hydraulic pump supplies hydraulic oil to the hydraulic cylinder and the like of the power steering mechanism of the steering device 14. That is, the power source 18 is configured to be able to supply power also to the power steering mechanism.

[0059] The transmission 44 is arranged behind the power source 18 and below the driving part 5. The transmission 44 includes a power transmission device. The rotational power of the power source 18 is transmitted to at least one of the steering wheel 111 and the driving wheel 112 (the driving wheel 112 in this embodiment) via the power transmission device in the transmission 44.

[0060] The driving unit 5 is arranged behind the power source 18 of the machine body 11. The driving unit 5 has a driver's seat 51 (see Figure 4 ) and the instrument panel 52. The driver's seat 51 is where the driver sits. The instrument panel 52 also serves as a steering column and is arranged in front of the driver's seat 51. Figure 4 In addition, illustration of the driver's seat 51 is omitted.

[0061] As an example, the steering operation unit 41 is a steering wheel operated by a driver sitting in a driver's seat 51. The steering operation unit 41 is supported by a steering shaft disposed in an instrument panel 52 so as to be rotatable. The steering operation unit 41 is disposed in front of the driver's seat 51 and above the instrument panel 52. The body 11 can change the direction (steering angle) of the steering wheel 111 by rotating the steering operation unit 41.

[0062] In addition, the driving unit 5 is provided with, for example, an operating lever 42 and a pedal 43 operated by the driver, and a meter indicating the speed of the working machine 10. The operating lever 42 may include a variety of levers, for example, a main gear lever, a sub-gear lever, or a working lever, etc. In addition, the pedal 43 may include a variety of pedals, for example, an accelerator pedal and a brake pedal, etc.

[0063] In the present embodiment, the working machine 10 is provided with an anti-rollover protection frame 114 at the rear of the driver's seat 51. The anti-rollover protection frame 114 protects the driver when the working machine 10 overturns. The working machine 10 is not limited to the anti-rollover protection specification provided with the anti-rollover protection frame 114, and a cab type structure in which the driver's seat 51 is covered by a cab may be used.

[0064] In addition, if Figure 5 and Figure 6 As shown, a fender 53 is provided on the driving part 5. Specifically, a pair of left and right fenders 53 are arranged at the front end of the driving part 5. The fender 53 is a plate-shaped member having a thickness in the front-rear direction D2. The fender 53 is used to remove mud, and as an example, is composed of a member such as an acrylic plate having light transmittance in a manner that is difficult to block the front view.

[0065] Furthermore, a fender frame 54 for supporting the fender 53 is provided on the driving portion 5. Specifically, a pair of left and right fender frames 54 are arranged at the front end portion of the driving portion 5 corresponding to the pair of left and right fenders 53. The pair of fender frames 54 are symmetrically arranged with respect to the instrument panel 52. Each fender frame 54 has a curved shape that extends upward from its lower end portion and curves toward the inner side (the instrument panel 52 side) in the left-right direction D3 at its upper end portion. One end portion of the lower end side of each fender frame 54 is fixed to the floor 55 of the driving portion 5, and the other end portion is fixed to the instrument panel 52. Strictly speaking, it is fixed to the instrument panel frame 57 (refer to Figure 7 ).

[0066] The display operation device 6 is a device that displays various information to the driver and accepts the driver's operation. The display operation device 6 can accept, for example, a switching operation between an automatic steering mode for automatically steering the steering wheel 111 and a manual steering mode for manually steering the steering wheel 111. The display operation device 6 outputs a signal corresponding to the accepted operation to the control device 2.

[0067] The control device 2 is mainly composed of a computer system having one or more processors such as a CPU (Central Processing Unit), one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and performs various processes (information processing). In the present embodiment, the control device 2 is mainly composed of a computer system having one or more processors, and therefore, the control device 2 is realized by executing a control program for the working machine through one or more processors. In the present embodiment, the control device 2 is an integrated controller that controls the working machine 10 as a whole, for example, it is composed of an electronic control unit (ECU: Electronic Control Unit). Among them, the control device 2 can be set separately from the integrated controller.

[0068] The control device 2 is configured to be able to communicate with the devices provided in various parts of the machine body 11. That is, the working machine 12, the travel device 13, the steering device 14, the positioning device 15, the detection device 16, the communication device 17, the power source 18, the display operation device 6, etc. are electrically connected to the control device 2. Thus, the control device 2 can control the working machine 12, the travel device 13, the steering device 14, the display operation device 6, etc., and can obtain the output of the positioning device 15, the detection device 16, the display operation device 6, etc. Here, the control device 2 can directly transmit and receive various information (data) with each device, and can also transmit and receive various information (data) indirectly with the aid of a repeater, etc.

[0069] In this embodiment, if Figure 2 As shown, the control device 2 includes a travel control unit 21 , a steering control unit 22 , a work control unit 23 , and a storage unit 24 .

[0070] The travel control unit 21 controls the travel device 13 and the power source 18. The travel control unit 21 controls the travel device 13 and the power source 18 in a manner that the vehicle speed and the engine speed, etc. are close to the target value instead of the operator at least during autonomous travel. In addition, the travel control unit 21 can also control the brake device of the travel device 13 to decelerate or stop the machine body 11.

[0071] The steering control unit 22 controls the steering device 14. The steering control unit 22 has an automatic steering mode and a manual steering mode as operation modes, and is configured to be switchable between the automatic steering mode and the manual steering mode. The manual steering mode is a mode in which the operator operates the steering operation unit 41 to perform steering. The steering control unit 22 operates in the automatic steering mode at least during autonomous driving or semi-automatic driving, and controls the steering device 14 in a manner that the steering angle of the steering wheel 111 approaches the target steering angle instead of the operator.

[0072] In particular, during autonomous driving, the steering control unit 22 and the driving control unit 21 together control the working machine 10 based on the current position of the machine body 11 so that the machine body 11 drives along the target path. The target path for the working machine 10 to drive autonomously is generated, for example, in the terminal device 3. That is, the working machine 10 obtains the path data corresponding to the target path from the terminal device 3 and drives autonomously according to the target path.

[0073] The work control unit 23 controls the work machine 12. The travel control unit 21 controls the work machine 12 based on the current position of the machine body 11 on the target path at least during autonomous travel. Specifically, if the work machine 10 is in the process of traveling on a work path in the target path where the work machine 12 is used to perform work, the work control unit 23 sets the work machine 12 to the work position and uses the work machine 12 to perform work. On the other hand, if the work machine 10 is in the process of traveling on a non-work path in the target path where the work machine 12 is not used to perform work, the work control unit 23 raises the work machine 12 to the non-work position and stops the work performed by the work machine 12.

[0074] The storage unit 24 is a nonvolatile memory that stores various data such as a control program for the working machine and target path information related to the target path. That is, the travel control unit 21 and the steering control unit 22 can, for example, perform autonomous travel along the target path based on the target path information stored in the storage unit 24.

[0075] In addition to the above structure, the working machine 10 is further provided with a battery, a fuel tank, and various sensors. The battery supplies power for operation to various parts of the working machine 10, such as the control device 2. In particular, electronic devices such as the control device 2, the steering device 14, the positioning device 15, the detection device 16, and the communication device 17 operate due to the power supplied from the battery, and can operate even when the power source 18 is stopped.

[0076] Here, an overview of automatic driving (automatic steering driving) performed by the working machine 10 according to the present embodiment will be described. When performing automatic driving, first, a reference line is set.

[0077] When setting the reference line, first, the working machine 10 moves to an appropriate position (point A) in the target area F1 and registers point A. Point A registration is performed based on a registration instruction from the driver. The position of the machine body 11 obtained by the positioning device 15 at the time when the instruction to register point A is issued is registered as the position of point A.

[0078] When performing point A registration, the driver manually drives the work machine 10 (straight) to move to a predetermined position (point B). Then, when the work machine 10 reaches the predetermined position, point B registration is performed. Point B registration is performed based on a registration instruction from the driver. The position of the machine body 11 obtained by the positioning device 15 at the time when the instruction for point B registration is issued is registered as the position of point B.

[0079] When registering point A and point B, a straight line passing through point A and point B is set as a reference line.

[0080] When the reference line is set, lines parallel to the reference line are generated at predetermined intervals as a target path (straight path). During automatic driving (automatic operation driving), the steering control of the working machine 10 is performed so that the position of the machine body 11 obtained by the positioning device 15 matches the target path.

[0081] The method of setting the baseline is not limited to the above method. For example, the baseline may be automatically registered based on the orientation of the vehicle 11 at the time of the A-point registration instead of the B-point registration. In addition, the baseline may be automatically registered based on the azimuth angle set (for example, by the driver) when the A-point registration is performed instead of the B-point registration.

[0082] [3] Structure of display operation device

[0083] like Figures 4 to 6 As shown, the working machine 10 includes a display operation device 6 .

[0084] The display operation device 6 is arranged on one side when viewed from the center in the left-right direction D3 of the driving unit 5. In the present embodiment, as an example, the display operation device 6 is arranged on the right side when viewed from the center in the left-right direction D3 of the driving unit 5.

[0085] Specifically, the display operation device 6 is arranged on the right side of the steering operation unit 41. Furthermore, at least a portion of the display operation device 6 is arranged in parallel with the steering operation unit 41 in the left-right direction D3. In other words, at least a portion of the display operation device 6 is arranged at the same height as the steering operation unit 41, that is, at the same position as the steering operation unit 41 in the up-down direction D1.

[0086] This arrangement can easily prevent the driver's field of view toward the display operation device 6 from being blocked by the steering operation unit 41 and the operation of the display operation device 6 from being hindered. Therefore, it is easy to improve the visual confirmation and operability of the display operation device 6. In addition, it is easy to ensure the field of view in front of the driver's seat 51.

[0087] Furthermore, by placing at least a portion of the display operation device 6 at the same height as the steering operation unit 41 , it is easy for the driver who operates the steering operation unit 41 to operate the display operation device 6 and to visually confirm the display operation device 6 .

[0088] In addition, at least a portion of the display operation device 6 is located further forward than the rear end of the steering operation unit 41. Therefore, for the driver sitting in the driver's seat 51, the display operation device 6 is unlikely to interfere with the operation of the steering operation unit 41 and the driving operation of the working machine 10. In the present embodiment, in particular, the entire display operation device 6 (display unit 61 and operation unit 62) is located further forward than the rear end of the steering operation unit 41.

[0089] Furthermore, in the present embodiment, an operating lever 42 is disposed on the side of the driver's seat 51. As an example, the operating lever 42 is a main gear lever for adjusting the speed (vehicle speed) of the working machine 10. The display operating device 6 is located in front of the operating lever 42. Moreover, at least a portion of the display operating device 6 is disposed at the same height as the operating lever 42, that is, disposed at the same position as the operating lever 42 in the up-down direction D1. As a result, the driver can easily operate the display operating device 6 while holding the operating lever 42, and the operability of the display operating device 6 can be easily improved.

[0090] Here, if Figure 7 to Figure 10 As shown in FIG. 6 , the display operation device 6 includes a display unit 61 and an operation unit 62. Figure 7 to Figure 10 In FIG. 1 , only the display operation device 6 and its surrounding components are shown, and illustration of other components is omitted.

[0091] The display unit 61 displays at least information related to the automatic steering function of the working machine 10. The display unit 61 is a user interface for displaying various information, such as a liquid crystal display or an organic EL display, for presenting information to the driver (operator). In the present embodiment, as an example, the display unit 61 is approximately rectangular and has a horizontally long rectangular display screen. The shape of the display unit 61 (and its display screen) is not limited to this example, and it may also be a vertically long display screen, etc.

[0092] The operating unit 62 includes a first operating unit 621 and a second operating unit 622 as operating components for performing at least operations related to the automatic steering control function of the working machine 10. The first operating unit 621 is, for example, a push button switch, which can switch the start and stop of the automatic driving function. The second operating unit 622 is, for example, a toggle switch, which can correct the path of the automatic driving (bias correction). The surface (back surface) of the operating unit 62 facing the driver sitting in the driver's seat 51 is an approximately rectangular shape having a length in the left-right direction D3.

[0093] For example, if the second operating member 622 is operated to the right, the position of the target path displayed on the display unit 61 can be shifted to the right, and if the second operating member 622 is operated to the left, the position of the target path displayed on the display unit 61 can be shifted to the left. Thus, as a driver, the second operating member 622 can be operated intuitively to correct the path.

[0094] Here, the first operating member 621 is preferably arranged closer to the steering operation unit 41 than the second operating member 622. Specifically, the display operation device 6 is arranged on the right side of the steering operation unit 41, so the first operating member 621 is preferably arranged on the left side of the second operating member 622.

[0095] Since the first operating member 621 for switching the start and stop of the automatic driving function is arranged closer to the driver (compared with the second operating member 622), it is easy for the driver to perform the switching operation of starting / stopping the automatic driving.

[0096] Furthermore, it is difficult for the driver to confuse the switching operation with other operations. In addition, regarding the second operating member 622 disposed on the right side of the first operating member 621, the driver can operate it by holding the right side of the operating member 62 (with the right hand). In the present embodiment, the second operating member 622 is a toggle switch, and if the right side of the operating member 62 is held, it is easy to stably operate the second operating member 622 with the thumb, for example. As a result, the operability of the operating member 62 is improved.

[0097] However, in the display operation device 6 involved in this embodiment, the display unit 61 and the operation unit 62 are separate. That is, in this embodiment, the display unit 61 and the operation unit 62 are not integrated into one component. In other words, the display unit 61 and the operation unit 62 are fixed to the body 11 in a state separated from each other. Among them, the display unit 61 and the operation unit 62 are electrically connected.

[0098] Hereinafter, the support structure of the display unit 61 and the operation unit 62 will be described in detail.

[0099] The working machine 10 involved in this embodiment includes: a body 11 having an automatic steering function; a display unit 61; and a support member 7. The display unit 61 displays at least information related to the automatic steering function. The support member 7 supports the display unit 61. The support member 7 has a first mounting portion 701 and a second mounting portion 702. The first mounting portion 701 is fixed to a first fixing portion 101 of the body 11. The second mounting portion 702 is fixed to a second fixing portion 102 different from the first fixing portion 101 of the body 11. When viewed from the center of the body 11 in the left-right direction D3, the first fixing portion 101 and the second fixing portion 102 are arranged on one side in the left-right direction D3.

[0100] In summary, in this embodiment, the display unit 61 of the display operation device 6 is supported by the machine body 11 via the support member 7. Here, the support member 7 is fixed to the machine body 11 at least at two locations, namely, the first fixing portion 101 and the second fixing portion 102. Therefore, compared with the case where the support member 7 is fixed to the machine body 11 at one location, the fixing strength of the support member 7 relative to the machine body 11 can be improved. Furthermore, when viewed from the center of the left-right direction D3 of the machine body 11, the first fixing portion 101 and the second fixing portion 102 are concentrated on one side of the left-right direction D3. Therefore, compared with the case where the first fixing portion 101 and the second fixing portion 102 are dispersed to both sides of the left-right direction D3 when viewed from the center of the left-right direction D3 of the machine body 11, although the rigidity of the support member 7 itself is suppressed to a lower level, the display unit 61 can be firmly supported.

[0101] Furthermore, since the display unit 61 is supported on the machine body 11 by the support member 7, for example, the display unit 61 is not limited to be arranged in front of the steering operation unit 41 (steering wheel), and the display unit 61 can be arranged relatively freely. As a result, for example, there are advantages that the display unit 61 can be arranged easily to avoid a position where the display screen of the display unit 61 is difficult to be seen from the driver due to the angle of the steering operation unit 41, the posture of the driver, or the body shape of the driver, and the display unit 61 can be easily arranged, and the visual confirmation of the display unit 61 can be easily improved.

[0102] In the present embodiment, as described above, the display operation device 6 is arranged on the right side of the steering operation unit 41. The steering operation unit 41 is arranged at the center of the left-right direction D3 of the machine body 11, and therefore, the support member 7 supporting the display unit 61 of the display operation device 6 is also arranged on the right side when viewed from the center of the left-right direction D3 of the machine body 11. Therefore, the first fixing portion 101 and the second fixing portion 102 for fixing the support member 7 are arranged on the right side in the left-right direction D3 when viewed from the center of the left-right direction D3 of the machine body 11.

[0103] In the present embodiment, the support member 7 that supports the display unit 61 also supports the operating unit 62 of the display operating device 6. That is, the working machine 10 according to the present embodiment further includes the operating unit 62 supported by the support member 7. As described above, the operating unit 62 is a portion for performing operations related to at least the automatic steering control function of the working machine 10.

[0104] Thus, the operation unit 62 is supported by the support member 7 on the machine body 11 in the same manner as the display unit 61. Therefore, for example, the operation unit 62 is not limited to be arranged in front of the steering operation unit 41 (steering wheel), and the operation unit 6 can be arranged relatively freely. As a result, for example, there are advantages such as being able to avoid a position where it is difficult for the driver to operate the operation unit 62 due to the angle of the steering operation unit 41, the driver's posture, or the driver's body shape, making it easy to arrange the operation unit 62, and making it easy to improve the operability of the operation unit 62.

[0105] Furthermore, in the present embodiment, the operation unit 62 and the display unit 61 are arranged separately from each other. That is, although the display unit 61 and the operation unit 62 are supported by the common support member 7, their arrangements are set separately. Therefore, by miniaturizing the display unit 61 and the operation unit 62, it is easy to arrange the display unit 61 and the operation unit 62 by utilizing a dead space or the like.

[0106] Here, the operation unit 62 is arranged further rearward than the display unit 61 in the front-rear direction D2. That is, from the perspective of the driver sitting behind the display operation device 6 (display unit 61 and operation unit 62), the operation unit 62 is located further forward (closer) than the display unit 61, so it is easy to operate the operation unit 62. That is, the driver can easily operate the operation unit 62 without changing the posture such as leaning forward.

[0107] Below, refer to Figure 7 to Figure 10 The specific structure of the support member 7 of this embodiment will be described.

[0108] In this embodiment, the support member 7 further includes a first support frame 71, a second support frame 72, a connecting member 73, a first stay 74, and a second stay 75 in addition to the first mounting portion 701 and the second mounting portion 702. Here, since the working machine 10 is used outdoors, the components of the support member 7 (such as the first support frame 71) are all metal components that have been subjected to rust-proofing.

[0109] As an example, the first support frame 71 is composed of a circular tube member (circular tube) with a circular cross section. The first support frame 71 has a length at least in the up-down direction D1, and the first mounting portion 701 is connected to one end (lower end) of the first support frame 71 by a connection method such as welding and / or bonding.

[0110] As an example, the second support frame 72 is formed of a circular tube member (circular tube) with a circular cross section. The second support frame 72 has a length at least in the up-down direction D1, and the second mounting portion 702 is joined to one end (lower end) of the second support frame 72 by a joining method such as welding and / or bonding.

[0111] like Figure 7 and Figure 8 As shown, the connection member 73 is a member that connects the first support frame 71 and the second support frame 72. Here, the connection member 73 connects the upper end of the first support frame 71 and the upper end of the second support frame 72.

[0112] In this embodiment, as an example, Figure 8 As shown, the connecting member 73 includes a first connecting portion 731 and a second connecting portion 732 which are fastened and connected by fastening members such as bolts and nuts. The first connecting portion 731 is connected to the upper end of the first support frame 71 by a connecting method such as welding and / or bonding. The second connecting portion 732 is connected to the upper end of the second support frame 72 by a connecting method such as welding and / or bonding.

[0113] The first stay 74 is a member for mounting the display unit 61 on the support member 7. In the present embodiment, the first stay 74 is disposed above the second support frame 72. Here, the first stay 74 supports the display unit 61 so that it can rotate along the rotation axis Ax1 (see Figure 8 ) as the center. Thus, the display unit 61 can adjust the tilt angle of the display screen.

[0114] The second stay 75 is a member for mounting the operation portion 62 on the support member 7. In the present embodiment, the second stay 75 is fixed to the upper end of the first support frame 71. The first stay 74 is fixed to the second stay 75, and thus the first stay 74 is indirectly fixed to the upper end of the first support frame 71. Here, the second stay 75 supports the operation portion 62 so that it can rotate along the rotation axis Ax2 (see FIG. 1 ) along the vertical direction D1. Figure 7 ) is the center of rotation. Thus, the position of the operating unit 62 can be adjusted to a position that is easy to operate according to the driver.

[0115] The first mounting portion 701 joined to the lower end of the first support frame 71 is fixed to the first fixing portion 101 of the machine body 11, and the second mounting portion 702 joined to the lower end of the second support frame 72 is fixed to the second fixing portion 102 of the machine body 11, thereby fixing the support member 7 to the machine body 11. That is, both ends of the first support frame 71 and the second support frame 72 connected by the connecting member 73 are fixed to the first fixing portion 101 and the second fixing portion 102 of the machine body 11 by the first mounting portion 701 and the second mounting portion 702, respectively.

[0116] In the present embodiment, the first fixing portion 101 is a part of the right fender frame 54 of the pair of left and right fender frames 54. That is, the first mounting portion 701 joined to the lower end of the first support frame 71 is fixed to the first fixing portion 101 provided on the right fender frame 54. As described above, the lower end of the fender frame 54 is fixed to the floor 55 of the cab 5, and the other end is fixed to the instrument panel frame 57.

[0117] On the other hand, the second fixing portion 102 is an instrument panel frame 57 (see Figure 7 That is, the second mounting portion 702 joined to the lower end of the second support frame 72 is fixed to the second fixing portion 102 provided on the instrument panel frame 57. The lower end of the instrument panel frame 57 is fixed to the floor 55 of the driving part 5 and protrudes upward from the floor 55.

[0118] In this way, at least one of the first fixing portion 101 and the second fixing portion 102 is arranged on an auxiliary component protruding upward from the floor 55 of the driving portion 5 of the body 11. In the present embodiment, the fender frame 54 is an example of an auxiliary component for the first fixing portion 101 to be provided, and the instrument panel frame 57 is an example of an auxiliary component for the second fixing portion 102 to be provided. That is, in the present embodiment, both the first fixing portion 101 and the second fixing portion 102 are arranged on the auxiliary components (the fender frame 54 and the instrument panel frame 57) protruding upward from the floor 55.

[0119] Thus, although the display unit 61 (and the operation unit 62) are supported at a position higher than the floor 55, the support member 7 is fixed by using the auxiliary member protruding upward from the floor 55, so there is no need to add a structure for fixing the support member 7.

[0120] In addition, in the present embodiment, the first mounting portion 701 is fastened to the first fixing portion 101 by fastening members such as bolts and nuts. Similarly, the second mounting portion 702 is fastened to the second fixing portion 102 by fastening members such as bolts and nuts. Therefore, the support member 7 can be installed on the machine body 11 later and can also be removed from the machine body 11.

[0121] Here, in this embodiment, the first fixing portion 101 and the second fixing portion 102 are arranged at different positions in the vertical direction D1. That is, the first mounting portion 701 and the second mounting portion 702 of the support member 7 are fixed to the first fixing portion 101 and the second fixing portion 102 of the machine body 11 set at different heights.

[0122] Specifically, the first fixing portion 101 provided on the fender frame 54 is arranged at a lower position (below) than the second fixing portion 102 provided on the instrument panel frame 57. Thus, the mounting strength of the support member 7 can be easily improved compared to the case where the first mounting portion 701 and the second mounting portion 702 of the support member 7 are fixed at the same height.

[0123] In addition, the first fixing portion 101 and the second fixing portion 102 are arranged at different positions in a plan view. That is, the first mounting portion 701 and the second mounting portion 702 of the support member 7 are fixed to the first fixing portion 101 and the second fixing portion 102 set at different positions in the horizontal plane.

[0124] Specifically, the first fixing portion 101 provided on the fender frame 54 is arranged on the right side relative to the second fixing portion 102 provided on the instrument panel frame 57 (see Fig. 9 ), and further forward (refer to Fig.10 ). Thus, compared with a case where the first mounting portion 701 and the second mounting portion 702 of the support member 7 are fixed at the same position in a plan view, it is easy to improve the mounting strength of the support member 7.

[0125] In addition, in the present embodiment, the support member 7 has a shape that expands toward one side (the right side in the present embodiment) in the left-right direction D3 when viewed from the center of the machine body 11 in the left-right direction D3. Fig. 9 As shown, the first support frame 71 has a shape curved so that the middle portion in the up-down direction D1 of the first support frame 71 expands outward (opposite to the center) in the left-right direction D3 relative to the lower end and the upper end.

[0126] Thus, a space is ensured between the support member 7 (first support frame 71) and the instrument panel 52 by the shape that expands toward one side in the left-right direction D3. Therefore, the driver sitting in the driver's seat 51 can visually check the right steering wheel 111 through the space formed between the support member 7 (first support frame 71) and the instrument panel 52 by the shape that expands toward one side in the left-right direction D3. That is, when the driver visually checks the steering wheel 111, the support member 7 is unlikely to be an obstacle.

[0127] In addition, the support member 7 includes a support frame (a first support frame 71 and a second support frame 72). The first mounting portion 701 is integrally provided with a closing plate 703 that closes one end surface of the support frame (the first support frame 71). Figure 8 As shown in the lead frame of , the opening of one end surface of the lower end side of the first support frame 71 is closed by a closing plate 703 integrated with the first mounting portion 701. For example, the closing plate 703 is joined by a joining method such as welding and / or bonding.

[0128] Thus, when the first mounting portion 701 is joined to the support frame (first support frame 71) by welding and / or bonding, a sufficient welding margin (and / or bonding margin) can be achieved. Therefore, the mounting strength of the first mounting portion 701 relative to the support frame (first support frame 71) can be improved.

[0129] In addition, the working machine 10 according to the present embodiment further includes a reflector 8 supported by the support member 7. The reflector 8 is a side reflector (rearview mirror) used by the driver sitting in the driver's seat 51 to check the rear, and is arranged at the right end of the machine body 11. Specifically, the reflector 8 is fixed to the first connecting portion 731 (see FIG. 1 ) of the connecting member 73. Figure 8 ) is supported on the supporting member 7 by means of the mirror arm 81.

[0130] Thus, the support member 7 for supporting the display unit 61 (and the operation unit 62 ) is also used to support the reflecting mirror 8 , and there is no need to separately provide a member for supporting the reflecting mirror 8 .

[0131] Here, the reflector 8 is arranged on one side (right side) in the left-right direction D3 when viewed from the display unit 61. That is, the reflector arm 81 extends from the support member 7 (the connecting member 73) toward the right side, and the reflector 8 is fixed to the distal end thereof, so that the reflector 8 is located on the right side when viewed from the display unit 61.

[0132] Thus, the reflector 8 is located outside (on the right side) of the display unit 61 in the left-right direction D3 , so that when the driver sitting in the driver's seat 51 looks at the reflector 8 , the display unit 61 is less likely to be reflected in the reflector 8 .

[0133] Furthermore, at least a portion of the reflector 8 is disposed at the same position as the display unit 61 in the up-down direction D1. That is, at least a portion of the reflector 8 is disposed at the same height as the display unit 61.

[0134] Thus, the driver sitting in the driver's seat 51 can visually check both the reflector 8 and the display unit 61 with less movement of the line of sight.

[0135] [4] Modifications

[0136] The following lists modifications of Embodiment 1. The modifications described below can be applied in combination as appropriate.

[0137] The control system 1 disclosed in the present invention includes a computer system. The computer system is mainly composed of one or more processors and one or more memories as hardware. The processor executes the program (control program for the operating machine) recorded in the memory of the computer system to realize the function of the control system 1 disclosed in the present invention. The program can be pre-recorded in the memory of the computer system, or provided through an electrical communication line, or recorded in a non-temporary recording medium such as a memory card, an optical disk, a hard disk drive, etc. that can be read by the computer system. In addition, some or all of the functional parts included in the control system 1 can be composed of electronic circuits.

[0138] In addition, the structure in which at least part of the functions of the control system 1 are integrated in one housing is not an essential structure for the control system 1, and the components of the control system 1 can be dispersed as multiple devices (for example, the control device 2 and the terminal device 3). On the contrary, in the first embodiment, the functions dispersed in multiple devices can also be integrated in one housing. In addition, at least part of the functions of the control system 1 can be implemented through the cloud (cloud computing) or the like.

[0139] The display operation device 6 is not necessarily arranged on the right side of the steering operation unit 41, and may be arranged on the left side of the steering operation unit 41. In this case, the first fixing portion 101 and the second fixing portion 102 are arranged on the left side when viewed from the center of the machine body 11 in the left-right direction D3.

[0140] In addition, the support member 7 does not necessarily have to include the first support frame 71 and the second support frame 72. For example, the support member 7 may be composed of a single continuous support frame. On the contrary, the support member 7 may include three or more support frames.

[0141] In addition, the second mounting portion 702 of the support member 7 is not necessarily fixed to the instrument panel frame 57. For example, when the instrument panel 52 itself has sufficient strength, the second mounting portion 702 can be fixed to the instrument panel 52. In this case, the second fixing portion 102 for fixing the second mounting portion 702 is provided on the instrument panel 52, and the instrument panel 52 becomes an example of an auxiliary component protruding upward from the floor 55.

[0142] The arrangement of the first operating member 621 and the second operating member 622 of the operating portion 62 is not limited to that described in the first embodiment. For example, the first operating member 621 may be arranged farther from the steering operating portion 41 than the second operating member 622 .

[0143] In addition, the first operating member 621 is not limited to a button switch, and may be, for example, a lever switch, a slide switch, a rotary switch, or a touch switch, etc. Similarly, the second operating member 622 is not limited to a toggle switch, and may be, for example, a lever switch, a slide switch, a rotary switch, or a touch switch, etc.

[0144] In addition, the terminal device 3 is not limited to a general-purpose terminal such as a tablet terminal, a smart phone, or a laptop computer, and may also be a dedicated terminal. In addition, multiple terminal devices 3 may be associated with one working machine 10, in which case, multiple terminal devices 3 may be used to control one working machine 10. Conversely, one terminal device 3 may be associated with multiple working machines 10, in which case, multiple working machines 10 may be controlled by one terminal device 3.

[0145] In addition, in Embodiment 1, the steering wheel 111 is a pair of left and right front wheels, but is not limited to this. For example, on the basis of or in place of the pair of left and right front wheels, a pair of left and right rear wheels can constitute the steering wheel. In this case, the steering device 14 is also used to steer the rear wheels that serve as steering wheels. In addition, the driving wheel 112 is not limited to the pair of left and right rear wheels. For example, on the basis of or in place of the pair of left and right rear wheels, a pair of left and right front wheels can constitute the driving wheel. Moreover, the steering wheel 111 can be only one wheel or more than three wheels. Similarly, the driving wheel 112 can be only one wheel or more than three wheels. The same wheel can be used as both the steering wheel 111 and the driving wheel 112.

[0146] In addition, the power steering mechanism is not limited to the hydraulic type, and may be, for example, an electric type.

[0147] [Additional Notes on the Invention]

[0148] The following is a supplementary note on the outline of the invention extracted from the above-mentioned embodiments. In addition, each structure and each processing function described in the following supplementary note can be selected and combined arbitrarily.

[0149] <Note 1>

[0150] A working machine, wherein

[0151] The working machine comprises:

[0152] A body having an automatic steering control function;

[0153] A display unit that displays at least information related to the automatic steering function; and

[0154] a supporting member that supports the display unit,

[0155] The supporting member comprises:

[0156] A first mounting portion, which is fixed to a first fixing portion of the body; and

[0157] a second mounting portion fixed to a second fixing portion of the body different from the first fixing portion,

[0158] The first fixing portion and the second fixing portion are arranged on one side in the left-right direction when viewed from the center of the machine body in the left-right direction.

[0159] <Note 2>

[0160] In the working machine according to Supplementary Note 1, the first fixing portion and the second fixing portion are arranged at different positions in the up-down direction.

[0161] <Note 3>

[0162] The working machine according to Supplementary Note 1 or 2, further comprising an operating unit supported by the supporting member.

[0163] <Note 4>

[0164] In the working machine according to Supplementary Note 3, the operation unit and the display unit are arranged separately from each other.

[0165] <Note 5>

[0166] In the working machine according to Supplementary Note 3 or 4, the operation unit is arranged rearward of the display unit in the front-rear direction.

[0167] <Note 6>

[0168] In the working machine according to any one of Supplementary Notes 1 to 5, the support member has a shape that expands toward the one side in the left-right direction when viewed from the center of the machine body in the left-right direction.

[0169] <Note 7>

[0170] In the working machine according to any one of Supplementary Notes 1 to 6, the support member includes a support frame,

[0171] The first mounting portion is provided integrally with a closing plate that closes one end surface of the support frame.

[0172] <Note 8>

[0173] In the working machine according to any one of Supplementary Notes 1 to 7, at least one of the first fixing portion and the second fixing portion is disposed on an auxiliary member of the machine body that protrudes upward from a floor of a driving portion.

[0174] <Note 9>

[0175] In the working machine according to any one of Supplementary Notes 1 to 8, the first fixing portion and the second fixing portion are arranged at different positions from each other in a plan view.

[0176] <Note 10>

[0177] The working machine according to any one of Supplementary Notes 1 to 9, further comprising a reflecting mirror supported by the supporting member.

[0178] <Note 11>

[0179] In the working machine according to Supplementary Note 10, the reflecting mirror is arranged on the one side in the left-right direction when viewed from the display unit.

[0180] <Note 12>

[0181] In the working machine according to Supplementary Note 10 or 11, at least a portion of the reflecting mirror is arranged at the same position as the display unit in the up-down direction.

Claims

1. A working machine, wherein: The working machine comprises: A body having an automatic steering control function; A display unit that displays at least information related to the automatic steering function; and a supporting member that supports the display unit, The supporting member comprises: A first mounting portion, which is fixed to a first fixing portion of the body; as well as a second mounting portion fixed to a second fixing portion of the body different from the first fixing portion, The first fixing portion and the second fixing portion are arranged on one side in the left-right direction when viewed from the center of the machine body in the left-right direction.

2. The working machine according to claim 1, wherein: The first fixing portion and the second fixing portion are arranged at different positions in a vertical direction.

3. The working machine according to claim 1 or 2, wherein: The working machine further includes an operation unit supported by the support member.

4. The working machine according to claim 3, wherein: The operation unit and the display unit are arranged separately from each other.

5. The working machine according to claim 3, wherein: The operation unit is arranged behind the display unit in the front-rear direction.

6. The working machine according to claim 1 or 2, wherein: The support member has a shape that expands toward the one side in the left-right direction when viewed from the center of the machine body in the left-right direction.

7. The working machine according to claim 1 or 2, wherein: The support member comprises a support frame, The first mounting portion is provided integrally with a closing plate that closes one end surface of the support frame.

8. The working machine according to claim 1 or 2, wherein: At least one of the first fixing portion and the second fixing portion is disposed on an auxiliary member of the machine body that protrudes upward from a floor of a driving portion.

9. The working machine according to claim 1 or 2, wherein: The first fixing portion and the second fixing portion are arranged at different positions from each other in a plan view.

10. The working machine according to claim 1 or 2, wherein: The working machine further includes a reflector supported by the supporting member.

11. The working machine according to claim 10, wherein: The reflecting mirror is arranged on the one side in the left-right direction when viewed from the display unit.

12. The working machine according to claim 10, wherein: At least a portion of the reflector is disposed at the same position as the display unit in the up-down direction.

Images