Work vehicle

Abstract

To enable a traveling direction of a vehicle body to be simply arranged.SOLUTION: A work vehicle comprises: a vehicle body which can travel; a steering wheel which steers the vehicle body; a control device which can control travel of the vehicle body through either manual steering with the steering wheel or automatic steering with the steering wheel operated so that the vehicle body travels along a planned travel line parallel to a preset travel reference line; and a display device which displays a guidance screen for setting the travel reference line before the control device starts control of the travel of the vehicle body through the automatic steering. The guidance screen includes: a message display section for displaying a message urging an operator to set starting and end points of the travel reference line; an icon display section for displaying a starting point icon indicating the starting point and an end point icon indicating the end point; and an operation display section for displaying operation when setting the starting and end points.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to, for example, a work vehicle. [Background technology]

[0002] Conventionally, the agricultural work machine disclosed in Patent Document 1 is known. The agricultural work machine of Patent Document 1 includes a traveling body that can be switched between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line that is set parallel to a reference traveling line, and a changeover switch that can be switched between manual traveling and automatic traveling. In addition, the agricultural work machine sets the start point of the reference traveling line after pressing the right instruction button while traveling along a ridge, and sets the end point of the reference traveling line by pressing the left instruction button while traveling. That is, the reference traveling line is set before automatic steering. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-123803 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the agricultural work machine of Patent Document 1, before automatic steering, a reference driving line is set by operating the right instruction button and the left instruction button, and while the reference driving line is being set, the machine is aligned using the center mascot and an index line drawn on the rice field surface by a marker device, and then automatic steering along the set driving line is started. In the setting before the start of automatic steering, the driver needs to understand matters related to driving, such as steering of the machine, and if the driver does not understand the matters related to driving, setting the reference driving line, driving when setting the reference driving line, aligning the machine, etc., is difficult.

[0005] SUMMARY OF THEINVENTION In view of the above problems, an object of the present invention is to provide a work vehicle that allows the traveling direction of the vehicle body to be easily adjusted. [Means for solving the problem]

[0006] The technical means of the present invention for solving this technical problem is characterized by the following points. The work vehicle comprises a drivable vehicle body, a steering handle for steering the vehicle body, a control device capable of controlling the driving of the vehicle body by either manual steering using the steering handle or automatic steering in which the steering handle is steered so that the vehicle body drives along a planned driving line parallel to a predetermined driving reference line, and a display device that displays a guidance screen for setting the driving reference line before the control device begins to control the driving of the vehicle body by the automatic steering, the guidance screen including a message display unit that displays a message prompting the user to set a start point and an end point of the driving reference line, an icon display unit that displays a start point icon indicating the start point and an end point icon indicating the end point, and an operation display unit that shows operations when setting the start point and the end point.

[0007] The message display section is displayed at the top of the guidance screen, the icon display section is displayed at the center of the guidance screen, and the operation display section is displayed at an end of the guidance screen in the width direction. Before the control device begins to control the vehicle body's travel by automatic steering, the display device displays a steering instruction section that indicates the steering direction of the vehicle body relative to the travel reference line, thereby displaying an instruction to adjust the direction of travel of the vehicle body. Effect of the Invention

[0008] According to the present invention, the traveling direction of the vehicle body can be easily adjusted. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a diagram showing the configuration and control block diagram of a tractor. [Diagram 2]FIG. 2 is an explanatory diagram for explaining automatic steering. [Figure 3A] FIG. 11 is an explanatory diagram for explaining a correction amount in a push switch. [Figure 3B] FIG. 11 is an explanatory diagram for explaining a correction amount in a slide switch. [Figure 4A] 4A and 4B are diagrams illustrating a first correction section and a second correction section in the push switch. [Figure 4B] 11 is a diagram showing a first correction unit and a second correction unit in the slide switch. FIG. [Figure 5A] This shows the state when the calculated vehicle body position is shifted to the right while driving straight under automatic steering. [Figure 5B] This shows the state when the calculated vehicle body position is shifted to the left while driving straight under automatic steering. [Figure 6A] FIG. 13 is a diagram showing an operation screen M1. [Figure 6B] FIG. 13 is a diagram showing an operation screen M2. [Figure 7A] FIG. 13 is a diagram showing the driving screen M2 when the driving reference line has not yet been set. [Figure 7B] FIG. 13 is a diagram showing the driving screen M2 after the start point of the driving reference line has been set. [Figure 7C] FIG. 13 is a diagram showing the driving screen M2 after the end point of the driving reference line has been set. [Figure 8] FIG. 13 is a diagram showing the traveling of a tractor when preparing traveling conditions. [Figure 9A] FIG. 13 is a diagram showing a guidance screen M3 that displays an instruction to steer the vehicle body to the right. [Figure 9B] FIG. 13 is a diagram showing a guidance screen M3 that displays an instruction to steer the vehicle body to the left. [Figure 9C] FIG. 13 is a diagram showing a guidance screen M3 that displays an instruction to keep the vehicle body straight. [Figure 9D] FIG. 13 shows a guidance screen M3 when the straight-ahead distance of the vehicle body is equal to or shorter than a predetermined distance. [Figure 10A] FIG. 13 is a diagram showing the driving screen M2 during automatic steering. [Figure 10B]FIG. 13 is a diagram showing the driving screen M2 when a correction amount for the left side of the vehicle body is set during automatic steering. [Figure 10C] FIG. 13 is a diagram showing the driving screen M2 when a correction amount for the right side of the vehicle body is set during automatic steering. [Figure 11] 13A and 13B are diagrams illustrating modified examples of the correction display section. [Figure 12A] FIG. 13 shows a guidance screen M4 before the setting mode is enabled. [Figure 12B] FIG. 13 is a diagram showing a guidance screen M4 when setting the start point of a driving reference line. [Figure 12C] FIG. 13 is a diagram showing a guidance screen M4 when setting the end point of the driving reference line. [Figure 13] FIG. 13 is a diagram showing a screen during warm-up. [Figure 14A] FIG. 13 shows a guidance screen M4 displayed immediately after the conditions for automatic steering are met. [Figure 14B] FIG. 13 shows a guidance screen M4 when a correction amount for the left side of the vehicle body is set during automatic steering. [Figure 14C] FIG. 13 shows a guidance screen M4 when a correction amount for the right side of the vehicle body is set during automatic steering. [Figure 15A] FIG. 13 shows a guidance screen M4 displayed when the vehicle speed reaches or exceeds a predetermined speed during automatic steering. [Figure 15B] FIG. 13 shows a guidance screen M4 when the vehicle speed becomes zero during automatic steering. [Figure 16A] FIG. 13 is a diagram showing a modified example of the guidance screen M3. [Figure 16B] FIG. 16B is a diagram showing a guidance screen M3 after FIG. 16A. [Figure 17] FIG. 2 is an explanatory diagram for explaining automatic steering. [Figure 18] This is a view of the cover in front of the driver's seat as seen from the driver's seat side. [Figure 19] FIG. 13 is a control block diagram of a modified example of a work vehicle equipped with a steering switch. [Figure 20] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. <Overview of the work vehicle> Fig. 20 is a side view showing one embodiment of the work vehicle 1, and Fig. 20 is a plan view showing one embodiment of the work vehicle 1. In the case of this embodiment, the work vehicle 1 is a tractor. However, the work vehicle 1 is not limited to a tractor, and may be an agricultural machine (agricultural vehicle) such as a combine harvester or transplanter, or a construction machine (construction vehicle) such as a loader work machine.

[0011] In the following description, the front side of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 (arrow A1 direction in FIG. 20) will be referred to as the front, the rear side of the driver (arrow A2 direction in FIG. 20) as the rear, the left side of the driver (arrow B1 direction in FIG. 20) as the left side, and the right side of the driver (arrow B2 direction in FIG. 20) as the right side. In addition, the horizontal direction (arrow B3 direction in FIG. 20), which is perpendicular to the fore-and-aft direction of the work vehicle 1, will be referred to as the vehicle body width direction.

[0012] As shown in Fig. 20, the tractor 1 includes a body 3, a prime mover 4, and a transmission 5. The body 3 has a traveling device 7 and is capable of traveling. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. The rear wheels 7R may also be of a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like, and in this embodiment is configured with a diesel engine. The transmission 5 is capable of switching the propulsive force of the traveling device 7 by shifting gears, and also capable of switching the traveling device 7 between forward and reverse. The vehicle body 3 is provided with a driver's seat 10.

[0013] Further, a coupling section 8 formed of a three-point link mechanism or the like is provided at the rear of the vehicle body 3. A working device can be attached and detached to the coupling section 8. By coupling the working device to the coupling section 8, the working device can be towed by the vehicle body 3. The working devices include a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spreading pesticide, a harvesting device for harvesting, a reaping device for reaping grass or the like, a spreading device for spreading grass or the like, a grass collecting device for collecting grass or the like, a shaping device for shaping grass or the like, and the like.

[0014] As shown in Fig. 1, the transmission 5 includes a main shaft (propeller shaft) 5a, a main speed change section 5b, an auxiliary speed change section 5c, a shuttle section 5d, a PTO power transmission section 5e, and a front speed change section 5f. The propeller shaft 5a is rotatably supported in a housing case (transmission case) of the transmission 5, and power is transmitted from the crankshaft of the engine 4 to the propeller shaft 5a. The main speed change section 5b has a plurality of gears and a shifter that changes the connection of the gears. The main speed change section 5b changes and outputs (changes the speed of) the rotation input from the propeller shaft 5a by appropriately changing the connection (meshing) of the plurality of gears with the shifter.

[0015] The sub-transmission unit 5c, like the main transmission unit 5b, has multiple gears and a shifter that changes the connection of the gears. The sub-transmission unit 5c changes and outputs (shifts) the rotation input from the main transmission unit 5b by appropriately changing the connection (meshing) of the multiple gears with the shifter. The shuttle section 5d has a shuttle shaft 12 and a forward / reverse switching section 13. Power output from the sub-transmission section 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching section 13 is composed of, for example, a hydraulic clutch, and switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse of the tractor 1, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device 20R. The rear wheel differential device 20R is connected to the rear wheel 7R after the rear wheels 7R are attached. It supports the axle 21R so as to be freely rotatable.

[0016] The PTO power transmission section 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and is capable of transmitting power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to a PTO shaft 16 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and switches between a state in which the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and a state in which the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14 by switching the hydraulic clutch on and off.

[0017] The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch can transmit power from the drive shaft 5a, for example, the power of the shuttle shaft 12 is transmitted via a gear and a transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via a front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to a front wheel differential device 20F, and the front wheel differential device 20R rotatably supports the front axle 21F to which the front wheels 7F are attached.

[0018] The first clutch 17 and the second clutch 18 are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from a hydraulic pump is supplied. The first clutch 17 is switched between an engaged state and a disengaged 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 is switched between an engaged state and a disengaged 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, two-position switching valves with solenoid valves, and are switched between an engaged state and a disengaged state by energizing or deenergizing a solenoid of the solenoid valve.

[0019] When the first clutch 17 is in a disengaged state and the second clutch 18 is in an engaged 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 and rear wheels are driven by power in a four-wheel drive (4WD) state, and the rotation speeds of the front and rear wheels are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is in an engaged state and the second clutch 18 is in a disengaged state, the vehicle is in four-wheel drive and the rotation speed of the front wheels is faster than the rotation speed of the rear wheels (4WD speed increase state). Also, when the first clutch 17 and the second clutch 18 are in an engaged state, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, and the vehicle is in two-wheel drive (2WD) in which the rear wheels are driven by power. <Outline of position detection device> The tractor 1 is equipped with a position detection device 40. The position detection device 40 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, Michibiki, etc. In other words, the position detection device 40 receives a reception signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (e.g., latitude, longitude) based on the reception signal. The position detection device 40 includes a receiving device 41, an inertial measurement unit (IMU) 42, The receiving device 41 has an antenna and the like and receives a 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 an ROPS provided on the vehicle body 3. The attachment location of the receiving device 41 is not limited to that in the embodiment.

[0020] The inertial measurement unit 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 42 is provided on the vehicle body 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3. <Outline of steering devices, manual steering, and automatic steering> As shown in FIG. 1, the tractor 1 is equipped with a steering device 11. This device is capable of performing manual steering, in which the vehicle body 3 is steered by a driver's operation, and automatic steering, in which the vehicle body 3 is steered automatically without the driver's operation.

[0021] 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. The steering device 11 also has an assist mechanism (power steering device) 32. The assist mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The assist 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 movement of a spool or the like, and switches in accordance with the steering direction (rotation direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheels 7F.

[0022] Therefore, when the driver grips the steering wheel 30 and turns it in one direction or the other, the switching position and opening of the control valve 34 are switched corresponding to the rotation direction of the steering wheel 30, and the steering cylinder 35 expands or contracts to the left or right according to the switching position and opening of the control valve 34, thereby changing the steering direction of the front wheels 7F. In other words, the traveling direction of the vehicle body 3 can be changed to the left or right by manually steering the steering wheel 30.

[0023] Next, automatic steering will be described. As shown in Fig. 2, when performing automatic steering, first, a driving reference line L1 is set before performing automatic steering. After setting the driving reference line L1, automatic steering can be performed by setting a planned driving line L2 parallel to the driving reference line L1. In automatic steering, the tractor 1 (vehicle body 3) is automatically steered in the traveling direction so that the vehicle body position measured by the position detection device 40 coincides with the planned driving line L2.

[0024] Specifically, before performing automatic steering, the tractor 1 (body 3) is moved to a predetermined position in the field (S1), and when the driver operates the steering change-over switch 52 provided on the tractor 1 at the predetermined position (S2), the body position measured by the position detection device 40 is set to the start point P10 of the traveling reference line L1 (S3). In addition, the tractor 1 (body 3) is moved from the start point P10 of the traveling reference line L1 (S4), and when the driver operates the steering change-over switch 52 at the predetermined position (S5), the body position measured by the position detection device 40 is set to the end point P11 of the traveling reference line L1 (S6). Therefore, a straight line connecting the start point P10 and the end point P11 is set as the traveling reference line L1.

[0025] After the travel reference line L1 is set (after S6), for example, the tractor 1 (body 3) is moved to a location different from the location where the travel reference line L1 was set (S7), and when the driver operates the steering changeover switch 52 (S8), a travel planned line L2 that is a straight line parallel to the travel reference line L1 is set (S9). After the travel planned line L2 is set, automatic steering is started, and the traveling direction of the tractor 1 (body 3) is changed to follow the travel planned line L2. For example, if the current body position is on the left side of the travel planned line L2, the front wheels 7F are steered to the right, and if the current body position is on the right side of the travel planned line L2, the front wheels 7F are steered to the left. During automatic steering, the travel speed (vehicle speed) of the tractor 1 (body 3) can be changed by the driver manually changing the operation amount of the accelerator member (accelerator pedal, accelerator lever) provided on the tractor 1 or changing the gear stage of the transmission.

[0026] In addition, after the automatic steering starts, if the driver operates the steering changeover switch 52 at any point, , automatic steering can be terminated. That is, the end point of the planned travel line L2 can be set by terminating automatic steering by operating the steering changeover switch 52. That is, the length from the start point to the end point of the planned travel line L2 can be set longer or shorter than the travel reference line L1. In other words, the planned travel line L2 is not associated with the length of the travel reference line L1, and the planned travel line L2 allows the vehicle to travel a distance longer than the length of the travel reference line L1 while performing automatic steering.

[0027] As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that automatically steers the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle body position) detected by the position detection device 40. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor that can control the rotation direction, rotation speed, rotation angle, etc. based on the vehicle body position. The gear mechanism 37 includes a gear that is provided on the steering shaft 31 and rotates together with the steering shaft 31, and a gear that is provided on the rotation shaft of the steering motor 38 and rotates together with the rotation shaft. When the rotation shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (turns) via the gear mechanism 37, and the steering direction of the front wheels 7F can be changed so that the vehicle body position coincides with the planned travel line L2. <Display device overview> 1 and 20, the tractor 1 is equipped with a display device 45. The display device 45 is a device capable of displaying various information related to the tractor 1, and is capable of displaying at least driving information of the tractor 1. The display device 45 is provided in front of the driver's seat 10. <Outline of setting switch and steering change switch> As shown in Fig. 1, the tractor 1 is provided with a setting switch 51. The setting switch 51 is a switch for switching to a setting mode in which at least settings before the start of automatic steering are performed. The setting mode is a mode in which various settings related to automatic steering are performed before the start of the automatic steering, for example, a mode in which the start point and end point of the driving reference line L1 are set.

[0028] The setting switch 51 can be switched between ON and OFF, and when it is ON it outputs a signal indicating that the setting mode is valid, and when it is OFF it outputs a signal indicating that the setting mode is invalid. Furthermore, when the setting switch 51 is ON it outputs a signal indicating that the setting mode is valid to the display device 45, and when it is OFF it outputs a signal indicating that the setting mode is invalid to the display device 45.

[0029] The tractor 1 is provided with 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 changeover switch 52 can be switched from a neutral position to up, down, forward, or backward, and outputs the start of automatic steering when the steering changeover switch 52 is switched from the neutral position to down while the setting mode is active, and outputs the end of automatic steering when the steering changeover switch 52 is switched from the neutral position to up while the setting mode is active. In addition, when the steering changeover switch 52 is switched from the neutral position to backward while the setting mode is active, the steering changeover switch 52 outputs a command to set the current vehicle body position to the start point P10 of the driving reference line L1, and when the steering changeover switch 52 is switched from the neutral position to forward while the setting mode is active, the steering changeover switch 52 outputs a command to set the current vehicle body position to the end point P11 of the driving reference line L1. <Overview of the compensation switch> The tractor 1 is equipped with a correction switch 53. The correction switch 53 is a switch that corrects the vehicle body position (latitude, longitude) measured by the position detection device 40. In other words, the correction switch 53 is a switch that corrects the vehicle body position (referred to as a calculated vehicle body position) calculated from the received signal (position of the positioning satellite, transmission time, correction information, etc.) and the measurement information (acceleration, angular velocity) measured by the inertial measurement unit 42.

[0030] The correction switch 53 is configured as a push switch that can be pressed or a slide switch that can be slid. Below, the cases where the correction switch 53 is a push switch and a slide switch will be described. When the correction switch 53 is a push switch, the amount of correction is set based on the number of times the push switch is operated. The amount of correction is determined by the formula: correction amount = number of times of operation x correction amount per one operation. For example, as shown in Fig. 3A, the amount of correction increases by several centimeters or several tens of centimeters each time the push switch is operated. The number of times the push switch is operated is input to the first control device 60A, which sets (calculates) the amount of correction based on the number of times the push switch is operated.

[0031] Furthermore, when the correction switch 53 is a slide switch, the correction amount is set based on the operation amount (displacement amount) of the slide switch. For example, the correction amount is determined by the correction amount=displacement amount from a predetermined position. For example, as shown in FIG. 3B, the correction amount increases by several centimeters or several tens of centimeters every time the displacement amount of the slide switch increases by 5 mm. The operation amount (displacement amount) of the slide switch is input to the first control device 60A, which sets (calculates) the correction amount based on the displacement amount. Note that the method of increasing the correction amount and the rate of increase are not limited to the above-mentioned numerical values.

[0032] 4A and 4B, the correction switch 53 has a first correction unit 53A and a second correction unit 53B. The first correction unit 53A is a unit that issues a command to correct the vehicle body position corresponding to one side in the width direction of the vehicle body 3, i.e., the left side. The second correction unit 53B is a unit that issues a command to correct the vehicle body position corresponding to the other side in the width direction of the vehicle body 3, i.e., the right side.

[0033] As shown in FIG. 4A, when the correction switch 53 is a push switch, the first correction unit 53A and the second correction unit 53B are ON or OFF switches that are automatically restored every time they are operated. The switch constituting the first correction unit 53A and the switch constituting the second correction unit 53B are integrated. The switch constituting the first correction unit 53A and the switch constituting the second correction unit 53B may be arranged apart from each other. As shown in FIG. 3A, every time the first correction unit 53A is pressed, the correction amount (left correction amount) corresponding to the left side of the vehicle body 3 increases. Also, every time the second correction unit 53B is pressed, the correction amount (right correction amount) corresponding to the right side of the vehicle body 3 increases.

[0034] As shown in FIG. 4B, when the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B include a knob 55 that moves left or right along the longitudinal direction of the long hole. When the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B are arranged spaced apart from each other in the width direction. As shown in FIG. 3B, when the knob 55 is gradually displaced leftward from a predetermined reference position, the left correction amount increases according to the amount of displacement. Also, when the knob 55 is gradually displaced rightward from a predetermined reference position, the right correction amount increases according to the amount of displacement. Note that, as shown in FIG. 4B, when the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B may be integrally formed, the reference position of the knob 55 is set to the center, and when the knob 55 is moved leftward from the reference position, the left correction amount is set, and when the knob 55 is moved rightward from the middle position, the right correction amount is set.

[0035] Next, the relationship between the correction amount (left correction amount, right correction amount) by the correction switch 53, the planned traveling route L2, and the behavior (traveling trajectory) of the tractor 1 (vehicle body 3) will be described. FIG. 5A shows a state in which the calculated vehicle body position W1 is shifted to the right while driving straight under automatic steering. As shown in FIG. 5A, when automatic steering is started, if the actual position (actual position W2) of the tractor 1 (vehicle body 3) matches the calculated vehicle body position W1 and the actual position W2 matches the planned driving route L2, the tractor 1 will travel along the planned driving route L2. That is, in the section P1 where there is no error in the positioning by the position detection device 40 and the vehicle body position detected by the position detection device 40 (calculated vehicle body position W1) is the same as the actual position W2, the tractor 1 travels along the planned travel route L2. Note that, when there is no error in the positioning by the position detection device 40 and no correction is made, the calculated vehicle body position W1 and the vehicle body position after correction with the correction amount (corrected vehicle body position) W3 are the same value. The corrected vehicle body position W3 is calculated vehicle body position W3 = calculated vehicle body position W1 - correction amount.

[0036] Here, in the vicinity of position P20, even though the actual position W2 is not deviated from the planned travel route L2, an error occurs in the positioning of the position detection device 40 due to various influences, and the vehicle position W1 detected by the position detection device 40 deviates to the right from the planned travel route L2 (actual position W2), and if the deviation amount W4 is maintained, the tractor 1 determines that a deviation has occurred between the calculated vehicle body position W1 and the planned travel route L2, and steers the tractor 1 to the left so as to eliminate the deviation amount W4 between the calculated vehicle body position W1 and the planned travel route L2. Then, the actual position W2 of the tractor 1 is shifted to the planned travel route L2 by steering to the left. After that, it is assumed that the driver notices that the tractor 1 is deviated from the planned travel route L2, and steers the second correction unit 53B at position P21 to increase the right correction amount from zero. A right correction amount is added to the calculated vehicle body position W1, and the corrected vehicle body position (corrected vehicle body position) W3 can be made substantially the same as the actual position W2. In other words, by setting the right correction amount by the second correction unit 53B, the vehicle body position of the position detection device 40 can be corrected in a direction that eliminates the deviation amount W4 that occurs near the position P20. Note that, as shown in position P21 in FIG. 5A, if the actual position W2 of the tractor 1 is away from the planned travel route L2 to the left after the vehicle body position is corrected, the tractor 1 is steered to the right, and the actual position W2 of the tractor 1 can be made to coincide with the planned travel route L2.

[0037] Fig. 5B shows a state in which the calculated vehicle body position W1 is shifted to the left while traveling straight under automatic steering. As shown in Fig. 5B, when automatic steering is started, if the actual position W2 and the calculated vehicle body position W1 coincide with each other and the actual position W2 and the planned traveling route L2 coincide with each other, the tractor 1 travels along the planned traveling route L2, as in Fig. 5A. That is, as in Fig. 5A, in the section P2 where there is no error in the positioning of the position detection device 40, the tractor 1 travels along the planned traveling route L2. Also, as in Fig. 5A, the calculated vehicle body position W1 and the corrected vehicle body position W3 are the same value.

[0038] Here, in the position P22, an error occurs in the position detection device 40 due to various influences, and the vehicle body position W1 detected by the position detection device 40 is shifted to the left with respect to the actual position W2, and if the shift amount W5 is maintained, the tractor 1 steers the tractor 1 to the right so as to eliminate the shift amount W5 between the calculated vehicle body position W1 and the planned travel route L2. After that, the driver notices that the tractor 1 has shifted from the planned travel route L2, and steers the first correction unit 53A at position P23 to increase the left correction amount from zero. Then, the left correction amount is added to the calculated vehicle body position W1, and the corrected vehicle body position (corrected vehicle body position) W3 can be made substantially the same as the actual position W2. In other words, by setting the left correction amount by the first correction unit 53A, the vehicle body position of the position detection device 40 can be corrected in a direction that eliminates the shift amount W5 that occurred near the position P22. In addition, as shown in position P23 in Figure 5B, if, after correcting the vehicle position, the actual position W2 of the tractor 1 is away to the right of the planned travel route L2, the tractor 1 is steered to the left, so that the actual position W2 of the tractor 1 can be aligned with the planned travel route L2. <Location of setting switches, steering changeover switches, and correction switches> Next, the setting switch 51, the correction switch 53, and the screen changeover switch 54 will be described.

[0039] As shown in FIG. 18, the outer periphery of the steering shaft 31 is fixed to the steering post 180. The outer periphery of the steering post 180 is covered by a cover 177. The cover 177 is provided in front of the driver's seat 10. The cover 177 includes a panel cover 178 and a column cover 179. The panel cover 178 supports the display device 45. A support portion 178e that supports the display device 45 is provided on an upper plate portion 178a of the panel cover 178. The support portion 178e supports the display device 45 in front of the steering shaft 31 and below the steering handle 30. The upper plate portion 178a also has a mounting surface 178f to which the setting switch 51, the correction switch 53, and the screen changeover switch 54 are attached. The mounting surface 178f is provided behind the support portion 178e and below the steering handle 30. The support portion 178e and the mounting surface 178f are continuous with each other, the support portion 178e being located in front of the upper plate portion 178a, and the mounting surface 178f being located in the rear of the upper plate portion 178a. The setting switch 51, the correction switch 53, and the screen changeover switch 54 are attached to the mounting surface 178f. As a result, the setting switch 51, the correction switch 53, and the screen changeover switch 54 are arranged around the steering shaft 31.

[0040] A shuttle lever 181 protrudes from the left plate portion 178b of the panel cover 178. The shuttle lever 181 is a member that switches the traveling direction of the vehicle body 3. To explain in more detail, by operating (swinging) the shuttle lever 181 forward, the forward / reverse switching unit 13 is placed in a state in which it outputs forward power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the forward direction. In addition, by operating (swinging) the shuttle lever 181 backward, the forward / reverse switching unit 13 is placed in a state in which it outputs reverse power to the traveling device 7, and the traveling direction of the vehicle body 3 is switched to the reverse direction. When the shuttle lever 181 is in the neutral position, no power is output to the traveling device 7.

[0041] The column cover 179 is disposed below the steering wheel 30, and covers the periphery of the upper part of the steering shaft 31. The column cover 179 is formed in a substantially rectangular tubular shape, and protrudes upward from the mounting surface 178f of the panel cover 178. In other words, the mounting surface 178f is provided around the column cover 179. Therefore, the setting switch 51, the correction switch 53, and the screen changeover switch 54 attached to the mounting surface 178f are disposed around the column cover 179.

[0042] Next, a detailed description will be given of the arrangement of the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54. As shown in Fig. 18, the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54 are arranged around the steering shaft 31. The setting switch 51 is disposed on one side (left side) of the steering shaft 31. The steering changeover switch 52 is disposed on one side (left side) of the steering shaft 31. In this embodiment, the steering changeover switch 52 is composed of a swingable lever. The steering changeover switch 52 can swing around a base end provided on the steering shaft 31 side as a fulcrum. The base end of the steering changeover switch 52 is provided inside the column cover 179. The steering changeover switch 52 protrudes from one side (left side) of the column cover 179.

[0043] The correction switch 53 is disposed on the other side (right side) of the steering shaft 31. More specifically, the correction switch 53 is disposed to the right and rear (diagonally rear right) of the steering shaft 31. In terms of its position relative to the column cover 179, the correction switch 53 is disposed to the right and rear (diagonally rear right) of the column cover 179. In terms of its position relative to the mounting surface 178f of the panel cover 178, the correction switch 53 is disposed at the right rear part of the mounting surface 178f. By disposing the correction switch 53 at the rear of the inclined mounting surface 178f, a long distance can be secured between the correction switch 53 and the steering wheel 30. This makes it possible to more reliably prevent unintentional operation of the correction switch 53 and unintentional turning of the steering wheel 30.

[0044] The screen changeover switch 54 is disposed on the other side (right side) of the steering shaft 31. More specifically, the screen changeover switch 54 is disposed to the right and in front (diagonally forward right) of the steering shaft 31. In terms of its positional relationship with the column cover 179, the screen changeover switch 54 is disposed to the right and in front (diagonally forward right) of the column cover 179. In terms of its positional relationship with the mounting surface 178f of the panel cover 178, the screen changeover switch 54 is disposed at the right front part of the mounting surface 178f. The screen changeover switch 54 is also disposed in front of the correction switch 53.

[0045] As described above, the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54 are arranged around the steering shaft 31. In other words, the setting switch 51, the steering changeover switch 52, the correction switch 53, and the screen changeover switch 54 are concentrated around the steering shaft 31. Therefore, the driver can clearly understand the position of each switch at a glance. In addition, the driver can operate each switch without changing his / her posture while remaining seated in the driver's seat 10. Therefore, operability is improved and erroneous operation can be prevented. Also, the harness (wiring) arranged from each switch can be shortened.

[0046] Incidentally, the above-mentioned switches may be arranged with the left and right interchanged. That is, one side may be the left and the other side may be the right, or one side may be the right and the other side may be the left. Specifically, for example, the setting switch 51 and the steering changeover switch 52 may be arranged on the right side of the steering shaft 31, and the correction switch 53 may be arranged on the left side of the steering shaft 31. <Outline of the control device> As shown in Fig. 1, the tractor 1 is equipped with a plurality of control devices 60. The plurality of control devices 60 are devices that control the travel system, the work 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.

[0047] The first control device 60A receives the reception signal (received information) received by the receiving device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement device 42, and determines the vehicle body position based on the reception information and the measurement information. For example, when the correction amount by the correction switch 53 is zero, that is, when the correction of the vehicle body position by the correction switch 53 is not commanded, the first control device 60A does not perform correction on the calculated vehicle body position W1 calculated from the reception information and the measurement information, and determines the calculated vehicle body position W1 as the vehicle body position to be used during automatic steering. On the other hand, when the correction of the vehicle body position by the correction switch 53 is commanded, the first control device 60A sets the correction amount of the vehicle body position based on either the number of times the correction switch 53 is operated or the operation amount (displacement amount) of the correction switch 53, and determines the corrected vehicle body position W3 obtained by correcting the calculated vehicle body position W1 with the correction amount as the vehicle body position to be used during automatic steering.

[0048] The first control device 60A sets a control signal based on the vehicle body position (calculated vehicle body position W1, corrected vehicle body position W3) and the intended travel line L2, and outputs the control signal to the second control device 60B. The second control device 60B controls the steering motor 38 of the automatic steering mechanism 37 based on the control signal output from the first control device 60A so that the vehicle body 3 travels along the intended travel line L2.

[0049] As shown in FIG. 17, when the deviation between the vehicle body position and the intended travel line L2 is less than the threshold value, the second control device 60B maintains the rotation angle of the rotation shaft of the steering motor 38. When the deviation between the vehicle body position and the planned travel line L2 is equal to or greater than the threshold value and the tractor 1 is positioned to the left of the planned travel line L2, the second control device 60B rotates the rotating shaft of the steering motor 38 so that the steering direction of the tractor 1 becomes the right direction. When the deviation between the vehicle body position and the planned travel line L2 is equal to or greater than the threshold value and the tractor 1 is positioned to the right of the planned travel line L2, the second control device 60B rotates the rotating shaft of the steering motor 38 so that the steering direction of the tractor 1 becomes the left direction. In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned travel line L2. However, when the orientation of the planned travel line L2 and the orientation (vehicle body orientation) F1 of the traveling direction (traveling direction) of the tractor 1 (vehicle body 3) are different, that is, when the angle θ of the vehicle body orientation F1 with respect to the planned travel line L2 is equal to or greater than a threshold value, the second control device 60B may set the steering angle so that the angle θ is zero (the vehicle body orientation F1 coincides with the orientation of the planned travel line L2). In addition, the second control device 60B may set the final steering angle in automatic steering based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the orientation (orientation deviation θ). The setting of the steering angle in automatic steering in the above-described embodiment is an example and is not limited.

[0050] The third control device 60C raises and lowers the connecting portion 8 in response to the operation of an 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. In addition, the control of the traveling system, the control of the working system, and the calculation of the vehicle body position described above are not limited. <Display unit details> Settings related to the traveling of the vehicle body 3 can be made using the display device 45.

[0051] The display device 45 will now be described in detail. 1, the display device 45 can acquire various information detected by the detection device 47 via an in-vehicle network or the like. The detection device 47 is an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, a prime mover rotation sensor, a steering angle sensor, an oil temperature sensor, an axle rotation sensor, etc. For example, the display device 45 can display, as driving information, the remaining fuel amount detected by the fuel sensor, the water temperature value detected by the water temperature sensor, the prime mover rotation speed detected by the prime mover rotation sensor, etc.

[0052] Furthermore, the display device 45 can obtain information on various switches, for example, information on the setting switch 51, the steering changeover switch 52, and the correction switch 53. The display device 45 can obtain ON / OFF information on the setting switch 51, information on the start and end of automatic steering in the steering changeover switch 52, and information on commands for the start point P10 and end point P11 of the driving reference line L1 in the steering changeover switch 52.

[0053] As shown in Fig. 18, the display device 45 includes a display unit 46 that displays various information. The display unit 46 includes a fixed display unit 46A that displays warnings and the like, and a variable display unit 46B that can change the information to be displayed. The fixed display unit 46A has a panel on which figures for warnings and the like are displayed, and an illumination unit such as an LED that illuminates the figures on the panel with a light source. The variable display unit 46B is formed of a panel such as an organic electroluminescence (EL) panel or a liquid crystal panel, and displays various information related to the operation (travel) of the tractor 1, etc. <About the operation screen M1> 6A shows a driving screen M1 of the tractor 1. The driving screen M1 is a screen that is displayed on the variable display section 46B when the setting switch 51 is OFF, that is, when the setting mode is disabled.

[0054] The display device 45, i.e., the operation screen M1, has an operation display section 61 that displays operation information. The operation display section 61 includes a rotation display section 62 that displays the rotation speed of the prime mover 4 (prime mover rotation speed) as the operation information. The rotation display section 62 includes a level display section 63. Level display The level display section 63 is a section that displays the prime mover RPM in stages. For example, the level display section 63 includes a scale section 65 and an indicator section 80. The scale section 65 has, for example, a first line 65A and a plurality of second lines 65B that are allocated at a predetermined interval along the first line 65A. The scale section 65 also has a third line 65C that is spaced apart from the first line 65A at a predetermined interval. The first line 65A and the third line 65C are formed, for example, in a semicircular shape, with one end side (for example, the left side) being the minimum value and the other end side (for example, the right side) being the maximum value.

[0055] The indicator portion 80 is a bar whose length changes according to the magnitude of the prime mover rotation speed. For example, the indicator portion 80 is located between the first line 65A and the third line 65C, and when the value of the prime mover rotation speed is the minimum value of zero, the indicator portion 80 is located at one end side (left side) of the first line 65A and the third line 65C and has the shortest length, and when the value of the prime mover rotation speed is the maximum value, the indicator portion 80 extends from one end side (left side) of the first line 65A and the third line 65C to the other end side (right side) of the first line 65A and the third line 65C and has the longest length. The rotation display portion 62 includes a numeric display portion 64. The numeric display portion 64 displays the prime mover rotation speed in numbers. For example, the rotation display portion 62 is located inside the semicircle of the first line 65A and the third line 65C.

[0056] Therefore, according to the operation display unit 61, the prime mover rotation speed, such as the engine rotation speed, can be displayed in stages by the level display unit 63 and can also be displayed numerically by the rotation display unit 62. The driving screen M1 has an icon display section 67 that displays a plurality of icon sections 66. The icon display section 67 is a section that displays various information using the icon sections 66. That is, settings related to driving such as automatic steering, for example, settings set in a setting mode, are displayed in the icon section 66. The icon display section 67 is located in a position different from the driving display section 61, for example, at the top of the driving screen M1.

[0057] The multiple icon sections 66 are a first icon section 66A, a second icon section 66B, a third icon section 66C, a fourth icon section 66D, a fifth icon section 66E, a sixth icon section 66F, a seventh icon section 66G, and an eighth icon section 66H. Note that the driving screen M1 does not need to have all of the multiple icon sections 66 (66A, 66B, 66C, 66D, 66E, 66F, 66G, 66H) and is not limited to the above-mentioned embodiment.

[0058] The first icon section 66A is displayed when a warning occurs. The second icon section 66B is displayed when a start point P10 of the driving reference line L1 is set. The third icon section 66C is displayed when an end point P11 of the driving reference line L1 is set. The fourth icon section 66D is displayed when the conditions for automatic steering are met. For example, the fourth icon section 66D is displayed when the setting mode is enabled, the setting of the driving reference line L1 is completed, and the planned driving line L2 can be set.

[0059] The fifth icon section 66E is displayed when the connector 8 is in the lifted or lowered state. The sixth icon section 66F is displayed when the 4WD is in the accelerated state. The seventh icon section 66G changes color, etc. according to the reception sensitivity of the receiving device 41. The eighth icon section 66H changes its display depending on the automatic steering conditions. If automatic steering is not possible for some reason, for example, if the setting mode is disabled, the reception sensitivity of the reception signal of the receiver 41 is low and the vehicle body position cannot be detected, or the driving reference line L1 has not been set, the eighth icon section 66H turns gray, indicating that automatic steering is not possible. Also, if automatic steering is possible for some reason, for example, if the setting mode is enabled and the reception sensitivity of the reception signal of the receiver 41 is equal to or higher than a predetermined level and the vehicle body position can be detected, and the driving reference line L1 has been set, the eighth icon section 66H turns green, indicating that automatic steering is possible. The display form of the eighth icon section 66H is as described above. There is no limitation on the display form. <About the operation screen M2> 6B shows the driving screen M2 of the tractor 1. The driving screen M2 is a screen displayed on the variable display unit 46B when the setting switch 51 is ON, i.e., when the setting mode is active. The driving screen M2 also includes a driving display unit 61 and an icon display unit 67, similar to the driving screen M1. In other words, the driving screen M2 is a screen capable of displaying at least the same information as the driving screen M1 with respect to driving information. The driving display unit 61 and the icon display unit 67 are similar to those of the driving screen M1, and therefore description thereof will be omitted.

[0060] When the setting mode is changed from disabled to enabled, the display device 45 changes the display state of the operation display section 61 of the operation screen M2 to a display form different from the display state of the operation display section 61 of the operation screen M1. In other words, when the setting mode is enabled, the display device 45 changes the display state of the operation display section 61 in the enabled state to a display form different from the display form of the operation display section 61 in the disabled state. The display device 45 makes the color (coloring) indicating the operation display section 61 in the operation screen M2 different from the color (coloring) indicating the operation display section 61 in the operation screen M1. In detail, the display device 45 makes the color of the scale section 65 of the level display section 63 in the operation screen M2, i.e., the colors of the first line 65A, the second line 65B, and the third line 65C, the same as those in the operation screen M1, while making the color of the indicator section 80 in the operation screen M2 a different color from that in the operation screen M1. That is, when the setting mode is enabled, the color of the indicator section 80 becomes a different color from that of the indicator section 80 when the setting mode is disabled.

[0061] Furthermore, the display device 45 changes the color of the numeric display section 64 in the operation screen M2, i.e., the color of the numbers indicating the motor RPM, to a color different from that of the operation screen M1. That is, when the setting mode is enabled, the color of the numeric display section 64 becomes a color different from that of the numeric display section 64 when the setting mode is disabled. In the driving screen M2, since the setting mode is set, it is possible to perform settings before the start of automatic steering. Figs. 7A to 7C show screen transitions of the driving screen M2 when setting the start point P10 and end point P11 of the driving reference line L1 as settings before the start of automatic steering. As shown in Fig. 7A, when the driving reference line L1 is not set, the second icon section 66B and the third icon section 66C are not displayed on the driving screen M2. When the driver sets the start point P10 of the driving reference line L1 by operating the steering changeover switch 52, the second icon section 66B is displayed on the driving screen M2 as shown in Fig. 7B. Also, when the driver sets the end point P11 of the driving reference line L1 by operating the steering changeover switch 52, the third icon section 66C is displayed on the driving screen M2 as shown in Fig. 7C.

[0062] Therefore, with the driving screen M2 displayed, the start point P10 and the end point P11 of the driving reference line L1 can be set by operating the steering switch 52 while driving the tractor 1. In addition, the driver can check whether the driving reference line L1 has been set on the driving screen M2 by checking whether the second icon section 66B and the third icon section 66C are displayed on the driving screen M2. <About the guidance screen M3> Now, after the travel reference line L1 is set, in order to perform automatic steering, it is necessary to prepare the conditions for automatic steering. For example, as shown in Fig. 8, if the direction (travel direction) of the tractor 1 is not parallel to the travel reference line L1 after the tractor 1 turns, it is difficult to steer the tractor 1 along the planned travel line L2 parallel to the travel reference line L1, and in such a case, it is determined that the conditions for automatic steering are not met. In this way, after the travel reference line L1 is set by the driving screen M2, if the conditions for automatic steering are not met, the display device 45 switches the screen displayed on the variable display unit 46B from the driving screen M2 to the guidance screen M3, as shown in Figs. 9A to 9D.

[0063] The guidance screen M3 is a screen that displays instructions (contents) related to the traveling of the vehicle body 3. In other words, the guidance screen M3 is a screen that allows the user to perform settings related to traveling. For example, the guidance screen M3 is a screen that displays instructions (contents) for preparing traveling conditions such as automatic steering. For example, as shown in FIG. 9A and FIG. 9B, the guidance screen M3 is a screen that instructs the user to change the orientation of the vehicle body 3 at least before the start of automatic steering. For example, as shown in FIG. 9A, the guidance screen M3 is a screen that instructs the user to turn the vehicle body 3 to the right, and as shown in FIG. 9B, the guidance screen M3 is a screen that instructs the user to turn the vehicle body 3 to the left. The instruction to turn the vehicle body 3 to the right or to the left is determined by the current traveling direction of the vehicle body 3. The traveling direction of the vehicle body 3 can be detected by the position detection device 40.

[0064] As shown in Fig. 8, when the traveling direction of the vehicle body 3 is diagonal to the right with respect to the extending direction (longitudinal direction) of the driving reference line L1, the guidance screen M3 instructs the user to turn the vehicle body 3 to the left. Also, as shown in Fig. 8, when the traveling direction of the vehicle body 3 is diagonal to the left with respect to the longitudinal direction of the driving reference line L1, the guidance screen M3 instructs the user to turn the vehicle body 3 to the right.

[0065] The guidance screen M3 includes a message display section 70. The message display section 70 is a section that explains, in characters (messages), the steering of the vehicle body 3. That is, the message display section 70 is a section that shows, in characters, the steering direction of the vehicle body 3 as a driving command (contents). As shown in Fig. 9A, when the traveling direction of the vehicle body 3 needs to be turned to the right, the message display unit 70 displays text to the effect that the vehicle body 3 should be turned to the right. As shown in Fig. 9B, when the traveling direction of the vehicle body 3 needs to be turned to the left, the message display unit 70 displays text to the effect that the vehicle body 3 should be turned to the left.

[0066] Also, as shown in Fig. 9C, when the traveling direction of the vehicle body 3 is to be maintained, the message display unit 70 displays text to the effect that the vehicle body 3 should go straight (straight). As shown in Fig. 9D, when it is necessary to move the vehicle body 3 straight for a predetermined distance, and the straight-line distance does not reach the predetermined distance, the message display unit 70 displays a message to the effect that the straight-line distance has not reached the predetermined distance. Note that in Fig. 9D, the message display unit 70 may display a message to the effect that the vehicle body 3 should go straight for a predetermined distance.

[0067] The guidance screen M3 includes a steering instruction section 69. The steering instruction section 69 is a section that indicates the steering direction of the vehicle body 3. As shown in FIG. 9A, when the traveling direction of the vehicle body 3 needs to be turned to the right, the steering instruction section 69 displays an arrow that points the traveling direction of the vehicle body 3 to the right. As shown in FIG. 9B, when the traveling direction of the vehicle body 3 needs to be turned to the left, the steering instruction section 69 displays an arrow that points the traveling direction of the vehicle body 3 to the left. As shown in FIG. 9C, when the traveling direction of the vehicle body 3 needs to be maintained, a pair of arrows facing each other are displayed to indicate that the vehicle body 3 should go straight (straight).

[0068] The guidance screen M3 also includes a driving display section 61 and a steering wheel display section 68. That is, the guidance screen M3 displays the driving display section 61 and the steering wheel display section 68 on the same screen (same screen). More specifically, the driving display section 61 and the steering wheel display section 68 are displayed in the portion (range) MA1 in which the explanation is changed on the guidance screen M3. The driving display section 61 on the guidance screen M3 is a section that displays driving information, similar to the driving screens M1 and M2, and displays at least a part of the driving information displayed on the driving screens M1 and M2. In this embodiment, the driving display section 61 on the guidance screen M3 includes a numeric display section 64 that displays the prime mover rotation speed in numbers, and displays the engine rotation speed, etc. The driving display section 61 on the guidance screen M3 may include the rotation display section 62 displayed on the driving screens M1 and M2. Alternatively, the driving display section 61 on the guidance screen M3 may include both the numeric display section 64 and the rotation display section 62 displayed on the driving screens M1 and M2.

[0069] The handle display unit 68 is a portion that shows the steering wheel 30 with a figure or the like. The driving display unit 61 is displayed on one side or the other side of the handle display unit 68. The handle display unit 68 and the steering instruction unit 69 are displayed separately. Note that the handle display unit 68 and the steering instruction unit 69 may be displayed overlapping each other. The steering wheel display unit 68 has a circular gripping portion 68A that is gripped by the driver on the steering wheel 30, and a connecting portion 68B that connects the gripping portion 68A. The steering direction of the steering wheel display unit 68 is changed in response to an instruction for the steering direction of the vehicle body 3.

[0070] For example, when the steering wheel display unit 68 and the message display unit 70 are displayed on the same screen, i.e., the guidance screen M3, the steering direction of the steering wheel display unit 68 is changed according to the steering direction indicated in the message display unit 70. Alternatively, when the steering wheel display unit 68 and the steering instruction unit 69 are displayed on the same screen, i.e., the guidance screen M3, the steering direction of the steering wheel display unit 68 is changed according to the steering direction indicated in the steering instruction unit 69. Alternatively, when the steering wheel display unit 68, the message display unit 70, and the steering instruction unit 69 are displayed on the same screen, i.e., the guidance screen M3, the steering direction of the steering wheel display unit 68 is changed according to the steering direction indicated in the message display unit 70 and the steering instruction unit 69.

[0071] As shown in Fig. 9A, when it is necessary to turn the traveling direction of the vehicle body 3 to the right, the handle display unit 68 indicates that the steering direction is right by rotating the grip part 68A and the connecting part 68B to the right about the center of the grip part 68A. As shown in Fig. 9B, when it is necessary to turn the traveling direction of the vehicle body 3 to the left, the handle display unit 68 indicates that the steering direction is left by rotating the grip part 68A and the connecting part 68B to the left about the center of the grip part 68. As shown in Fig. 9C, when it is necessary to maintain the traveling direction of the vehicle body 3, it indicates that the steering direction is straight by not rotating the grip part 68A and the connecting part 68B.

[0072] 16A and 16B show a modified example of the guidance screen M3. The guidance screen M3 includes a plurality of condition display sections that indicate driving conditions. The plurality of condition display sections are a first condition display section 101 that indicates a first condition, and a second condition display section 102 that indicates a second condition. In this embodiment, a condition display section that indicates two conditions will be described as an example, but the number of condition display sections is not limited to the embodiment.

[0073] The first condition display unit 101 displays, as a condition for automatic steering, that the traveling direction of the tractor 1 (body 3) is to be parallel to the reference driving line L1, for example, "Please keep it parallel to the reference line." The second condition display unit 102 displays, as a condition for automatic steering, that the tractor 1 (body 3) is to move straight a predetermined distance, for example, "Please move straight for 3 m." In the guidance screen M3, among the multiple condition display units, a condition display unit (condition satisfied display unit) in which a driving condition is satisfied changes its display form with a condition display unit (condition not satisfied display unit) in which a driving condition is not satisfied. For example, as shown in FIG. 16B, in automatic steering, when the traveling direction of the tractor 1 (body 3) is parallel to the reference driving line L1 and the straight distance is not sufficient for the predetermined distance, the first condition display unit 101 is colored in a low saturation color (for example, white, gray, etc.), and the second condition display unit 102 is colored in a high saturation color. Specifically, the display device 45 sets the saturation of the characters in the condition satisfaction display section to be lower than the saturation of the characters in the condition non-satisfaction display section, so that the driver can easily grasp which items satisfy the driving conditions and which items do not satisfy the driving conditions.

[0074] As described above, the guidance screen M3 displays the instructions (contents) for preparing the driving conditions of the tractor 1 (body 3), so the driver can steer and drive the tractor 1 (body 3) to prepare the driving conditions by looking at the instructions displayed on the guidance screen M3. Since the driving information is displayed on the guidance screen M3, the driver can easily check the driving conditions. When the tractor 1 needs to travel in order to meet certain conditions, the tractor 1 can be brought into a state suitable for the travelling conditions while traveling while viewing the driving information of the tractor 1. In addition, since both the handle display unit 68 and the driving display unit 61 are displayed on the guidance screen M3, for example, the tractor 1 can be travelled while grasping both the driving information and the steering direction of the steering wheel 30.

[0075] As shown in FIG. 8, when the traveling direction of the tractor 1 (body 3) becomes substantially parallel to the travel reference line L1 and the conditions for automatic steering are met, the display device 45 returns the screen displayed on the variable display unit 46B from the guidance screen M3 to the driving screen M2. Here, when the driver operates the steering changeover switch 52 and automatic steering is started, automatic steering can be performed while displaying driving information on the driving screen M2, as shown in FIG. 10A. When the correction switch 53 is operated under the condition that automatic steering is being performed, the display device 45 displays the correction amount of the body position on the driving screen M2. As shown in FIG. 10B and FIG. 10C, the driving display unit 61 on the driving screen M2 includes a correction display unit 71. The correction display unit 71 is a portion that displays the correction amount of the body position as driving information. That is, the display device 45 displays the correction display unit 71 when the setting mode is enabled.

[0076] 10B and 10C, the number displayed on the correction display unit 71 indicates the number of times the correction switch 53 is operated, and the correction display unit 71 displays the number of times the correction switch 53 is operated as a correction amount. As described above, since the correction amount corresponds to the number of times the correction switch 53 is operated, the driver can grasp the correction amount in stages by looking at the number of times the correction switch 53 is operated. Specifically, the correction display section 71 includes a first correction display section 72 and a second correction display section 73. The first correction display section 72 is a section that displays one side in the width direction of the vehicle body 3, i.e., a correction amount (left correction amount) for the vehicle body position on the left side. The second correction display section 73 is a section that displays the other side in the width direction of the vehicle body 3, i.e., a correction amount (right correction amount) for the vehicle body position on the right side. When the correction switch 53 is operated, either the first correction display section 72 or the second correction display section 73 is displayed on the driving screen M2.

[0077] As shown in Fig. 10B, when the first correction unit 53A is operated during automatic steering, the first correction display unit 72 is displayed on the left side of the level display unit 63. As shown in Fig. 10C, when the second correction unit 53B is operated during automatic steering, the second correction display unit 73 is displayed on the right side of the level display unit 63. That is, the first correction display unit 72 is displayed on the left side corresponding to the first correction unit 53A, and the second correction display unit 73 is displayed on the right side corresponding to the second correction unit 53B.

[0078] The first correction display section 72 includes an arrow section 74A and a numerical value section 75A. The arrow section 74A indicates the corrected orientation, i.e., one side (left side) in the width direction of the vehicle body 3. The numerical value section 75A indicates the number of times the first correction section 53A has been operated, and the numerical value is counted up as the number of times the operation increases. The second correction display section 73 includes an arrow section 74B and a numerical value section 75B. The arrow section 74B indicates the corrected orientation, i.e., the other side (right side) in the width direction of the vehicle body 3. The numerical value section 75B indicates the number of times the second correction section 53B has been operated, and the numerical value is counted up as the number of times the operation increases.

[0079] In the above-described embodiment, the correction display unit 71 indicates the magnitude of the correction amount in stages by displaying the number of operations as the correction amount, but instead, in cases where the correction amount is displayed in stages, as shown in FIG. 11, the length of the arrow portions 74A, 74B may be changed based on the correction amount of the vehicle body position, or multiple levels (indicator portions) 76 may be provided on the arrow portions 74A, 74B and the levels 76 may be changed according to the correction amount. In the indicator portions 76, for example, the number of displays increases as the number of operations of the correction switch 53 increases, or the number of displays increases as the steering amount of the correction switch 53 increases. Also, the correction display unit 71 may display the correction amount itself in a stepwise manner. may be indicated numerically.

[0080] When the steering changeover switch 52 is operated and automatic steering ends while display device 45 is displaying any of the driving screens M2 shown in Figures 10A to 10C, the display device 45 displays on the driving screen M2 a message indicating that automatic steering has ended, and returns to either the driving screen M2 shown in Figure 9C or the driving screen M1 shown in Figure 6A. As described above, since the correction display unit 71 is displayed on the driving screen M2, the driver can easily understand the amount of correction made by the correction switch 53 and the direction in which the correction amount is being made by looking at the correction display unit 71 during automatic steering. <About the guidance screen M4> In the above embodiment, when the setting switch 51 is turned from OFF to ON while the driving screen M1 is displayed on the display device 45, the guidance screen M3 that displays instructions related to the driving of the vehicle body 3 is displayed via the driving screen M2. However, when the screen changeover switch 54 is operated while the driving screen M1 is displayed, or when the screen changeover switch 54 is operated while the driving screen M2 is displayed, it is possible to display the guidance screen M4 as shown in Figs. 12A to 12C. The guidance screen M4 is a screen for setting settings related to driving, and is a screen that displays, for example, the setting of the driving reference line L1 and instructions (contents) for preparing the driving conditions of the vehicle body 3. In other words, the guidance screen M4 is a screen that can display navigation for preparing the driving conditions.

[0081] 12A to 12C, the guidance screen M4 includes a message display section 77, a driving display section 61, and a steering wheel display section 68. That is, the guidance screen M3 also displays the driving display section 61 and the steering wheel display section 68 on the same screen (the same screen). The message display unit 77 is a section that displays various commands in text, and when the setting mode is set to disabled as shown in Fig. 12A, the message display unit 77 displays a message to turn on the setting switch 51, for example, "Please switch to GS mode." When the setting mode is set to enabled as shown in Fig. 12B, the message display unit 77 displays a message to set the start point P10 of the traveling reference line L1, for example, "Please register the start point." Also, as shown in Fig. 12C, the message display unit 77 displays a message to set the end point P11 of the traveling reference line L1, for example, "Please register the end point."

[0082] The driving display section 61 in the guidance screen M4 is a section that displays driving information, similar to the driving screens M1 and M2, and displays at least a part of the driving information displayed in the driving screens M1 and M2. In the guidance screen M4, the driving display section 61 is displayed in the section (range) MA2 in which the explanation is changed. In this embodiment, the driving display section 61 in the guidance screen M4 includes a numeric display section 64 that indicates the prime mover speed in numbers, and displays the engine speed, etc. The driving display section 61 in the guidance screen M4 may also include the rotation display section 62 shown in the driving screens M1 and M2. Alternatively, the driving display section 61 in the guidance screen M4 may also include both the numeric display section 64 and the rotation display section 62 shown in the driving screens M1 and M2.

[0083] The handle display section 68 on the guidance screen M4 also has a grip section 68A and a connecting section 68B. Moreover, the handle display section 68 on the guidance screen M4 shows a switching display section 78 which illustrates the steering changeover switch 52. As shown in FIG. 12B, the switching display section 78 shows the operation position when setting the start point P10 of the driving reference line L1, and the tip of the switching display section 78 is located below the grip section 68A from the neutral position. As shown in FIG. 12C, the switching display section 78 shows the operation position when setting the end point P11 of the driving reference line L1, and the tip of the switching display section 78 is located above the grip section 68A from the neutral position. Moreover, the guidance screen M4 shows an arrow section 78 which indicates the operation direction of the steering changeover switch 52 when setting the start point P10 and the end point P11 of the driving reference line L1. In the guidance screen M4, a second icon portion 66B indicating a starting point P10 of the driving reference line L1 and a third icon portion 66C indicating an end point P11 of the driving reference line L1 are displayed at a position different from the icon display portion 67, i.e., at the center in the width direction.

[0084] When the screen changeover switch 54 is operated and the position detection device 40 needs to be warmed up, a warm-up screen showing the warm-up as shown in Fig. 13 is displayed on the display device 45. When the warm-up is completed, the display device 45 switches to the guidance screen M4 shown in Fig. 12A. As described above, the driving reference line L1 can be set with an explanation on the guidance screen M4. That is, the driving reference line L1 can also be set on the driving screen M2, but since the display device 45 displays the guidance screen M4 separately from the driving screen M2, the driver can set the driving reference line L1 on the guidance screen M4 even if he does not know how to set the automatic steering.

[0085] In addition, after the driving reference line L1, etc. have been set by instructions regarding driving on the guidance screen M4, if the screen is switched to the driving screen M1, M2 by an operation such as screen switching, the second icon section 66B and the third icon section 66C will display on the driving screens M1, M2 that the start point P10 of the driving reference line L1 has been set and that the end point P11 has been set. 12A to 12C, if the conditions for automatic steering are not met after the driving reference line L1 is set on the guidance screen M4, the display device 45 switches the screen displayed on the variable display section 46B from the guidance screen M4 to the guidance screen M3 as shown in Fig. 9A to 9D. Furthermore, after switching the screen displayed on the variable display section 46B from the guidance screen M4 to the guidance screen M3, if the conditions for automatic steering are met, the display device 45 displays the guidance screen M4 again as shown in Fig. 14A.

[0086] As shown in FIG. 14A, when the driving reference line L1 is set and the conditions for automatic steering are met, the guidance screen M4 displays the fourth icon section 66D in addition to the second icon section 66B and the third icon section 66C. In addition, in a situation where automatic steering has not been started, the message display section 77 of the guidance screen M4 displays a message indicating that automatic steering can be started by the steering changeover switch 52, for example, "Please turn on the GS function." In addition, in a situation where automatic steering has not been started, an arrow section 83 is displayed on the guidance screen M4. The arrow section 83 is located near the handle display section 68 and the changeover display section 78, and indicates the operation direction of the steering changeover switch 52 to instruct the start of automatic steering. As shown in FIG. 14A, in a situation where the conditions for automatic steering have been met and automatic steering has not been started, the message display section 77 and the arrow section 83 shown on the guidance screen M4 become instruction display sections indicating that automatic steering can be started by the steering changeover switch 52. The display method of the message display section 77 and the arrow section 83 is not limited to the above-described embodiment. Although both the message display section 77 and the arrow section 83 are shown as the instruction display section, the instruction display section may be either the message display section 77 or the arrow section 83.

[0087] When the driver starts automatic steering by operating the steering changeover switch 52, the display state of the guidance screen M4 changes to the state shown in Figures 14B and 14C. As shown in Figures 14B and 14C, the driving display unit 61 and the steering wheel display unit 68 are still displayed on the guidance screen M4 even after automatic steering is started. As shown in Figures 14B and 14C, after automatic steering begins, a message display section 82 is displayed on guidance screen M4 in addition to message display section 77. Message display section 82 displays a message indicating that automatic steering will be stopped (ended) by operating steering changeover switch 52, for example, "Function stopped by operating lever up." After automatic steering begins, an arrow section 81 is displayed on guidance screen M4. Arrow section 81 is located near steering wheel display section 68 and changeover display section 78, and indicates the operation of steering changeover switch 52 to instruct the end of automatic steering. The figure shows the operation direction.

[0088] In addition, when the correction switch 53 is operated under a condition where automatic steering is being performed, the display device 45 displays the correction amount of the vehicle body position, i.e., the correction display section 71, on the guidance screen M4. The correction display section 71 displayed on the guidance screen M4 is the same as the correction display section 71 displayed on the driving screen M2, and displays the number of operations as the correction amount. In addition, the correction display section 71 displayed on the guidance screen M4 also includes a first correction display section 72 and a second correction display section 73. As shown in FIG. 14B, when the first correction section 53A is operated during automatic steering, the first correction display section 72 of the guidance screen M4 is displayed on the left side of the message display section 82. As shown in FIG. 14C, when the second correction section 53B is operated during automatic steering, the second correction display section 73 is displayed on the right side of the message display section 82. Note that the first correction display section 72 of the guidance screen M4 includes an arrow section 74A and a numerical section 75A, and the second correction display section 73 of the guidance screen M4 includes an arrow section 74B and a numerical section 75B, but as these are similar to the driving screen M2, their explanations will be omitted.

[0089] When the steering changeover switch 52 is operated and automatic steering is ended while display device 45 is displaying either guidance screen M4 shown in Figure 14B or 14C, the display device 45 will display on the guidance screen M4 a message indicating that automatic steering has ended, and will return to either the guidance screen M4 shown in Figure 14A or the driving screen M1 shown in Figure 6A. As described above, the display device 45 can display the conditions for maintaining the automatic steering after the driving conditions for the automatic steering are met. Specifically, the display device 45 displays the guidance screen M4 for maintaining the automatic steering during the automatic steering. In a situation where the automatic steering is being performed while the guidance screen M4 shown in FIG. 14B and FIG. 14C is displayed, when the vehicle speed of the tractor 1 (body 3) becomes equal to or higher than a predetermined speed, the guidance screen M4 shown in FIG. 14B and FIG. 14C is switched to the guidance screen M4 shown in FIG. 15A. The message display unit 77 of the guidance screen M4 in FIG. 15A displays the state of the tractor 1 during the automatic steering, that is, the vehicle speed is excessive. In addition, the message display unit 82 of the guidance screen M4 displays an indication that the vehicle speed is to be reduced as a condition for maintaining the automatic steering, such as "The speed is excessive. Please reduce the speed." In addition, the driving display unit 61 of the guidance screen M4 includes a vehicle speed display unit 90. The vehicle speed display unit 90 displays the current vehicle speed, i.e., the vehicle speed during automatic steering, in numbers. When the driver operates the accelerator or the like to reduce the vehicle speed of the tractor 1 (body 3) to a speed lower than the speed determined by automatic steering, the guidance screen M4 is switched again to the guidance screen M4 shown in Figures 14B and 14C.

[0090] In addition, in a situation where automatic steering is being performed while the guidance screen M4 shown in FIG. 14B and FIG. 14C is displayed, if the vehicle speed of the tractor 1 (body 3) becomes zero, the guidance screen M4 shown in FIG. 14B and FIG. 14C is switched to the guidance screen M4 shown in FIG. 15B. The message display unit 77 of the guidance screen M4 in FIG. 15B displays the state of the tractor 1 during automatic steering, that is, the vehicle speed is zero. In addition, the message display unit 82 of the guidance screen M4 displays a display indicating that the vehicle speed should be increased above zero as a condition for maintaining automatic steering, such as "Vehicle is stopped. Please restore speed." When the driver increases the vehicle speed of the tractor 1 (body 3) above zero by operating the accelerator or the like, the guidance screen M4 is switched again to the guidance screen M4 shown in FIG. 14B and FIG. 14C.

[0091] In the above-described embodiment, while the guidance screen M4 displayed after the start of automatic steering is being displayed, Figs. 15A and 15B are shown as screens showing the conditions for maintaining automatic steering. However, when automatic steering is being performed while the driving screen M2 of Figs. 10A to 10C is being displayed, if the vehicle speed reaches or exceeds a predetermined speed or becomes zero, the screen displayed on the variable display unit 46B may be switched from the driving screen M2 to the guidance screen M4 of Fig. 15A or the guidance screen M4 of Fig. 15B. 15B and the guidance screen M4 in FIG. 15B, when the conditions for maintaining automatic steering are met, the guidance screen M4 is switched to the driving screen M2.

[0092] The work vehicle 1 includes a vehicle body 3 capable of travelling, a steering wheel 30 for steering the vehicle body 3 by a rotation operation, a position detection device 40 provided on the vehicle body 3 and detecting the position of the vehicle body 3 based on a signal from a positioning satellite, a correction switch 53 for issuing a command to correct the position of the vehicle body 3 detected by the position detection device 40, and an automatic steering mechanism 37 for automatically steering the vehicle body 3 based on a corrected vehicle body position, which is the position of the vehicle body 3 corrected by the operation of the correction switch 53, and a planned travel line L2. According to this, even if the position of the vehicle body 3 detected by the position detection device 40 (calculated vehicle body position W1) deviates from the actual position W2 of the work vehicle 1 (vehicle body 3) such as a tractor 1 due to various influences, the position of the vehicle body 3 (vehicle body position) can be corrected by the correction switch 53 after the start of automatic steering, so that the vehicle body 3 can travel along the planned travel line L2. In other words, since the calculated vehicle body position W1 can be corrected by the correction switch 53, the influence of the detection accuracy by the position detection device 40 can be reduced.

[0093] The correction switch 53 includes a first correction unit 53A that commands correction of the position of the vehicle body 3 on one side in the width direction of the vehicle body 3, and a second correction unit 53B that commands correction of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. With this, even if the calculated vehicle body position W1 is shifted to one side or the other, the first correction unit 53A and the second correction unit 53B can easily correct the calculated vehicle body position W1 in the direction of the shift.

[0094] The correction switch 53 is connected to a control device 60 that controls the automatic steering mechanism 37, and the control device 60 sets the amount of correction for the position of the vehicle body 3 based on the number of times the correction switch 53 is operated. This allows the driver to change the amount of correction simply by increasing or decreasing the number of times the correction switch 53 is operated. The control device 60 sets the amount of correction for the position of the vehicle body 3 based on the amount of operation of the correction switch 53. This allows the driver to change the amount of correction simply by adjusting the amount of operation of the correction switch 53.

[0095] The work vehicle 1 is equipped with a steering changeover switch 52 that switches between automatic steering and manual steering. This makes it easy to switch between automatic steering, which causes the vehicle body 3 to travel along the intended travel line L2, and manual steering, which causes the driver to travel the vehicle body 3 using the steering wheel 30. The work vehicle 1 also includes a steering wheel 30, a vehicle body 3 capable of traveling by either manual steering using the steering wheel 30 or automatic steering of the steering wheel 30 based on a planned traveling line, a setting switch 51 for switching a setting mode for setting at least before the start of automatic steering between enabled and disabled, and a display device 45 having a driving display unit 61 for displaying driving information while the vehicle body 3 is traveling, and which changes the display state of the driving display unit 61 to a display state different from when the setting mode is disabled when the setting mode is switched to enabled. With this, in the vehicle body 3 capable of manual steering and automatic steering, the driver can easily know whether or not the vehicle body 3 is in a state in which the driver can easily perform settings before automatic steering simply by looking at the driving display unit 61.

[0096] The work vehicle 1 is equipped with a prime mover 4, the driving display unit 61 includes a rotation display unit 62 that displays the number of revolutions of the prime mover as driving information, and the display device 45 changes the color of the rotation display unit 62 in the setting mode to a color different from that when the setting mode is disabled. This makes it possible to indicate whether the setting mode is enabled or disabled by the difference in color of the number of revolutions of the prime mover, which the driver pays particular attention to when driving. In other words, it is possible to make the driver quickly aware that the setting mode is enabled.

[0097] The rotation display unit 62 includes a level display unit 63 that displays the engine speed in stages, and a number display unit 64 that displays the engine speed in numbers. This allows the driver to easily know whether the setting mode is enabled or disabled by looking at at least either the level display unit 63 or the engine speed. The work vehicle 1 is provided with a position detection device 40 that is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on signals from positioning satellites, and a correction switch 53 that corrects the position of the vehicle body 3 detected by the position detection device 40, and the driving display unit 61 includes a correction display unit 71 that displays the amount of correction of the position of the vehicle body 3 made by the correction switch 53 as driving information, and the display device 45 displays the correction display unit 71 in the setting mode. This allows the driver to simultaneously grasp the driving information displayed on the driving display unit 61 and the correction amount displayed on the correction display unit 71, making it easy to grasp the status of automatic steering.

[0098] The correction display unit 71 displays the number of times the correction switch 53 is operated as the correction amount. This allows the driver to easily grasp the extent to which the calculated vehicle body position W1 has been corrected, simply by looking at the number of times the correction switch 53 is operated, displayed on the correction display unit 71. The correction display unit 71 displays the magnitude of the correction amount in stages. This allows the driver to easily grasp the extent to which the calculated vehicle body position W1 has been corrected, simply by looking at the stages of the magnitude of the correction amount displayed on the correction display unit 71.

[0099] The correction display unit 71 includes a first correction display unit 72 that displays the correction amount of the position of the vehicle body 3 on one side in the width direction of the vehicle body 3, and a second correction display unit 73 that displays the correction amount of the position of the vehicle body 3 on the other side in the width direction of the vehicle body 3. This allows the driver to easily grasp the extent of the calculated correction amount W1 for one side or the other side in the width direction of the vehicle body 3 by simply looking at either the first correction display unit 72 or the second correction display unit 73.

[0100] The work vehicle 1 is equipped with a display device 45, which has a handle display unit 68 that shows the steering wheel 30 and a driving display unit 61 that displays driving information when the vehicle body 3 is traveling, and displays the handle display unit 68 and the driving display unit 61 on the same screen. According to this, since the handle display unit 68 and the driving display unit 61 are displayed on the same screen, when performing either automatic steering or manual steering, the driver can simultaneously grasp the state and driving information related to the steering wheel 30. That is, the driver can easily grasp the steering of the steering wheel. For example, by looking at the driving display unit and the handle display unit displayed on the same screen, the driver can steer while grasping both the driving information during driving and the steering of the steering wheel when traveling in either manual steering or automatic steering.

[0101] The steering wheel display unit 68 and the driving display unit 61 are displayed on a guidance screen that instructs to change the orientation of the vehicle body 3 at least before the start of automatic steering. According to this, when it is necessary to change the orientation of the vehicle body 3 before the start of automatic steering, the driver can determine driving information at the time of steering the steering wheel 30 from the driving display unit 61 while steering the steering wheel 30 while looking at the steering wheel display unit 68.

[0102] The display device 45 has a steering instruction section 69 that is displayed on the same screen and indicates the steering direction of the vehicle body 3. This allows the driver to simultaneously see the handle display section 68 and the steering display section 69 on the same screen, and can easily grasp from the handle display section 68 that the steering wheel 30 needs to be steered and in which direction the steering wheel 30 should be steered.

[0103] The display device 45 has a message display section 70 that displays messages on the same screen and that explain how to steer the vehicle body 3. This allows the driver to read the steering wheel display section 68. The driver can view the message display unit 70 on the same screen at the same time, and can easily understand from the steering wheel display unit 68 that the steering wheel 30 needs to be steered and the steering of the message display unit 70.

[0104] The steering direction of the steering wheel display unit 68 is changed in response to the steering direction instruction. This allows the driver to grasp the steering direction of the steering wheel 30 simply by looking at the steering wheel display unit 68. The work vehicle 1 is provided with a setting switch 51 that switches to a setting mode in which at least settings before the start of automatic steering are made, and in the setting mode, the steering wheel display unit 68 and the driving display unit 61 are displayed on the same screen. This allows the settings before the start of automatic steering to be easily made while watching the steering wheel display unit 68 and the driving display unit 61.

[0105] The display device 45 is equipped with a steering changeover switch 52 that switches between starting and ending automatic steering in the setting mode, and the display device 45 has an indication display section that indicates that automatic steering can be started by the steering changeover switch 52. This allows the driver to know whether or not automatic steering is possible just by looking at the indication display section shown on the display device 45, and when automatic steering is possible, the driver can easily switch the start of automatic steering by the steering changeover switch 52.

[0106] The work vehicle 1 includes a vehicle body 3 capable of travelling, a steering wheel 30 for steering the vehicle body 3, and a display device 45 capable of displaying a driving screen for displaying driving information when the vehicle body 3 is travelling, and a guidance screen for displaying instructions related to the travel of the vehicle body 3, and the display device 45 displays at least a part of the driving information displayed on the driving screen on the guidance screen. With this, when the driver makes settings related to the travel of the vehicle body 3 while looking at the guidance screen, the driving information is displayed on the guidance screen, so that the driver can easily make settings related to travel. In other words, the driver can easily drive the vehicle even while looking at the guidance screen.

[0107] The work vehicle 1 is equipped with a prime mover 4, and the display device 45 displays the prime mover RPM as driving information on the guidance screen. Since the prime mover RPM, which is important in driving the work vehicle 1, is displayed on the guidance screen, the driver can drive the work vehicle 1 while viewing the prime mover RPM on the guidance screen. The work vehicle 1 is equipped with a driver's seat 10, and the display device 45 is provided in front of the driver's seat 10 at a position corresponding to the steering wheel 30. With this, the driver can see the guidance screen displayed on the display device 45 while normally sitting in the driver's seat 10 and driving, and can drive while grasping the information on the guidance screen.

[0108] The display device 45 displays message display sections 70, 77 that show commands (contents) in text and an operation display section 61 that shows operation information on a guidance screen. This allows the driver to perform an operation corresponding to the message display sections 70, 77 while viewing both the information in the message display sections 70, 77 and the operation information displayed on the operation display section 61. The work vehicle 1 is equipped with a drivable body 3, a steering wheel 30 for steering the body 3, and a display device 45 capable of displaying a guidance screen that displays at least commands for preparing the driving conditions of the body 3. With this, when it is necessary to prepare the driving conditions before driving the work vehicle 1, the driver can easily prepare the driving conditions by simply looking at the guidance screen.

[0109] The display device 45 displays a guidance screen before the start of automatic steering, and also displays a steering instruction section 69 on the guidance screen, which indicates the steering direction of the vehicle body 3 corresponding to the driving conditions. According to this, when it is necessary to prepare the driving conditions before the start of automatic steering, the driver can steer to prepare the driving conditions for automatic steering just by looking at the steering instruction section 69 displayed on the guidance screen. This can be done.

[0110] The display device 45 displays a guidance screen before the start of automatic steering, and also displays on the guidance screen a handle display section 68 that shows the steering wheel 30 facing the steering direction of the vehicle body 3 corresponding to the driving conditions. According to this, when it is necessary to prepare the driving conditions before the start of automatic steering, the driver can easily understand that the driving conditions for automatic steering can be prepared by steering the steering wheel 30 in the steering direction shown in the handle display section 68, simply by looking at the handle display section 68 on the guidance screen, and it is easy to prepare the driving conditions for automatic steering.

[0111] The work vehicle 1 is equipped with a steering changeover switch 52 that switches between manual steering and automatic steering, and the display device 45 displays a command to switch the steering changeover switch 52 to automatic steering on the guidance screen when the driving conditions are met. This allows the driver to easily understand that the vehicle is now in a state where automatic steering can be performed when the command to switch the steering changeover switch 52 to automatic steering is displayed.

[0112] When traveling is started after the traveling conditions of the vehicle body 3 are prepared, the display device 45 displays the conditions for maintaining the traveling. In this way, even after the traveling of the vehicle body 3 has started, the conditions for maintaining the traveling can be prepared. The display device 45 displays the conditions for maintaining automatic steering as the conditions for maintaining traveling after the start of automatic steering. This makes it possible to prepare the conditions for maintaining automatic steering even after the start of automatic steering of the vehicle body 3.

[0113] The display device 45 displays driving information of the vehicle body 3 on a guidance screen during automatic steering. This allows the driver to grasp the driving situation during automatic steering on the guidance screen. The work vehicle 1 is provided with a position detection device 40 that is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on signals from positioning satellites, a correction switch 53 that issues a command to correct the position of the vehicle body 3 detected by the position detection device 40, a corrected vehicle body position that is the position of the vehicle body 3 corrected by operating the correction switch 53, and an automatic steering mechanism 37 that automatically steers the vehicle body 3 based on the intended travel line L1, and the display device 45 displays the amount of correction of the position of the vehicle body 3 made by the correction switch 53 on a guidance screen. This makes it possible to perform automatic steering even while the guidance screen is displayed. <About the steering switch> In the above-described embodiment, when the vehicle body 3 is automatically steered based on the corrected vehicle body position obtained by correcting the calculated vehicle body position detected by the position detection device 40 and the planned traveling line, the steering of the vehicle body 3 can be changed by the correction switch 53 that corrects the calculated vehicle body position. That is, the correction switch 53 functions as a steering switch that steers the vehicle body 3 separately from the steering wheel 30. That is, the work vehicle 1 is equipped with a steering switch. The explanation of the steering switch can be omitted by replacing the correction switch 53 in the above-described embodiment with the steering switch 53. The first correction unit 53A can be replaced with the first steering unit, and the second correction unit 53B can be replaced with the second steering unit, and the explanation of the first steering unit and the second steering unit can be omitted.

[0114] That is, the work vehicle 1 is equipped with a drivable vehicle body 3, a steering handle 30 for steering the vehicle body 3 by a rotation operation, and a steering switch for steering the vehicle body 3 in addition to the steering handle 30. Therefore, the driver can steer the work vehicle 1 by simply operating the steering switch, without operating the steering handle 30. The steering switch is a switch that is operated by pressing or sliding to steer the vehicle body 3. This allows the driver to easily steer the vehicle body 3 by either pressing or sliding the steering switch.

[0115] The steering switch is provided around the steering wheel 30. This allows the driver to quickly change from operating the steering wheel 30 to steering using the steering switch. In other words, the driver can travel the work vehicle 1 while easily switching between steering using the steering wheel 30 and steering using the steering switch. The work vehicle 1 is equipped with a steering shaft 31 that rotatably supports the steering wheel 30, and the steering switch is provided around the steering wheel 30. This allows the driver to quickly change from operating the steering wheel 30 to steering using the steering switch.

[0116] The steering switch includes a first steering unit that steers the vehicle body 3 in one direction and a second steering unit that steers the vehicle body 3 in the other direction. Therefore, the driver can steer the vehicle body 3 in one direction by operating the first steering unit by pressing or sliding it, and can steer the vehicle body 3 in the other direction by operating the second steering unit by pressing or sliding it. The work vehicle 1 is provided with a position detection device 40 that is provided on the vehicle body 3 and detects the position of the vehicle body 3 based on signals from positioning satellites, and an automatic steering mechanism 37 that automatically steers the vehicle body 3 based on the position of the vehicle body 3 detected by the position detection device 40, and the steering switch issues a command to correct the position of the vehicle body 3 detected by the position detection device 40 when pressed or slid, and the automatic steering mechanism automatically steers the vehicle body 3 based on the corrected vehicle body position, which is the position of the vehicle body 3 corrected by pressing or sliding the steering switch, and the planned traveling line. According to this, when automatic steering is being performed by the automatic steering mechanism, the steering direction during automatic steering can be easily changed by operating the steering switch.

[0117] Fig. 19 is a control block diagram of a modified example of a work vehicle equipped with a steering switch, in which the same configuration as in the embodiment described above will not be described repeatedly. The tractor 1 is equipped with a steering switch 153. The steering switch 153 is configured as a push switch that can be pressed or a slide switch that can be slid. Below, the cases where the steering switch 153 is a push switch and a slide switch will be described.

[0118] When the steering switch 153 is a push switch, the steering amount is set based on the number of times the push switch is operated. The steering amount is determined by steering amount = number of operations x steering amount per one operation. When the steering switch 153 is a slide switch, the steering amount is set based on the operation amount (displacement amount) of the slide switch. For example, the steering amount is determined by steering amount = displacement amount from a predetermined position. Note that the above-mentioned method of increasing the steering amount and the rate of increase are not limited to the above-mentioned numerical values.

[0119] The steering switch 153 has a first steering section 153A and a second steering section 153B. The first steering section 153A is a section that sets steering to one side in the width direction of the vehicle body 3, i.e., the left side. The second steering section 153B is a section that sets steering to the other side in the width direction of the vehicle body 3, i.e., the right side. When the steering switch 153 is a push switch, the first steering unit 153A and the second steering unit 153B are ON or OFF switches that automatically return to their original state each time they are operated. The switch constituting the first steering unit 153A and the switch constituting the second steering unit 153B are integrated. The switch constituting the first steering unit 153A and the switch constituting the second steering unit 153B may be disposed apart from each other. Each time the first steering unit 153A is pressed, the steering amount corresponding to the left side of the vehicle body 3 (left steering amount) increases. Also, each time the second steering unit 153B is pressed, the steering amount corresponding to the right side of the vehicle body 3 (right steering amount) increases.

[0120] When the steering switch 153 is a slide switch, the first steering unit 153A and the second steering unit The first steering section 153A includes a knob section that moves left or right along the longitudinal direction of the long hole. When the steering switch 153 is a slide switch, the first steering section 153A and the second steering section 153B are arranged spaced apart from each other in the width direction. When the knob section is gradually displaced leftward from a predetermined reference position, the left steering amount increases according to the amount of displacement. When the knob section is gradually displaced rightward from a predetermined reference position, the right steering amount increases according to the amount of displacement. In addition, when the steering switch 153 is a slide switch, the first steering section 153A and the second steering section 153B may be integrally formed, the reference position of the knob section is set to the center, and when the knob section is moved leftward from the reference position, the left steering amount is set, and when the knob section is moved rightward from the middle position, the right steering amount is set.

[0121] In the tractor 1, the steering mechanism 137 is a mechanism that rotates (turns) the steering shaft 31 based on the steering of the steering switch 153. The steering mechanism 137 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 and the gear mechanism 39 are similar to those in the above-described embodiment. The fourth control device 60D is provided. The fourth control device 60D controls the steering motor 38 based on the operation of the steering switch 153. When the first steering unit 153A is operated, the fourth control device 60D sets the rotation amount (rotation angle) of the steering shaft 31 in response to the left steering amount set by the first steering unit 153A, and rotates the rotation shaft of the steering motor 38 so that the steering direction of the tractor 1 becomes the left direction. When the second steering unit 153B is operated, the fourth control device 60D sets the rotation amount (rotation angle) of the steering shaft 31 in response to the right steering amount set by the second steering unit 153B, and rotates the rotation shaft of the steering motor 38 so that the steering direction of the tractor 1 becomes the right direction. In this way, the tractor 1 can be steered left or right by operating the steering switch 153. In the above-described modified example, the steering motor 38 was rotated by the steering mechanism 137. Alternatively, the control valve 34 may be configured as a control valve with an electromagnetic valve capable of setting the amount of spool movement, and the fourth control device 60D may steer the tractor 1 by controlling the switching position and opening of the control valve 34 in accordance with the amount of left steering or right steering.

[0122] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0123] 1 Work vehicle 3. Body 30 Steering wheel 37 Automatic steering mechanism 40 Position detection device 45 Display device 46 Display section 53 Correction Switch 68 Steering wheel display 69 Steering control section L2 Planned running line M3, M4, M5 Guidance screen

Claims

1. A drivable vehicle body; A steering wheel for steering the vehicle body; a control device capable of controlling the traveling of the vehicle body by either manual steering using the steering wheel or automatic steering that steers the steering wheel so that the vehicle body travels along a planned traveling line that is parallel to a preset traveling reference line; a display device that displays a guidance screen for setting the driving reference line before the control device starts to control the driving of the vehicle body by the automatic steering; Equipped with The guidance screen includes a message display unit that displays a message urging the user to set a start point and an end point of the driving reference line, an icon display unit that displays a start point icon indicating the start point and an end point icon indicating the end point, and an operation display unit that shows operations to be performed when setting the start point and the end point.

2. 2. The work vehicle according to claim 1, wherein the message display section is displayed at an upper portion of the guidance screen, the icon display section is displayed at a center of the guidance screen, and the operation display section is displayed at an end portion in a width direction of the guidance screen.

3. The work vehicle according to claim 1 or 2, wherein the display device displays an instruction to adjust the direction of travel of the vehicle body by displaying a steering instruction section indicating the steering direction of the vehicle body relative to the driving reference line before the control device starts controlling the vehicle body's travel by the automatic steering.

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