Working vehicle

Abstract

To provide a working vehicle that can improve operability of an operation terminal.SOLUTION: A working vehicle 100 has an automatic traveling mode for traveling along a predetermined traveling path SG. The working vehicle 100 comprises a traveling device 102, a driving seat 4, a steering operation part 6, an operation terminal 12, and a grip member 46. The traveling device 102 travels. A driver is seated on the driving seat 4. The steering operation part 6 changes a direction in which the traveling device 102 travels, in accordance with an operation of the driver. The operation terminal 12 receives the operation of the driver. The grip member 46 is arranged near the operation terminal 12, and is gripped by the driver.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a work vehicle.

Background Art

[0002] Work vehicles having an automatic driving mode are known (see, for example, Patent Document 1). The automatic driving mode is a mode in which the work vehicle travels along a predefined travel route. Patent Document 1 discloses a rice transplanter having an automatic driving mode.

[0003] The rice transplanter of Patent Document 1 includes a wireless communication terminal. The user of the rice transplanter makes settings related to automatic driving using the wireless communication terminal. The rice transplanter automatically drives based on the settings. In the rice transplanter of Patent Document 1, the wireless communication terminal is disposed near the steering wheel.

[0004] By the way, among work vehicles having an automatic driving mode, there are work vehicles that stop automatic driving when a driver operates a steering operation unit (for example, a steering wheel) during automatic driving. The driver of such a work vehicle keeps his hands off the steering operation unit during automatic driving. However, when the driver's hands are off the steering operation unit and not holding anything during traveling (during automatic driving), the driver's posture becomes unstable. Therefore, in order to stabilize his own posture, the driver often places his arms on the armrests disposed on both sides of the driver's seat and holds the armrests with his hands.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in a configuration where a wireless communication terminal is disposed in the vicinity of a steering wheel as in the rice transplanter of Patent Document 1, when a driver places an arm on an armrest and grasps the armrest with a hand, the position of the hand moves away from the operation terminal, making it difficult for the driver to operate the operation terminal.

[0007] The present invention has been made in view of the above problems, and an object thereof is to provide a work vehicle capable of improving the operability of an operation terminal.

Means for Solving the Problems

[0008] In the present invention, a work vehicle has an automatic driving mode in which the vehicle travels along a pre-determined travel route. The work vehicle includes a traveling device, a driver's seat, a steering operation unit, an operation terminal, and a gripping member. The traveling device travels. A driver sits on the driver's seat. The steering operation unit changes the direction in which the traveling device travels by an operation of the driver. The operation terminal receives an operation of the driver. The gripping member is disposed in the vicinity of the operation terminal and is gripped by the driver.

Effects of the Invention

[0009] According to the work vehicle according to the present invention, the operability of the operation terminal can be improved.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments of the work vehicle according to the present invention will be described with reference to the drawings (FIGS. 1 to 12). However, the present invention is not limited to the following embodiments, and can be implemented in various aspects without departing from the gist thereof. Note that, regarding portions where the description overlaps, the description may be omitted as appropriate. Also, in the drawings, the same or corresponding portions are denoted by the same reference numerals and the description will not be repeated.

[0012] First, with reference to FIG. 1, the work vehicle 100 of the present embodiment will be described. FIG. 1 is a left side view of the work vehicle 100 of the present embodiment. The work vehicle 100 has a manual traveling mode and an automatic traveling mode. The manual traveling mode is a mode in which the driver of the work vehicle 100 manually operates the work vehicle 100. The automatic traveling mode is a mode in which the work vehicle 100 travels along a pre-determined traveling route SG. In the present embodiment, the work vehicle 100 is a self-unloading combine.

[0013] In this specification, for ease of understanding, the front-rear direction, left-right direction, and up-down direction may be described. Here, the front-rear direction, left-right direction, and up-down direction are the directions as seen from the driver seated in the driver's seat 4 (see FIG. 2). However, these directions are defined only for convenience of explanation, and there is no intention to limit the orientation of the work vehicle of the present invention during use and assembly by these definitions of the directions.

[0014] As shown in FIG. 1, the work vehicle 100 of the present embodiment includes a traveling body 101, a traveling device 102, and a mowing device 200. The traveling device 102 is disposed below the traveling body 101 and supports the traveling body 101. The mowing device 200 is disposed in front of the traveling body 101.

[0015] The traveling body 101 (work vehicle 100) includes an engine (not shown). The engine is, for example, a diesel engine. The engine converts thermal energy obtained by burning fuel into kinetic energy (power).

[0016] The traveling device 102 makes the work vehicle 100 travel. Specifically, the traveling device 102 travels based on the power (kinetic energy) generated in the engine. The traveling device 102 includes, for example, a pair of left and right traveling crawler devices. The pair of left and right traveling crawler devices make the work vehicle 100 travel in the front-rear direction. Further, the pair of left and right traveling crawler devices make the work vehicle 100 turn in the left-right direction.

[0017] The mowing device 200 is driven based on the power (kinetic energy) generated in the engine. The mowing device 200 mows the uncut cereal straws in the field H. In the present embodiment, the mowing device 200 includes a mowing frame 201, a cutting blade device 202, a cereal straw lifting device 203, a cereal straw conveying device 204, and a weeding body 205.

[0018] The mowing frame 201 is mounted on the front part of the traveling body 101 so as to be vertically movable. The cutting blade device 202 is disposed below the mowing frame 201. The cutting blade device 202 mows the uncut cereal straws in the field H. Specifically, the cutting blade device 202 has a cutting blade. The cutting blade device 202 reciprocates the cutting blade in order to cut the base of the uncut cereal straws in the field H.

[0019] The straw raising device 203 is arranged in front of the cutting frame 201 to raise the uncut straw in the field H. The cutting blade device 202 cuts the base of the uncut straw raised by the straw raising device 203. The straw conveying device 204 conveys the cut straw cut by the cutting blade device 202 to the threshing device 300.

[0020] The weeding body 205 is arranged in front of the straw raising device 203 to weed the uncut straw in the field H one by one. For example, the weeding body 205 weeds the uncut straw in six or seven rows one by one. The straw raising device 203 raises the uncut straw weeded by the weeding body 205 one by one.

[0021] The work vehicle 100 can drive the traveling device 102 to move in the field H and drive the cutting device 200 to continuously cut the uncut straw in the field H.

[0022] Subsequently, referring to FIG. 1, the work vehicle 100 of the present embodiment will be further described. As shown in FIG. 1, the traveling body 101 (work vehicle 100) includes a threshing device 300. Further, the traveling body 101 (work vehicle 100) further includes a grain tank (not shown).

[0023] The threshing device 300 is driven based on the power (kinetic energy) generated by the engine. The threshing device 300 threshes the cut straw conveyed to the traveling body 101 by the straw conveying device 204. The grain tank stores the grains threshed by the threshing device 300. Specifically, the threshing device 300 includes a handling cylinder 301, a swing sorting plate 302, a winnowing fan 303, a processing cylinder 304, and a dust exhaust fan 305. Further, the threshing device 300 further includes a second processing unit (not shown).

[0024] The ear tip side of the harvested cereal straw is introduced into the handling cylinder 301. The handling cylinder 301 threshes the ear tip side of the harvested cereal straw. The oscillating sorting plate 302 is disposed below the handling cylinder 301. The oscillating sorting plate 302 performs oscillating sorting (specific gravity sorting) on the threshed grains that have fallen from the handling cylinder 301. Specifically, the oscillating sorting plate 302 sorts the threshed grains that have fallen from the handling cylinder 301 into grains (first sorted products) and secondary sorted products such as grains with rachis.

[0025] The winnowing fan 303 supplies sorting air to the oscillating sorting plate 302. As a result, chaff and contaminants in the grains (first sorted products) are removed by the sorting air from the winnowing fan 303. The grains (first sorted products) from which the chaff and contaminants have been removed fall from the oscillating sorting plate 302 and are then stored in the grain tank.

[0026] The secondary sorted products such as grains with rachis fall from the oscillating sorting plate 302 and then are returned to the oscillating sorting plate 302 via the secondary processing unit. The secondary processing unit removes rachis and the like from the secondary sorted products. The oscillating sorting plate 302 re-sorts the secondary sorted products after being processed by the secondary processing unit.

[0027] The processing cylinder 304 re-processes the threshed discharge taken out from the rear part of the handling cylinder 301. The dust exhaust fan 305 discharges the dust at the rear part of the oscillating sorting plate 302 to the outside of the machine.

[0028] Subsequently, with reference to FIGS. 1 and 2, the work vehicle 100 of the present embodiment will be further described. As shown in FIG. 1, the traveling body 101 (work vehicle 100) further includes a cabin 2. The cabin 2 is box-shaped, and an operation space 2a for the driver of the work vehicle 100 is formed inside the cabin 2. The driver's seat 4 shown in FIG. 2 is disposed in the operation space 2a. As shown in FIG. 1, the cabin 2 has a frame 22 and a left window portion 24a. The left window portion 24a is disposed on the left side of the operation space 2a and is supported by the frame 22.

[0029] FIG. 2 is a plan view showing the periphery of the driver's seat 4. As shown in FIG. 2, the traveling body 101 (work vehicle 100) further includes a driver's seat 4, a steering wheel 6, a side panel 8, an operation terminal 12, a display device 14, a right elbow rest 42, a left elbow rest 44, a handrail 46, a main transmission lever 82, and a rearview mirror 30. The cabin 2 further has a front window portion 24b. The front window portion 24b is disposed in front of the driving space 2a and supported by the frame 22.

[0030] The driver's seat 4, the steering wheel 6, the side panel 8, the operation terminal 12, the display device 14, the right elbow rest 42, the left elbow rest 44, the handrail 46, and the main transmission lever 82 are disposed within the driving space 2a (inside the cabin 2). The rearview mirror 30 is disposed outside the cabin 2 and supported by the frame 22. The driver of the work vehicle 100 can visually recognize the rearview mirror 30 through the right side portion of the front window portion 24b or through the right window portion 24c shown in FIG. 3. Therefore, the driver of the work vehicle 100 can visually recognize the rear and the rear side of the work vehicle 100 through the rearview mirror 30.

[0031] The driver of the work vehicle 100 sits on the driver's seat 4. The steering wheel 6 is disposed in front of the driver's seat 4. The steering wheel 6 is operated by the driver sitting on the driver's seat 4 to change the direction in which the traveling device 102 shown in FIG. 1 travels. The steering wheel 6 is an example of a steering operation unit. When the mode of the work vehicle 100 is the manual driving mode, the driver can operate the steering wheel 6 to turn the work vehicle 100. The turns include, for example, a 90-degree turn (α turn), a U-turn, and a fishtail turn.

[0032] The side panel 8 is disposed to the left of the driver's seat 4. The main transmission lever 82 is disposed on the side panel 8. Accordingly, the main transmission lever 82 is disposed to the left of the driver's seat 4. The main transmission lever 82 is operated by the driver sitting on the driver's seat 4 to switch the traveling direction of the traveling device 102 shown in FIG. 1 between forward and reverse. More specifically, the main transmission lever 82 is tiltable forward and backward. In the manual driving mode, when the main transmission lever 82 tilts forward, the work vehicle 100 moves forward, and when the main transmission lever 82 tilts backward, the work vehicle 100 moves backward. Further, the traveling device 102 travels at a speed corresponding to the tilt amount of the main transmission lever 82. Specifically, the larger the tilt amount of the main transmission lever 82, the higher the traveling speed. When the main transmission lever 82 is not tilted forward or backward, the traveling device 102 does not travel.

[0033] In addition, the main transmission lever 82 has various switches. The various switches of the main transmission lever 82 include, for example, a switch for adjusting the working depth, a switch for raising the mowing device 200, a switch for lowering the mowing device 200, and a switch for adjusting the height of the mowing device 200.

[0034] The operation terminal 12 is disposed near the steering wheel 6. In the present embodiment, the operation terminal 12 is disposed immediately to the right of the steering wheel 6. Accordingly, the operation terminal 12 is disposed on the side opposite to the main transmission lever 82 side with respect to the driver's seat 4. Further, the steering wheel 6 is disposed between the main transmission lever 82 and the operation terminal 12 in plan view. The operation terminal 12 is, for example, a tablet terminal.

[0035] The operation terminal 12 receives operations by the driver. More specifically, the operation terminal 12 receives an operation instructing the start of the automatic driving mode. Specifically, after the driver operates the operation terminal 12 to instruct the start of the automatic driving mode, the driver tilts the main transmission lever 82 forward. As a result, the work vehicle 100 (travel device 102) automatically travels. Also, the driver can operate the operation terminal 12 to instruct the stop or interruption of the automatic driving mode. Further, the driver can operate the operation terminal 12 to set various conditions related to the automatic driving.

[0036] The display device 14 displays a predetermined image. The display device 14 displays, for example, the engine speed. The display device 14 is disposed between the operation terminal 12 and the main transmission lever 82 in a plan view. In the present embodiment, the display device 14 is disposed inside the steering wheel 6.

[0037] The right elbow rest 42 is disposed right next to the driver's seat 4 and is supported by the boarding door 26 shown in FIG. 3. The left elbow rest 44 is disposed left next to the driver's seat 4 and is supported by the driver's seat 4. The driver sitting on the driver's seat 4 can place the elbows of the left and right arms on the right elbow rest 42 and the left elbow rest 44, respectively.

[0038] The handrail 46 is supported by the boarding door 26 shown in FIG. 3 and extends forward from between the right elbow rest 42 and the boarding door 26 and in front of the right elbow rest 42. As shown in FIG. 2, the front end of the handrail 46 is located in the vicinity of the operation terminal 12. The handrail 46 is gripped by the driver sitting on the driver's seat 4. Specifically, among the handrail 46, the portion in front of the right elbow rest 42 is gripped by the driver. In other words, among the handrail 46, the portion on the operation terminal 12 side is gripped by the driver. The handrail 46 is an example of a gripping member. In the following description, the portion of the handrail 46 in front of the right elbow rest 42 may be described as "the front portion of the handrail 46".

[0039] According to the present embodiment, the driver can hold the handrail 46 with the right hand during automatic driving. Therefore, the driver's posture during automatic driving becomes stable. Further, the front end of the handrail 46 is located near the operation terminal 12. Thus, when the driver holds the front portion of the handrail 46, the position of the driver's hand becomes closer to the operation terminal 12. As a result, the operability of the operation terminal 12 by the driver is improved. For example, during automatic driving, the driver can easily perform an operation of instructing the operation terminal 12 to stop or interrupt the automatic driving mode.

[0040] Subsequently, with reference to FIG. 2, the work vehicle 100 of the present embodiment will be further described. As already described, the driver holds the front portion of the handrail 46 during automatic driving. As shown in FIG. 2, the operation terminal 12 is disposed in front of the handrail 46 as viewed from the driver seated on the driver's seat 4. As a result, it becomes easier for the driver to operate the operation terminal 12.

[0041] Subsequently, with reference to FIG. 3, the work vehicle 100 of the present embodiment will be described. FIG. 3 is a perspective view showing the periphery of the handrail 46. As shown in FIG. 3, the cabin 2 further has a right window portion 24c and an entrance / exit door 26. The right window portion 24c and the entrance / exit door 26 are disposed on the right side of the driving space 2a shown in FIG. 2. The entrance / exit door 26 is supported by a frame 22 so as to be openable and closable. The right window portion 24c is supported by the entrance / exit door 26. The driver gets in and out of the cabin 2 by opening the entrance / exit door 26.

[0042] As shown in FIG. 3, the right armrest 42 and the handrail 46 are fixed to the entrance / exit door 26. More specifically, the right armrest 42 and the handrail 46 are attached to the inside of the entrance / exit door 26. Therefore, when the entrance / exit door 26 is opened, the right armrest 42 and the handrail 46 move outside the cabin 2. Thus, the driver can more easily get in and out of the cabin 2 compared to a configuration in which the right armrest 42 and the handrail 46 are fixed inside the cabin 2.

[0043] Next, with reference to FIGS. 2 and 3, the work vehicle 100 of the present embodiment will be further described. As shown in FIGS. 2 and 3, the handrail 46 has a bent portion 46a. The bent portion 46a is bent from the boarding / alighting door 26 toward the steering wheel 6 side. In other words, the bent portion 46a is bent from the boarding / alighting door 26 toward the inside of the cabin 2. The bent portion 46a is included in the portion of the handrail 46 on the operation terminal 12 side. In other words, the bent portion 46a is included in the front portion of the handrail 46.

[0044] According to the present embodiment, since the bent portion 46a is bent toward the inside of the cabin 2, a gap is formed between the handrail 46 (bent portion 46a) and the boarding / alighting door 26. As a result, it becomes easier for the driver to grip the handrail 46 (bent portion 46a). Further, the bent portion 46a is bent toward the driver side. As a result, it becomes easier for the driver to grip the handrail 46 (bent portion 46a).

[0045] Next, with reference to FIG. 2, the work vehicle 100 of the present embodiment will be further described. As shown in FIG. 2, the bent portion 46a is disposed in front of the right armrest 42 as viewed from the driver sitting on the driver's seat 4. Therefore, the driver can grip the bent portion 46a with the elbow of the right arm placed on the right armrest 42. Thus, the burden on the driver can be reduced. As a result, the driver can more easily stabilize his / her posture.

[0046] Furthermore, as shown in FIG. 2, the bent portion 46a is located between the operation terminal 12 and the right armrest 42. Specifically, the operation terminal 12, the bent portion 46a, and the right armrest 42 are arranged in a straight line. Therefore, the driver can grip the bent portion 46a with the elbow of the right arm placed on the right armrest 42, and when operating the operation terminal 12, the driver can operate the operation terminal 12 without moving the right hand left and right. Therefore, compared with a configuration in which the operation terminal 12, the bent portion 46a, and the right armrest 42 are not arranged in a straight line, it is easier for the driver to operate the operation terminal 12. Further, compared with a configuration in which the operation terminal 12, the bent portion 46a, and the right armrest 42 are not arranged in a straight line, the driver can immediately operate the operation terminal 12 from the state of gripping the bent portion 46a.

[0047] Next, referring to FIG. 3, the work vehicle 100 of the present embodiment will be further described. As shown in FIG. 3, the handrail 46 further has a straight portion 46b extending in the vertical direction. The straight portion 46b is provided at the front end portion of the handrail 46. Therefore, the straight portion 46b is included in the front portion of the handrail 46. More specifically, the straight portion 46b is included in the bent portion 46a. The straight portion 46b extends downward from the front end of the handrail 46 in plan view. According to the present embodiment, since the handrail 46 has the straight portion 46b, the driver can adjust the position of gripping the handrail 46 in the vertical direction (height direction). Therefore, it becomes easier for the driver to grip the handrail 46.

[0048] Next, referring to FIGS. 4 and 5, the work vehicle 100 of the present embodiment will be described. FIG. 4 is a view showing the periphery of the operation terminal 12 as viewed from the rear. FIG. 5 is an enlarged view showing the periphery of the operation terminal 12 as viewed from the rear.

[0049] As shown in FIG. 4, the traveling body 101 (work vehicle 100) further includes a support mechanism 5. The support mechanism 5 supports the operation terminal 12. The support mechanism 5 is supported by the frame 22 of the cabin 2.

[0050] As shown in FIG. 5, the frame 22 of the cabin 2 has a column 28 extending in the vertical direction. In the present embodiment, the column 28 is a pillar. Specifically, the column 28 is a pillar of the front window portion 24b (FIG. 2) and the right window portion 24c (FIG. 3). The support mechanism 5 is fixed to the column 28. Therefore, the column 28 supports the operation terminal 12 via the support mechanism 5. According to the present embodiment, since the operation terminal 12 is supported by the column 28 of the cabin 2, the operation terminal 12 can be firmly supported.

[0051] As shown in FIG. 5, the support mechanism 5 includes a support member 51 and a swing mechanism 53. The support member 51 supports the operation terminal 12. The swing mechanism 53 supports the support member 51 swingably. Therefore, the support mechanism 5 supports the operation terminal 12 swingably.

[0052] Here, referring to FIG. 5, the operation terminal 12 will be described. As shown in FIG. 5, the operation terminal 12 includes a touch display 121 and hard keys 122. The touch display 121 and the hard keys 122 constitute the operation unit of the operation terminal 12. The driver operates the operation terminal 12 by performing a touch operation on the touch display 121. Also, the driver operates the operation terminal 12 by pressing the hard keys 122.

[0053] Subsequently, referring to FIGS. 5 and 6, the support mechanism 5 will be described. FIG. 6 is an enlarged view showing the periphery of the operation terminal 12 as viewed from the front. As shown in FIGS. 5 and 6, the support member 51 includes a first support member 51a, a second support member 51b, and a third support member 51c (FIG. 6). The first support member 51a supports the operation terminal 12 from below and behind. The second support member 51b is disposed above the first support member 51a and supports the operation terminal 12 from behind and laterally. The third support member 51c is disposed behind the operation terminal 12. The third support member 51c extends in the vertical direction and connects the first support member 51a and the second support member 51b.

[0054] Subsequently, referring to FIG. 6, the swing mechanism 53 will be described. The swing mechanism 53 supports the support member 51 so as to be swingable about each of the first rotation axis AX1 to the third rotation axis AX3 as a central axis. The first rotation axis AX1 is a virtual axis extending in the vertical direction. The second rotation axis AX2 is a virtual axis extending parallel to the first rotation axis AX1, and the third rotation axis AX3 is a virtual axis extending in the lateral direction. The lateral direction is a direction orthogonal to the vertical direction. Since the support mechanism 5 has three rotation axes (the first rotation axis AX1 to the third rotation axis AX3), the driver can change the position of the operation terminal 12.

[0055] As shown in FIG. 6, the swing mechanism 53 includes a first attachment member 531, an arm member 532, a first shaft support member 533, a second shaft support member 534, a second attachment member 535, and first shaft members 536a to 536c.

[0056] The first attachment member 531 is attached to the support column 28. The first attachment member 531 rotatably supports both ends of the first shaft member 536a. Specifically, the first shaft member 536a extends in the vertical direction. The first rotation axis AX1 passes through the center of the first shaft member 536a. The first shaft member 536a is rotatable about the first rotation axis AX1 as the central axis.

[0057] The arm member 532 is fixed to the circumferential surface of the first shaft member 536a and extends in the radial direction of the first rotation axis AX1 from the first shaft member 536a. Therefore, the arm member 532 rotates about the first rotation axis AX1.

[0058] The first shaft support member 533 is fixed to the tip of the arm member 532 and extends upward from the tip of the arm member 532. The first shaft support member 533 rotatably supports both ends of the second shaft member 536b. Specifically, the second shaft member 536b extends in the vertical direction. The second rotation axis AX2 passes through the center of the second shaft member 536b. The second shaft member 536b is rotatable about the second rotation axis AX2 as the central axis.

[0059] The second shaft support member 534 is fixed to the circumferential surface of the second shaft member 536b. Therefore, the second shaft support member 534 rotates about the second rotation axis AX2. The second shaft support member 534 rotatably supports the circumferential surface of the third shaft member 536c. Specifically, the third shaft member 536c extends in the lateral direction. The third rotation axis AX3 passes through the center of the third shaft member 536c. The third shaft member 536c is rotatable about the third rotation axis AX3 as the central axis.

[0060] The second attachment member 535 is attached to the third support member 51c. The second attachment member 535 rotatably supports both ends of the third shaft member 536c.

[0061] In addition, in the present embodiment, the support mechanism 5 has three rotation axes (the first rotation axis AX1 to the third rotation axis AX3), but the support mechanism 5 may not have a rotation axis. Alternatively, the support mechanism 5 may have one, two, or four or more rotation axes.

[0062] Next, referring to FIG. 7, the work vehicle 100 of the present embodiment will be described. FIG. 7 is a block diagram showing the configuration of the work vehicle 100 of the present embodiment. As shown in FIG. 7, the operation terminal 12 further includes a terminal processing unit 123, a storage unit 124, a communication processing unit 125, and a communication antenna 126. The touch display 121 includes a display unit 121a and a touch sensor 121b.

[0063] The display unit 121a is controlled by the terminal processing unit 123 to display various screens. For example, the display unit 121a displays a screen for setting the travel route SG. The display unit 121a is constituted by a display such as a liquid crystal display or an organic EL display, for example. The touch sensor 121b is arranged on the display surface of the display unit 121a to detect a touch operation by the driver. The touch sensor 121b is, for example, a capacitance type touch sensor, for example.

[0064] The communication antenna 126 transmits and receives radio waves (wireless signals). The communication antenna 126 includes an antenna for short-range wireless communication. Note that the communication antenna 126 may include an antenna for an Internet line.

[0065] The communication processing unit 125 is electrically connected to the communication antenna 126. The communication processing unit 125 transmits and receives data to and from the traveling body 101 via the communication antenna 126. The communication processing unit 125 includes, for example, a short-range wireless communication module. Note that the communication processing unit 125 may include a communication module compliant with a wireless LAN (Local Area Network) standard such as Wi-Fi (registered trademark).

[0066] The storage unit 124 stores various computer programs and various data. The storage unit 124 includes, for example, a semiconductor memory. The storage unit 124 is constituted by, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory). The storage unit 124 may further include a non-volatile memory such as an EEPROM (registered trademark) or a flash memory.

[0067] The terminal processing unit 123 is composed of a processor that executes various operations such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). Alternatively, the terminal processing unit 123 may be composed of a general-purpose arithmetic unit. The terminal processing unit 123 executes various processes based on various computer programs and various data stored in the storage unit 124.

[0068] For example, before starting the automatic driving, the terminal processing unit 123 causes the display unit 121a to display a screen for receiving an instruction to start the automatic driving mode. Then, when receiving an instruction to start the automatic driving mode by a touch operation of the driver or an operation of the hard key 122 by the driver, a signal for permitting the automatic driving mode is transmitted to the traveling aircraft 101 via the communication processing unit 125. Further, after the start of the automatic driving, the terminal processing unit 123 causes the display unit 121a to display a screen for receiving an instruction to stop or interrupt the automatic driving mode. Then, when receiving an instruction to stop or interrupt the automatic driving mode by a touch operation of the driver or an operation of the hard key 122 by the driver, a signal for stopping or interrupting the automatic driving mode is transmitted to the traveling aircraft 101 via the communication processing unit 125.

[0069] Subsequently, the traveling aircraft 101 will be described. As shown in FIG. 7, the traveling aircraft 101 (work vehicle 100) further includes a main body processing unit 401, a storage unit 402, a position acquisition unit 403, a communication processing unit 404, a positioning antenna 405, and a communication antenna 406.

[0070] The positioning antenna 405 receives radio waves from positioning satellites constituting a Global Navigation Satellite System (GNSS). The positioning antenna 405 further receives radio waves from a base station.

[0071] The position acquisition unit 403 is electrically connected to the positioning antenna 405. The position acquisition unit 403 acquires the position of the work vehicle 100 as latitude and longitude information from a positioning signal based on the radio wave received by the positioning antenna 405. Hereinafter, the information indicating the position of the work vehicle 100 (latitude and longitude information) may be referred to as "current position data of the work vehicle 100".

[0072] The communication antenna 406 transmits and receives radio waves (wireless signals). The communication antenna 406 includes an antenna for short-range wireless communication. Note that the communication antenna 406 may include an antenna for an Internet line.

[0073] The communication processing unit 404 is electrically connected to the communication antenna 406. The communication processing unit 404 transmits and receives data to and from the operation terminal 12 via the communication antenna 406. The communication processing unit 404 includes, for example, a short-range wireless communication module. Note that the communication processing unit 404 may include a communication module compliant with a wireless LAN standard such as Wi-Fi (registered trademark).

[0074] The storage unit 402 stores various computer programs and various data. The storage unit 402 includes, for example, a semiconductor memory. The storage unit 402 is composed of, for example, a RAM and a ROM. The storage unit 124 may further include a non-volatile memory such as an EEPROM (registered trademark) or a flash memory.

[0075] The main body processing unit 401 is composed of a processor that executes various operations such as a CPU or an MPU, for example. Alternatively, the main body processing unit 401 may be composed of a general-purpose arithmetic unit. The main body processing unit 401 executes various processes based on various computer programs and various data stored in the storage unit 402.

[0076] For example, the main body processing unit 401 transmits the current position data of the work vehicle 100 to the operation terminal 12 via the communication processing unit 404. As a result, the terminal processing unit 123 acquires the current position of the work vehicle 100.

[0077] Further, after the main body processing unit 401 receives a signal permitting the automatic driving mode from the operation terminal 12 via the communication processing unit 404, when detecting that the main shift lever 82 shown in FIG. 2 has tilted forward, the traveling device 102 is driven to start automatic driving. Specifically, the main body processing unit 401 controls the traveling device 102 based on the data indicating the traveling route SG stored in the storage unit 402 and the data indicating the position of the work vehicle 100 acquired at any time by the position acquisition unit 403. As a result, the work vehicle 100 travels along the traveling route SG stored in the storage unit 402. Further, after the start of automatic driving, when the main body processing unit 401 receives a signal for stopping or interrupting the automatic driving mode from the operation terminal 12 via the communication processing unit 404, the driving of the traveling device 102 is stopped or interrupted.

[0078] Note that the data indicating the traveling route SG is created by the terminal processing unit 123 before the start of automatic driving. The terminal processing unit 123 transmits the data indicating the traveling route SG to the traveling aircraft 101 via the communication processing unit 125 before the start of automatic driving. As a result, the data indicating the traveling route SG is stored in the storage unit 402 of the traveling aircraft 101.

[0079] Subsequently, with reference to FIGS. 7 to 12, an example of the processing executed by the terminal processing unit 123 and the main body processing unit 401 will be described. FIG. 8 is a diagram showing an example of the field H. FIG. 9 is a diagram showing a first screen G1 displayed on the operation terminal 12. FIG. 10 is a diagram showing a second screen G2 displayed on the operation terminal 12. FIG. 11 is a diagram showing a third screen G3 displayed on the operation terminal 12. FIG. 12 is a diagram showing a fourth screen G4 displayed on the operation terminal 12.

[0080] In the example shown in FIG. 8, the outer shape of the field H is rectangular. As shown in FIG. 8, the field H includes an outermost peripheral region H1, a headland region H2, and an auto mode region H3. The driver first manually operates the work vehicle 100 to perform a cutting operation for cutting the uncut cereal straws in the outermost peripheral region H1.

[0081] When the mowing operation in the outermost peripheral area H1 is completed, the terminal processing unit 123 registers the outer shape of the field H based on the current position data of the work vehicle 100. Specifically, the terminal processing unit 123 displays a screen showing the outer shape of the field H on the touch display 121 (display unit 121a) based on the current position data of the work vehicle 100. Then, in response to a touch operation by the driver or an operation of the hard key 122 by the driver, the outer shape of the field H is registered. Note that the terminal processing unit 123 may display a screen for receiving an operation for finely adjusting the outer shape of the field H on the touch display 121 (display unit 121a).

[0082] After the registration of the outer shape of the field H is completed, the terminal processing unit 123 causes the first screen G1 shown in FIG. 9 to be displayed on the touch display 121 (display unit 121a). As shown in FIG. 9, the first screen G1 displays the field H and the current position of the work vehicle 100. Further, the first screen G1 displays a start button B1. Note that the first screen G1 may display the mode change button B3, which will be described later with reference to FIG. 11, in a grayed-out state.

[0083] The start button B1 is a button image for instructing the start of the headland straight-ahead mode. The headland straight-ahead mode is an example of an automatic driving mode. While the first screen G1 is being displayed, if the driver touches the start button B1 and tilts the main transmission lever 82 forward, the work vehicle 100 automatically travels (goes straight) along the headland area H2 to mow the uncut cereal straws in the headland area H2.

[0084] In the headland straight-ahead mode, when moving from one side to the next side, the driver operates the steering wheel 6 and the main transmission lever 82 to turn the work vehicle 100. Specifically, when the mowing operation on one side of the headland area H2 is completed, the work vehicle 100 stops. After the work vehicle 100 stops, the driver manually turns the work vehicle 100 to a posture where it can go straight along the next side. Then, when the driver touches the start button B1 and tilts the main transmission lever 82 forward, the work vehicle 100 automatically travels (goes straight) along the next side.

[0085] When the work vehicle 100 is automatically traveling (going straight) along the headland area H2, the terminal processing unit 123 causes the second screen G2 shown in FIG. 10 to be displayed on the touch display 121 (display unit 121a). As shown in FIG. 10, the second screen G2 displays the field H and the current position of the work vehicle 100. The second screen G2 also displays a stop button B2. The stop button B2 is a button image for instructing the stop of the headland straight-ahead mode (automatic traveling mode). When the driver touches the stop button B2 while the second screen G2 is being displayed, the work vehicle 100 stops. Note that, similar to the first screen G1, the second screen G2 may display the mode switching button B3 in a grayed-out state.

[0086] When the mowing operation in the headland area H2 is completed, the terminal processing unit 123 causes the third screen G3 shown in FIG. 11 to be displayed on the touch display 121 (display unit 121a). As shown in FIG. 11, the third screen G3 further displays the mode switching button B3. More specifically, the third screen G3 displays the mode switching button B3 in a selectable state. The mode switching button B3 is a button image for switching the mode of the work vehicle 100 from the headland straight-ahead mode to the auto mode. The auto mode is an example of an automatic traveling mode. The auto mode is a mode in which the work vehicle 100 automatically travels within the auto mode area H3. In the auto mode, unlike the headland straight-ahead mode, the work vehicle 100 automatically turns.

[0087] When the driver touches the mode switching button B3, the terminal processing unit 123 sequentially displays various setting screens on the touch display 121 (display unit 121a). The various setting screens are screens for setting various conditions for performing a cutting operation in the auto mode area H3. For example, the terminal processing unit 123 sequentially displays on the touch display 121 (display unit 121a) a screen for setting the working direction and a screen for selecting reciprocating cutting or rotary cutting. When reciprocating cutting is selected by the driver, the terminal processing unit 123 may further display on the touch display 121 (display unit 121a) a screen for setting the middle cut. The driver sets various conditions by touch operation or operation of the hard key 122. When the setting of various conditions is completed, the terminal processing unit 123 creates a travel route SG based on the various conditions.

[0088] When the terminal processing unit 123 creates the travel route SG, it displays the fourth screen G4 shown in FIG. 12 on the touch display 121 (display unit 121a). As shown in FIG. 12, the fourth screen G4 displays the auto mode area H3, the created travel route SG, and the current position of the work vehicle 100. The fourth screen G4 further displays the start position S and the goal position G of the travel route SG.

[0089] During the display of the fourth screen G4, the driver manually moves the work vehicle 100 to the start position S. When the work vehicle 100 moves to the start position S, the terminal processing unit 123 displays the start button B1 so that it can be selected. After the start button B1 becomes selectable, when the driver touches the start button B1 and tilts the main transmission lever 82 forward, the work vehicle 100 automatically travels along the travel route SG to cut the uncut cereal straws in the auto mode area H3.

[0090] The embodiments of the present invention have been described above with reference to the drawings (Figs. 1 to 12). However, the present invention is not limited to the above embodiments, and can be implemented in various forms without departing from the gist thereof. In addition, the plurality of components disclosed in the above embodiments can be modified as appropriate. For example, a certain component among all the components shown in a certain embodiment may be added to the components of another embodiment, or some of the components among all the components shown in a certain embodiment may be deleted from the embodiment.

[0091] The drawings schematically show each component mainly for easy understanding of the invention, and the thickness, length, number, interval, etc. of each illustrated component may be different from the actual ones for convenience in drawing preparation. In addition, the configuration of each component shown in the above embodiments is an example and is not particularly limited. Needless to say, various changes can be made without substantially departing from the effects of the present invention.

[0092] For example, in the embodiment described with reference to Figs. 1 to 12, the operation terminal 12 was a tablet terminal, but the operation terminal 12 is not limited to a tablet terminal. The operation terminal 12 may be any electronic device that accepts operations by the driver. For example, the operation terminal 12 may be a smartphone.

[0093] In addition, in the embodiment described with reference to Figs. 1 to 12, the operation terminal 12 performed wireless communication with the traveling aircraft 101, but the operation terminal 12 may perform wired communication with the traveling aircraft 101.

[0094] In addition, in the embodiment described with reference to Figs. 1 to 12, the work vehicle 100 was a combine, but the work vehicle 100 is not limited to a combine. The work vehicle 100 may be any vehicle that performs a predetermined work. For example, the work vehicle 100 may be an agricultural machine other than a combine such as a tractor or a rice transplanter, or a construction machine.

[0095] <Supplementary Note of the Invention> In the present invention, the work vehicle has an automatic driving mode in which it travels along a pre-determined travel route. The work vehicle includes a traveling device, a driver's seat, a steering operation unit, an operation terminal, and a gripping member. The traveling device travels. A driver sits on the driver's seat. The steering operation unit changes the direction in which the traveling device travels by the operation of the driver. The operation terminal is disposed near the steering operation unit and receives the operation of the driver. The gripping member is disposed near the operation terminal and is gripped by the driver. The operation terminal receives an operation for instructing the start of the automatic driving mode.

Industrial Applicability

[0096] The present invention is useful for a work vehicle having an automatic driving mode.

Explanation of Signs

[0097] 2: Cabin 4: Driver's seat 6: Steering wheel (steering operation unit) 12: Operation terminal 14: Display device 22: Frame 26: Entrance / exit door 28: Column 30: Rearview mirror 42: Right elbow rest 46: Handrail (gripping member) 46a: Bending part 82: Main shift lever (shift operation tool) 100: Work vehicle 102: Traveling device 121b: Touch sensor B1: Start button B2: Stop button B3: Mode change button SG: Travel route

Claims

1. A work vehicle having an automatic driving mode for traveling along a predefined travel route, a traveling device for traveling, a driver's seat on which a driver sits, a steering operation unit that changes the direction in which the traveling device travels by the operation of the driver, an operation terminal that receives the operation of the driver, and a gripping member that is disposed near the operation terminal and is gripped by the driver. A work vehicle comprising the above.

2. The work vehicle according to claim 1, wherein the operation terminal is disposed in front of the gripping member as viewed from the driver sitting on the driver's seat.

3. The work vehicle according to claim 1 or claim 2, wherein the gripping member has a bent portion that bends toward the steering operation unit side.

4. The work vehicle further includes an armrest on which the driver sitting on the driver's seat places an elbow, as viewed from the driver sitting on the driver's seat, the bent portion is in front of the armrest, the operation terminal is disposed in front of the bent portion, and the armrest, the bent portion, and the operation terminal are arranged in a straight line. The work vehicle according to claim 3.

5. The work vehicle further includes a cabin in which the driver's seat is disposed, the cabin has an access door for the driver to get in and out of the cabin, and the gripping member is attached to the inside of the access door. The work vehicle according to any one of claims 1 to 4.

Images