Work vehicle

Abstract

To improve visibility of a state display part while enabling simplification of attachment work of the state display part and preventing a damage of the state display part.SOLUTION: A work vehicle includes: a work vehicle body that has a cabin 9 and can travel automatically; a state detection part that detects a state of the work vehicle body; a state display part 35 that performs state display according to the state of the work vehicle body detected by the state detection part; and a mirror 59 that is attached to the cabin 9. The state display part 35 is arranged at a position corresponding to the same corner part as the mirror 59 in the cabin 9 in plan view, and having a lower end of the state display part 35 higher than a lower end of the mirror 59.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a work vehicle capable of autonomous driving.

Background Art

[0002] A work vehicle as described above acquires the current position of the work vehicle using a satellite positioning system and autonomously drives along a preset target travel route (see, for example, Patent Document 1).

[0003] In such a work vehicle, it is desirable to provide a status display unit that displays the status of the work vehicle so that the user, people around the work area, etc. can grasp the status of the work vehicle. Therefore, in the work vehicle described in Patent Document 1, a status display unit having a plurality of lamps, speakers, etc. is provided above the cabin. Above the cabin, an antenna unit having a GPS antenna, a data reception antenna, etc. of the satellite positioning system is arranged, and the status display unit is provided in the antenna unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the work vehicle, it is preferable to arrange the status display unit at a location where it is easily visible to the user, people around the work area, etc. In that regard, in the work vehicle described in Patent Document 1, since the status display unit is provided above the cabin, the status display unit is arranged at a location where it is easily visible to the user, people around the work area, etc.

[0006] However, when the status display unit is attached to the upper part of the cabin, since the attachment position is at a high location, the attachment work of the status display unit is time-consuming. Further, since the status display unit further protrudes upward from the upper part of the cabin, the vehicle height increases, and there is a possibility that the status display unit may come into contact with something and be damaged when transporting the work vehicle or storing the work vehicle in a shed or the like.

[0007] In view of this actual situation, the main problem of the present invention is to provide a work vehicle capable of improving the visibility of the status display unit while simplifying the attachment work of the status display unit and preventing damage to the status display unit.

Means for Solving the Problems

[0008] A work vehicle according to an aspect of the present invention includes a work vehicle body, a state detection unit, a state display unit, and a mirror. The work vehicle body has a cabin and is capable of autonomous driving. The state detection unit detects the state of the work vehicle body. The state display unit performs a state display according to the state of the work vehicle body detected by the state detection unit. The mirror is attached to the cabin. The state display unit is disposed at the same corner of the cabin as the mirror in plan view, and the lower end of the state display unit is higher than the lower end of the mirror.

Brief Description of the Drawings

[0009]

Figure 1

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Figure 15

Mode for Carrying Out the Invention

[0010] An embodiment in the case where the work vehicle according to the present invention is applied to an automatic driving system will be described with reference to the drawings. As shown in FIG. 1, this automatic driving system applies the tractor 1 as a work vehicle, but it can also be applied to riding work vehicles such as a riding rice transplanter, a combine, a riding lawn mower, a wheel loader, a snow removal vehicle, etc., other than the tractor, and unmanned work vehicles such as an unmanned lawn mower.

[0011] As shown in FIGS. 1 and 2, this automatic driving system includes an automatic driving unit 2 mounted on the tractor 1 and a portable communication terminal 3 communicatively set to communicate with the automatic driving unit 2. For the portable communication terminal 3, a tablet-type personal computer or a smartphone having a touch-operable liquid crystal panel 4 or the like can be adopted.

[0012] The tractor 1 can be configured in a rotary tillage specification by connecting a rotary tillage device, which is an example of a work device, to be liftable and rollable via a three-point link mechanism 5 at its rear. Instead of the rotary tillage device, work devices such as a plow, a seeding device, a spraying device, etc. can be connected to the rear of the tractor 1.

[0013] As shown in FIG. 1, the tractor 1 is provided with left and right front wheels 7 that function as drivable steering wheels, left and right rear wheels 8 that are drivable, a cabin 9 that forms a ride-on type driver's cab, and an electronically controlled diesel engine (hereinafter referred to as the engine) 10 equipped with a common rail system. Further, as shown in FIG. 2, the tractor 1 is provided with an electronically controlled transmission 11 that shifts the power from the engine 10, a full hydraulic power steering mechanism 12 that steers the left and right front wheels 7, left and right side brakes (not shown) that brake the left and right rear wheels 8, an electronically controlled brake operation mechanism 13 that enables hydraulic operation of the left and right side brakes, a work clutch (not shown) that interrupts the transmission to a work implement such as a rotary tiller, an electronically controlled clutch operation mechanism 14 that enables hydraulic operation of the work clutch, an electro-hydraulic control type lift drive mechanism 15 that drives the work implement such as a rotary tiller up and down, an in-vehicle electronic control unit 16 that has various control programs related to the automatic traveling of the tractor 1, a vehicle speed sensor 17 that detects the vehicle speed of the tractor 1, a steering angle sensor 18 that detects the steering angle of the front wheels 7, and a positioning unit 19 that measures the current position and current orientation of the tractor 1, etc.

[0014] Note that an electronically controlled gasoline engine equipped with an electronic governor may be adopted for the engine 10. For the transmission 11, a hydro-mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), or a belt type continuously variable transmission, etc. can be adopted. For the power steering mechanism 12, an electric type power steering mechanism 12 equipped with an electric motor may be adopted.

[0015] As shown in FIG. 1, inside the cabin 9, a steering wheel 20 that enables manual steering of the left and right front wheels 7 via the power steering mechanism 12, and a seat 21 for the user are provided.

[0016] As shown in FIGS. 4 to 9 and FIG. 15, the cabin 9 is configured in a box shape and includes strut frames 42 arranged at the four corners of the cabin 9, a front glass 43 covering the front side, a rear glass 44 covering the rear side, a pair of left and right doors 45 that can swing open and close around an axis along the vertical direction, and a roof 46 on the ceiling side. The strut frame 42 includes a pair of left and right front struts 47 arranged at the front end portion and a pair of left and right rear struts 48 arranged at the rear end portion. In a plan view, the front struts 47 or the rear struts 48 are arranged at positions corresponding to the four corners of the cabin 9.

[0017] As shown in FIG. 15, the cabin 9 is provided with a front floor frame 49 and a rear floor frame 50 to form the floor portion of the cabin 9. A steering wheel 20 (see FIG. 1) is arranged on the front side of the front floor frame 49 via a handle post or the like, and a seat 21 (see FIG. 1) is arranged on the upper part of the rear floor frame 50. A rear frame 64 in an upright posture is provided behind the rear floor frame 50, and a pair of left and right fenders 51 are provided on both the left and right sides of the rear floor frame 50 and the rear frame 64. In this way, the front floor frame 49, the rear floor frame 50, the rear frame 64, and the pair of left and right fenders 51 are integrally provided by welding or the like.

[0018] As shown in FIG. 15, the front struts 47 are provided at the front end portions on both the left and right sides of the front floor frame 49, and the rear struts 48 are provided at the rear end portions of the pair of left and right fenders 51 respectively. The strut frame 42 (the front struts 47 and the rear struts 48), the front floor frame 49, the rear floor frame 50, the rear frame 64, and the pair of left and right fenders 51 are integrally provided as a cabin frame that constitutes the cabin 9. The cabin frame that constitutes this cabin 9 is supported on the airframe 6 via a vibration isolation member such as an elastic body, and the cabin 9 is provided in a state where vibration prevention measures are taken to prevent vibration from the engine 10 or the like from being transmitted to the cabin 9.

[0019] As shown in FIG. 2, the in-vehicle electronic control unit 16 includes a shift control unit 16a that controls the operation of the transmission 11, a brake control unit 16b that controls the operation of the left and right side brakes, a work device control unit 16c that controls the operation of work devices such as a rotary tiller, a non-volatile in-vehicle storage unit 16d that stores a preset target travel route P for automatic travel (see, for example, FIG. 3), a steering angle setting unit 16e that sets the target steering angles of the left and right front wheels 7 during automatic travel and outputs them to the power steering mechanism 12, and the like.

[0020] As shown in FIGS. 1 and 2, the positioning unit 19 is provided with a satellite navigation device 22 that measures the current position and current orientation of the tractor 1 using GPS (Global Positioning System), which is an example of a satellite positioning system (NSS: Navigation Satellite System), and an inertial measurement unit (IMU) 23 that has a three-axis gyroscope, three-directional acceleration sensors, etc. and measures the attitude and orientation of the tractor 1. There are positioning methods using GPS such as DGPS (Differential GPS: relative positioning method) and RTK-GPS (Real Time Kinematic GPS: interference positioning method). In this embodiment, RTK-GPS suitable for positioning of a moving body is adopted. Therefore, a reference station 24 that enables positioning by RTK-GPS is installed at known positions around the farmland.

[0021] As shown in Fig. 2, each of the tractor 1 and the reference station 24 is provided with a GPS antenna 26, 27 for receiving radio waves transmitted from GPS satellites 25 (see Fig. 1), a communication module 28, 29 for enabling wireless communication of various data including positioning data between the tractor 1 and the reference station 24, and the like. Thereby, the satellite navigation device 22 can measure the current position and current orientation of the tractor 1 with high accuracy based on the positioning data obtained by the tractor-side GPS antenna 26 receiving radio waves from the GPS satellite 25 and the positioning data obtained by the base-station-side GPS antenna 27 receiving radio waves from the GPS satellite 25. Further, the positioning unit 19 includes the satellite navigation device 22 and the inertial measurement device 23, so that the current position, current orientation, and attitude angles (yaw angle, roll angle, pitch angle) of the tractor 1 can be measured with high accuracy.

[0022] As shown in Fig. 1, the GPS antenna 26, communication module 28, and inertial measurement device 23 provided in the tractor 1 are housed in an antenna unit 40. The antenna unit 40 is disposed at the upper position on the front side outside the cabin 9 at the central portion in the left-right direction of the tractor 1. The antenna unit 40 is attached to an antenna unit support frame 41 extending in the left-right direction of the tractor 1 fixed to the column frame 42 of the cabin 9.

[0023] As shown in Fig. 2, the mobile communication terminal 3 is provided with a terminal electronic control unit 30 having various control programs for controlling the operation of a liquid crystal panel 4 and the like, a communication module 31 for enabling wireless communication of various data including positioning data between the communication module 28 on the tractor side, and the like. The terminal electronic control unit 30 has a travel route generation unit 32 for generating a target travel route P for travel guidance for automatically driving the tractor 1 (for example, see Fig. 3), a non-volatile terminal storage unit 33 for storing various input data input by the user and the target travel route P generated by the travel route generation unit 32, and the like.

[0024] When the travel route generation unit 32 sets the target travel route P, according to the input guidance for target travel route setting displayed on the liquid crystal panel 4 of the mobile communication terminal 3, the user inputs vehicle body data such as the type and model of the work vehicle and work equipment, and the input vehicle body data is stored in the terminal storage unit 33. The travel area S for which the target travel route P is to be set is a field, and the terminal electronic control unit 30 of the mobile communication terminal 3 acquires field data including the shape and position of the field and stores it in the terminal storage unit 33.

[0025] Regarding the acquisition of field data, when the user or the like operates the tractor 1 to actually travel, the terminal electronic control unit 30 can acquire position information for specifying the shape and position of the field from the current position of the tractor 1 acquired by the positioning unit 19. The terminal electronic control unit 30 specifies the shape and position of the field from the acquired position information, and acquires field data including the travel area S specified from the specified shape and position of the field. FIG. 3 shows an example in which a rectangular travel area S is specified.

[0026] When the field data including the specified shape and position of the field is stored in the terminal storage unit 33, the travel route generation unit 32 generates the target travel route P using the field data and vehicle body data stored in the terminal storage unit 33.

[0027] As shown in FIG. 3, the terminal electronic control unit 30 first sets a work area R within the travel area S. The work area R is an area where a predetermined work (for example, work such as tilling) is performed while the tractor 1 is automatically traveling. The terminal electronic control unit 30, for example, determines the turning space required for the tractor 1 to turn and the safety space to be ensured so that there are no obstacles such as the tractor 1 running out of the travel area S from the turning radius included in the vehicle body data, the front - rear width and left - right width of the tractor 1, etc. Therefore, the terminal electronic control unit 30 sets the work area R inside the travel area S while ensuring the space obtained inside the outer peripheral part of the travel area S.

[0028] After setting the work area R, as shown in FIG. 3, the travel route generation unit 32 generates a target travel route P using vehicle body data, field data, and the like. For example, the target travel route P has a plurality of work routes P1 arranged in parallel with a certain distance corresponding to the work width having the same straight travel distance, and a connection route P2 that connects the start end and the end end of adjacent work routes P1. The plurality of work routes P1 are routes for performing a predetermined work while automatically driving the tractor 1. In the example shown in FIG. 3, a straight route for advancing the tractor 1 is illustrated. The connection route P2 is a route for changing the travel direction of the tractor 1 and connects the end of the work route P1 and the start of the next adjacent work route P1. In the example shown in FIG. 3, a U-turn route for causing the tractor 1 to turn is illustrated as the connection route P2 for changing the travel direction of the tractor 1 by 180 degrees. In this way, adjacent work routes P1 are set so that their travel directions are opposite to each other, and a target travel route P is set for the tractor 1 to perform a predetermined work while traveling back and forth on the plurality of work routes P1. Incidentally, the target travel route P shown in FIG. 3 is merely an example, and the target travel route to be set can be changed as appropriate.

[0029] The target travel route P generated by the travel route generation unit 32 can be displayed on the liquid crystal panel 4 and is stored in the terminal storage unit 33 as route data associated with vehicle body data, field data, and the like. The route data includes the azimuth angle of the target travel route P, the set engine rotation speed, the target travel speed, etc. set according to the travel form of the tractor 1 on the target travel route P.

[0030] In this way, when the travel route generation unit 32 generates the target travel route P, the terminal electronic control unit 30 transfers the route data from the mobile communication terminal 3 to the tractor 1, enabling the in-vehicle electronic control unit 16 of the tractor 1 to acquire the route data. Based on the acquired route data, the in-vehicle electronic control unit 16 can automatically drive the tractor 1 along the target travel route P while the positioning unit 19 acquires its own current position (the current position of the tractor 1). Regarding the current position of the tractor 1 acquired by the positioning unit 19, it is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (e.g., at a cycle of several seconds), and the mobile communication terminal 3 grasps the current position of the tractor 1.

[0031] Regarding the transfer of the route data, before the tractor 1 starts automatic driving, the entire route data can be transferred from the terminal electronic control unit 30 to the in-vehicle electronic control unit 16 at once. Also, for example, the route data including the target travel route P can be divided into a plurality of route segments at predetermined distances with a small data volume. In this case, before the tractor 1 starts automatic driving, only the initial route segment of the route data is transferred from the terminal electronic control unit 30 to the in-vehicle electronic control unit 16. After the start of automatic driving, each time the tractor 1 reaches a route acquisition point set according to the data volume, etc., only the route data of the subsequent route segment corresponding to that point is transferred from the terminal electronic control unit 30 to the in-vehicle electronic control unit 16.

[0032] When starting the automatic driving of the tractor 1, for example, when the user moves the tractor 1 to the start point and various automatic driving start conditions are satisfied, the user operates the liquid crystal panel 4 on the mobile communication terminal 3 to instruct the start of automatic driving. Thereby, the mobile communication terminal 3 transmits the start instruction of automatic driving to the tractor 1. As a result, in the tractor 1, when the in-vehicle electronic control unit 16 receives the start instruction of automatic driving, it starts automatic driving control to automatically drive the tractor 1 along the target travel route P while the positioning unit 19 acquires its own current position (the current position of the tractor 1).

[0033] The automatic travel control includes an automatic transmission control for automatically controlling the operation of the transmission 11, an automatic braking control for automatically controlling the operation of the brake operation mechanism 13, an automatic steering control for automatically steering the left and right front wheels 7, and a work automatic control for automatically controlling the operation of a work device such as a rotary tiller device, etc.

[0034] In the automatic transmission control, the transmission control unit 16a automatically controls the operation of the transmission 11 based on the path data of the target travel path P including the target travel speed, the output of the positioning unit 19, and the output of the vehicle speed sensor 17, so that the target travel speed set according to the travel mode of the tractor 1 on the target travel path P can be obtained as the vehicle speed of the tractor 1.

[0035] In the automatic braking control, the braking control unit 16b automatically controls the operation of the brake operation mechanism 13 based on the target travel path P and the output of the positioning unit 19, so that the left and right side brakes properly brake the left and right rear wheels 8 in the braking area included in the path data of the target travel path P.

[0036] In the automatic steering control, in order for the tractor 1 to automatically travel on the target travel path P, the steering angle setting unit 16e obtains and sets the target steering angles of the left and right front wheels 7 based on the path data of the target travel path P and the output of the positioning unit 19, and outputs the set target steering angles to the power steering mechanism 12. The power steering mechanism 12 automatically steers the left and right front wheels 7 based on the target steering angle and the output of the steering angle sensor 18 so that the target steering angle can be obtained as the steering angles of the left and right front wheels 7.

[0037] In the work automatic control, the work device control unit 16c automatically controls the operations of the clutch operation mechanism 14 and the lift drive mechanism 15 based on the path data of the target travel path P and the output of the positioning unit 19, so that a predetermined work (for example, tilling work) by the work device is started as the tractor 1 reaches a work start point such as the start end of the work path P1 (see FIG. 3 for example), and the predetermined work by the work device is stopped as the tractor 1 reaches a work end point such as the end of the work path P1 (see FIG. 3 for example).

[0038] In this way, in the tractor 1, the automatic driving unit 2 is constituted by a transmission 11, a power steering mechanism 12, a brake operation mechanism 13, a clutch operation mechanism 14, a lift drive mechanism 15, an in-vehicle electronic control unit 16, a vehicle speed sensor 17, a steering angle sensor 18, a positioning unit 19, a communication module 28, and the like.

[0039] In this embodiment, not only can the tractor 1 be automatically driven without a user or the like boarding the cabin 9, but it is also possible to automatically drive the tractor 1 with a user or the like boarding the cabin 9. Therefore, not only can the tractor 1 be automatically driven along the target travel route P by the automatic driving control by the in-vehicle electronic control unit 16 without a user or the like boarding the cabin 9, but also when a user or the like is boarding the cabin 9, the tractor 1 can be automatically driven along the target travel route P by the automatic driving control by the in-vehicle electronic control unit 16.

[0040] When a user or the like is boarding the cabin 9, it is also possible to switch between an automatic driving state in which the in-vehicle electronic control unit 16 automatically drives the tractor 1 and a manual driving state in which the tractor 1 is driven based on the driving operation of the user or the like. Therefore, it is possible to switch from the automatic driving state to the manual driving state during the automatic driving of the target travel route P in the automatic driving state, and conversely, it is also possible to switch from the manual driving state to the automatic driving state during the driving in the manual driving state. Regarding the switching between the manual driving state and the automatic driving state, for example, a switching operation unit for switching between the automatic driving state and the manual driving state can be provided in the vicinity of the seat 21, and the switching operation unit can also be displayed on the liquid crystal panel 4 of the portable communication terminal 3. Further, when the user operates the steering wheel 20 during the automatic driving control by the in-vehicle electronic control unit 16, it is possible to switch from the automatic driving state to the manual driving state.

[0041] Since the tractor 1 can run automatically without a user or the like boarding the cab 9, it is desirable to display the state of the tractor 1 so that the user, people around the tractor 1, etc. can grasp what state the tractor 1 is in. Therefore, as shown in FIG. 2, the tractor 1 is provided with a state detection unit 34 that detects the state of the tractor 1, a state display unit 35 that performs a state display according to the state of the tractor 1 detected by the state detection unit 34, and a state display control unit 36 that controls the state display of the state display unit 35. Incidentally, in FIG. 1, the state display unit 35 is omitted from the illustration.

[0042] The in-vehicle electronic control unit 16 grasps what driving state the tractor 1 is in, such as whether it is in an automatic driving state or a manual driving state. When the driving state is an automatic driving state, it also grasps what state it is in the automatic driving state. Therefore, the state detection unit 34 detects what state the tractor 1 is in according to the grasped situation of the in-vehicle electronic control unit 16.

[0043] The state detection unit 34 detects, for example, what driving state the tractor 1 is in, such as whether it is in an automatic driving state or a manual driving state. When the driving state is an automatic driving state, it also detects what state it is in the automatic driving state. The state detection unit 34 detects, for example, whether it is in a state where automatic driving is ready, a state where automatic driving is started, a state where automatic driving is in progress, a state where automatic driving is temporarily stopped, a state where automatic driving is emergently stopped, etc.

[0044] Regarding the temporary stop of automatic driving, the user or the like can operate the mobile communication terminal 3 to temporarily stop the automatic driving of the tractor 1. For example, when an obstacle is detected or it is difficult to acquire the current position of the tractor 1, the in-vehicle electronic control unit 16 can temporarily stop the automatic driving of the tractor 1. Therefore, the state detection unit 34 discriminates and detects whether it is in a state where automatic driving is temporarily stopped by operating the mobile communication terminal 3 or a state where automatic driving is temporarily stopped by the in-vehicle electronic control unit 16.

[0045] Regarding the emergency stop of the automatic driving, even if the user or the like operates the mobile communication terminal 3, the automatic driving of the tractor 1 can be emergently stopped. Also, for example, when a device provided in the tractor 1 malfunctions or the deviation amount from the target travel route P becomes equal to or greater than a predetermined amount, the in-vehicle electronic control unit 16 can emergently stop the automatic driving of the tractor 1. Therefore, the state detection unit 34 identifies and detects whether the automatic driving is in a state of being emergently stopped by the operation of the mobile communication terminal 3 or in a state of being emergently stopped by the in-vehicle electronic control unit 16.

[0046] As shown in FIGS. 10 to 14, the state display unit 35 includes, for example, a plurality of display lights 35a to 35c (for example, three display lights) having different lighting colors, and a support unit 35d that supports the display lights 35a to 35c. The state display unit 35 is arranged in the order of the support unit 35d and the display lights 35a to 35c from the lower side, and each of the display lights 35a to 35c is configured to be individually detachable.

[0047] The state display control unit 36 controls the state display of the state display unit 35 by changing which of the plurality of display lights 35a to 35c in the state display unit 35 is to be lit according to the state of the tractor 1.

[0048] For example, when the state detection unit 34 detects that the vehicle is in the manual driving state, the state display control unit 36 turns off all of the plurality of indicator lights 35a to 35c in the state display unit 35. When the state detection unit 34 detects that the vehicle is in the automatic driving state and is ready for automatic driving, the state display control unit 36 turns on all of the plurality of indicator lights 35a to 35c in the state display unit 35. When the state detection unit 34 detects that the vehicle is in the automatic driving state and is in the process of automatic driving, the state display control unit 36 turns on only a specific one of the plurality of indicator lights 35a to 35c in the state display unit 35. When the state detection unit 34 detects that the vehicle is in the automatic driving state and is in a state where automatic driving is temporarily stopped, the state display control unit 36 turns on only another specific one of the plurality of indicator lights 35a to 35c in the state display unit 35. In this way, the state display control unit 36 changes the state display of the state display unit 35 according to the state of the tractor 1 detected by the state detection unit 34, so that the user or the like can recognize what state the tractor 1 is in.

[0049] The state display unit 35 is configured not only to perform visual display for the user or the like, but also to perform auditory notification. The state display unit 35 includes, for example, a notification unit such as a notification buzzer. The state display control unit 36 not only changes the state display of the state display unit 35 according to the state of the tractor 1 detected by the state detection unit 34, but also changes the notification method of the notification unit, so that the user or the like can recognize what state the tractor 1 is in. As the notification method of the notification unit, for example, various methods such as a method of notifying only once by the notification unit, a method of intermittently notifying a predetermined number of times by the notification unit, and a method of continuously notifying by the notification unit can be applied.

[0050] Hereinafter, the arrangement position of the state display unit 35 will be described with reference to FIGS. 4 to 9 and the like. Regarding the arrangement position of the state display unit 35, various locations can be applied. In a plan view, at least a pair of the state display units 35 are arranged diagonally (corresponding to the diagonal of the tractor 1, i.e., the diagonal of the work vehicle body). Incidentally, in FIGS. 4 to 9, for the purpose of explaining the arrangement position of the state display unit 35 as the center, the antenna unit 40, the antenna unit support frame 41, the three-point link mechanism 5, etc. are omitted and illustrated.

[0051] In FIGS. 4 to 9, as shown by the solid lines in the figures, as the state display unit 35, it includes a first state display unit 101 arranged at a position corresponding to the left front corner of the cabin 9 and a second state display unit 102 arranged at a position corresponding to the right rear corner of the cabin 9. In this way, the first state display unit 101 and the second state display unit 102 are arranged at positions corresponding to the diagonal of the cabin 9.

[0052] As shown in FIGS. 4, 6, and 8, the first state display unit 101 is arranged in the vicinity of the left front pillar 47 at a position corresponding to the left front corner of the cabin 9. Since the muffler 52 is arranged in a vertically extending state at a position corresponding to the right front corner of the cabin 9 on the front side of the cabin 9, the first state display unit 101 is arranged on the opposite side of the muffler 52 in the left-right direction of the cabin 9 and on the front side of the cabin 9. The first state display unit 101 is arranged in the vertical direction below the roof 46 and in the upper region corresponding to the front glass 43. For example, when a user sitting on the seat 21 in the cabin 9 views the first state display unit 101, the left front pillar 47 overlaps at least a part of the first state display unit 101, and the first state display unit 101 can be arranged so that at least a part of the first state display unit 101 is hidden by the left front pillar 47.

[0053] As shown in FIGS. 4, 6, and 8, a handrail 53 extending in the vertical direction is attached to the front left support column 47. Therefore, the first state display unit 101 is attached using the handrail 53. As shown in FIG. 10, a plate-shaped support stay 201 is provided at the upper end portion of the handrail 53, and the first state display unit 101 is provided in an upright posture extending upward from the support stay 201. In this way, the first state display unit 101 is attached to the front left support column 47 on the left side of the column frame 42 via the support stay 201 and the handrail 53. Therefore, the first state display unit 101 is attached to the cabin frame constituting the vibration-proof cabin 9, and prevents the vibration from the engine 10 or the like from being transmitted to the first state display unit 101.

[0054] As shown in FIG. 10, the support stay 201 is attached to the handrail 53 using a fixture such as a bolt and nut. For example, the support stay 201 is placed in a horizontal posture where it abuts against the handrail 53 from above, and the U-shaped bolt 54 is made to abut against the handrail 53 from below, passed through the hole portion of the support stay 201, and tightened with the nut 55, thereby attaching the support stay 201 to the handrail 53. Further, the first state display unit 101 is detachably provided on the support stay 201 using a fixture 56 such as a bolt. For example, the fixture 56 is inserted through the hole portion of the support stay 201 and tightened to the hole portion formed in the support portion 35d, thereby attaching the first state display unit 101 to the support stay 201. In FIG. 10, the state where the first state display unit 101 and the fixture 56 are removed is shown by a dotted line. As a result, the first state display unit 101 is detachably provided together with the support stay 201 with respect to the handrail 53, and the first state display unit 101 is detachably provided with respect to the support stay 201 alone.

[0055] As shown in FIGS. 5, 7, and 9, the second state display unit 102 is disposed at a position in the vicinity of the right rear pillar 48 at a position corresponding to the right rear corner of the cabin 9. Since a fender 51 is provided at the position corresponding to the right rear corner of the cabin 9, the second state display unit 102 is attached using the fender 51. As shown in FIG. 11, a rear lower side light 60 that illuminates the lower side behind the tractor 1 is attached to the upper portion of the fender 51 via a light support stay 61. The second state display unit 102 is provided in an upright posture extending upward from the light support stay 61.

[0056] For example, when a user or the like seated on the seat 21 in the cabin 9 views the second state display unit 102, the right rear pillar 48 overlaps at least a part of the second state display unit 102, and at least a part of the second state display unit 102 is hidden by the right rear pillar 48. The second state display unit 102 can be arranged.

[0057] As a support stay for supporting the second state display unit 102, as shown in FIG. 11, a light support stay 61 for supporting the rear lower side light 60 is also used. The light support stay 61 is attached to the upper portion of the fender 51 by attaching a fixture such as a bolt and nut through a through hole formed in the fender 51. The second state display unit 102 is attached to the fender 51, which is a cabin frame constituting the cabin 9, via the light support stay 61. Since the fender 51 is integrally provided with the pillar frame 42 and the like as a cabin frame constituting the cabin 9, the second state display unit 102 is attached to the cabin frame of the cabin 9 with vibration prevention measures, and vibration from the engine 10 and the like is transmitted to the second state display unit 102. Is prevented from being transmitted.

[0058] In FIG. 11, when providing the rear lower side light 60, an example is shown in which the second state display unit 102 is attached to the fender 51 using a light support stay 61 to which the rear lower side light 60 is attached. However, for example, even if the rear lower side light 60 is not provided, the second state display unit 102 can be attached to the fender 51 using the light support stay 61. Further, even when the rear lower side light 60 is provided, a support stay for attaching the rear lower side light 60 and a support stay for attaching the second state display unit 102 can be provided separately, and the rear lower side light 60 and the second state display unit 102 can be separately attached to the fender 51.

[0059] Also, although not shown in the figure, the second state display unit 102 is detachably provided to the light support stay 61 using a fixture such as a bolt, similar to the first state display unit 101. Thereby, the second state display unit 102 is detachably provided to the fender 51 together with the light support stay 61 and the rear lower side light 60, and is also detachably provided to the light support stay 61 as a single unit of the second state display unit 102.

[0060] Since the first state display unit 101 and the second state display unit 102 are detachably provided at a desired arrangement position, for example, within the traveling area S such as a farm field, the first state display unit 101 and the second state display unit 102 can be attached at the desired arrangement position to perform the automatic traveling of the tractor 1. Further, when moving from the storage position of the tractor 1 to the farm field or when moving between farm fields, etc., when the tractor 1 is manually traveled by a user or the like outside the traveling area S, the tractor 1 can be traveled with the first state display unit 101 and the second state display unit 102 removed from the desired arrangement position. In this way, the user or the like can perform the attaching and detaching work of the first state display unit 101 and the second state display unit 102 as needed. At this time, since the first state display unit 101 and the second state display unit 102 are arranged below the roof 46, the first state display unit 101 and the second state display unit 102 are positioned within the reach of the user's hand when the user or the like boards the cabin 9 or stands on a step ladder, etc., and the attaching and detaching work can be simplified.

[0061] Further, since the first state display unit 101 and the second state display unit 102 are disposed below the roof 46, it is possible to suppress an increase in the vehicle height of the tractor 1 when the first state display unit 101 and the second state display unit 102 are attached to a desired arrangement and installation. Therefore, when transporting the tractor 1 or storing the tractor 1 in a shed or the like, it is possible to prevent the first state display unit 101 and the second state display unit 102 from coming into contact with something and being damaged.

[0062] Based on FIG. 15, the arrangement position of the state display control unit 36 will be described. As described above, as the frame constituting the floor portion of the cabin 9, a front floor frame 49, a rear floor frame 50, a rear frame 64, and a pair of left and right fenders 51 are provided. The rear floor frame 50 is configured to be narrower in the left-right direction than the front floor frame 49. Each of the pair of left and right fenders 51 is provided with an operation panel portion 62 having various operation tools projecting inward in the left-right direction.

[0063] The state display control unit 36 is provided inside the operation panel portion 62 on the right side in the cabin 9. Inside the operation panel portion 62 on the right side, not only the state display control unit 36 but also each control unit in the in-vehicle electronic control unit 16 is arranged. In this way, inside the operation panel portion 62 on the right side, a plurality of control units in the in-vehicle electronic control unit 16 are concentrated and arranged by using the internal space of the operation panel portion 62. Therefore, a plurality of wirings in each control unit can be bundled and installed, and a plurality of wirings can be arranged through a common communication portion that communicates between the inside and the outside of the cabin 9, thereby simplifying the wiring work and the wiring configuration.

[0064] Incidentally, although not shown in the figure, the operation panel portion 62 on the right side is provided with operation tools such as a lifting operation tool that enables manual lifting and lowering of a working device such as a rotary tilling device and a PTO operation tool for starting power transmission to the PTO, and the operation panel portion 62 on the left side is provided with various other operation tools.

[0065] Regarding the arrangement position of the state display unit 35, in FIGS. 4 to 9, as shown by the dotted lines in the figures, various locations other than the arrangement positions of the first state display unit 101 and the second state display unit 102 can be applied. Hereinafter, the arrangement position of the state display unit 35 other than the first state display unit 101 and the second state display unit 102 will be described.

[0066] When arranging the state display unit 35 at a position corresponding to the left front corner of the cabin 9, as described above, the arrangement position of the first state display unit 101 can be adopted. Instead of this, as shown in FIGS. 4, 6, and 8, the third state display unit 103 can be arranged above the first state display unit 101.

[0067] As shown in FIGS. 4, 6, and 8, a mirror mounting portion 58 is attached to the left front pillar 47 on the left side, and a mirror 59 is attached to the mirror mounting portion 58. Therefore, the third state display unit 103 is attached using the mirror mounting portion 58. For example, when a user or the like sitting on the seat 21 in the cabin 9 views the third state display unit 103, the left front pillar 47 overlaps at least a part of the third state display unit 103, and the third state display unit 103 can be arranged such that at least a part of the third state display unit 103 is hidden by the left front pillar 47.

[0068] As shown in FIG. 12, the third state display unit 103 is provided in an upright posture extending upward from the mirror mounting portion 58, and the mirror mounting portion 58 for attaching the mirror 59 is also used as a support stay for supporting the third state display unit 103. Since the mirror mounting portion 58 is attached to the left front pillar 47 on the left side, the third state display unit 103 is attached to the left front pillar 47 in the pillar frame 42 via the mirror mounting portion 58. Therefore, the third state display unit 103 is attached to the cabin frame constituting the vibration-proof cabin 9, preventing vibration from the engine 10 or the like from being transmitted to the third state display unit 103.

[0069] Although not shown in the drawings, the third state display unit 103 is detachably provided to the mirror mounting portion 58 using a fixture such as a bolt, in the same manner as the first state display unit 101. Thus, the third state display unit 103 is detachably provided to the mirror mounting portion 58 as a single unit.

[0070] When arranging the state display unit 35 at a position corresponding to the right rear corner of the cabin 9, as described above, the arrangement position of the second state display unit 102 can be adopted. Instead of this, as shown in FIGS. 5, 8, and 9, the fourth state display unit 104 can be arranged above the second state display unit 102.

[0071] As shown in FIGS. 5, 8, and 9, the fourth state display unit 104 is arranged at a position corresponding to an upper region of the right door 45 below the roof 46 and on the lower side in the vertical direction. For example, when a user or the like seated on the seat 21 in the cabin 9 views the fourth state display unit 104, the right rear pillar 48 overlaps at least a part of the fourth state display unit 104, and the fourth state display unit 104 can be arranged so that at least a part of the fourth state display unit 104 is hidden by the right rear pillar 48.

[0072] As shown in FIG. 13, the fourth state display unit 104 is attached to the right rear pillar 48 of the pillar frame 42 via the support stay 202. The support stay 202 includes a first stay 202a extending outward from the upper end side of the right rear pillar 48, a plate-like second stay 202b connected to the first stay 202a and extending rearward, and a third stay 202c extending downward from the rear end portion of the second stay 202b and having a plate-like portion 202d at its lower end portion. The fourth state display unit 104 is provided in an upright posture extending upward from the plate-like portion 202d of the third stay 202c.

[0073] In this way, the fourth state display unit 104 is attached to the right rear support column 48 in the support frame 42 via the support stay 202. Therefore, the fourth state display unit 104 is attached to the cabin frame that constitutes the vibration-isolated cabin 9, preventing vibration from the engine 10 etc. from being transmitted to the fourth state display unit 104.

[0074] The second stay 202b is fixed to the first stay 202a by fastening a fixture 57 such as a bolt, and the third stay 202c is integrally connected to the second stay 202b by welding or the like. Also, although not shown in the figure, the fourth state display unit 104 is detachably provided to the third stay 202c of the support stay 202 using a fixture such as a bolt, similar to the first state display unit 101. Thereby, the fourth state display unit 104 is detachably provided to the right rear support column 48 together with the second stay 202b and the third stay 202c in the support stay 202, and the fourth state display unit 104 alone is detachably provided to the third stay 202c of the support stay 202.

[0075] Examples of arranging the first to fourth state display units 101 to 104 diagonally at the left front and right rear of the cabin 9 have been shown, but the state display unit 35 can also be arranged at a position corresponding to the left rear corner of the cabin 9.

[0076] As the state display unit 35, as shown in FIGS. 5 to 7, the fifth state display unit 105 can be arranged in the vicinity of the left rear support column 48 at a position corresponding to the left rear corner of the cabin 9. The fifth state display unit 105 is arranged on the upper part of the fender 51, similar to the second state display unit 102. Since the attachment configuration of the fifth state display unit 105 is the same as that of the second state display unit 102, the description is omitted.

[0077] As the state display unit 35, as shown in FIGS. 5 to 7, instead of the fifth state display unit 105, the sixth state display unit 106 can be arranged at a position corresponding to an upper region above the right door 45 and below the roof 46 in the vertical direction. Since the attachment configuration of the sixth state display unit 106 is the same as that of the fourth state display unit 104, the description thereof is omitted.

[0078] As the state display unit 35, as shown in FIGS. 4, 6, and 8, the seventh state display unit 107 can be arranged on the front side of the cabin 9. As shown in FIG. 14, the seventh state display unit 107 is arranged on the upper part of the bonnet 63 via the support stay 203.

[0079] As described above, as the arrangement position of the state display unit 35, in a plan view, at least a pair of state display units 35 (a pair of the first state display unit 101 or the third state display unit 103 and the second state display unit 102 or the fourth state display unit 104) can be arranged diagonally to the tractor 1. For example, by arranging the first state display unit 101 and the second state display unit 102 at positions corresponding to the diagonal of the cabin 9 in the tractor 1, as shown in FIGS. 4 to 9, whether the user or a person around the tractor 1 views the tractor 1 from any direction, at least one of the first state display unit 101 and the second state display unit 102 can be visually recognized. Thereby, the user or a person around the tractor 1 can easily grasp what state the tractor 1 is in, and the visibility of the state display unit 35 can be improved. Incidentally, when the third state display unit 103 is arranged instead of the first state display unit 101, or when the fourth state display unit 104 is arranged instead of the second state display unit 102, similarly, the visibility of the state display unit 35 can be improved.

[0080] In addition, as shown in FIGS. 4 and 5, the first state display unit 101 and the second state display unit 102 are arranged outside the cab 9 and inside the outer ends of the wheels 7 and 8 (corresponding to the traveling unit) of the tractor 1 in the left - right direction of the tractor 1 when viewed from the front and the rear. Therefore, also in the left - right direction of the tractor 1, the first state display unit 101 and the second state display unit 102 do not protrude outside the wheels 7 and 8, and it is possible to prevent the first state display unit 101 and the second state display unit 102 from coming into contact with something and being damaged during the automatic driving of the tractor 1 and the like. Incidentally, even when the third state display unit 103 is arranged instead of the first state display unit 101 or the fourth state display unit 104 is arranged instead of the second state display unit 102, the third state display unit 103 and the fourth state display unit 104 are similarly arranged outside the cab 9 and inside the outer ends of the wheels 7 and 8 (corresponding to the traveling unit) of the tractor 1 in the left - right direction of the tractor 1 when viewed from the front and the rear.

[0081] At each of the positions corresponding to the left - front corner of the cab 9, the right - rear corner of the cab 9, and the left - rear corner of the cab 9, two arrangement positions spaced apart in the vertical direction are configured to be selectable as the arrangement positions of the state display unit 35. Therefore, considering the preferences and visibility of the user or the like, either of the two arrangement positions can be selected as the arrangement position of the state display unit 35. In particular, for the positions corresponding to the right - rear corner of the cab 9 and the left - rear corner of the cab 9, an arrangement position corresponding to the upper - side part of the cab 9 and an arrangement position corresponding to the lower - side part of the cab 9 are selectable, and the arrangement position of the state display unit 35 can be usefully selected according to the preferences and visibility of the user or the like.

[0082] Since the state display unit 35 is detachably provided at a desired arrangement position, it is also possible to change the arrangement position of the state display unit 35 according to the situation such as a change in the working state. For example, at the position corresponding to the right - rear corner of the cab 9, by changing from the arrangement position of the second state display unit 102 to the arrangement position of the fourth state display unit 104 according to the situation, the state display unit 35 can be changed to a more upper - side arrangement position.

[0083] 〔Alternative Embodiment〕 Another embodiment of the present invention will be described. Note that the configurations of the embodiments described below are not limited to being applied individually, and can also be applied in combination with the configurations of other embodiments.

[0084] (1) The configuration of the work vehicle can be variously changed. For example, the work vehicle may be configured in a hybrid specification including the engine 10 and an electric motor for traveling, or may be configured in an electric specification including an electric motor for traveling instead of the engine 10. For example, the work vehicle may be configured in a semi-crawler specification including left and right crawlers instead of the left and right rear wheels 8 as the traveling unit. For example, the work vehicle may be configured in a rear-wheel steering specification in which the left and right rear wheels 8 function as steering wheels.

[0085] (2) In the above embodiment, as the state display unit 35, an example including a plurality of indicator lights 35a to 35c was illustrated, but the number of indicator lights can be appropriately changed, and those including one indicator light or four or more indicator lights can be applied. In this case, since the indicator lights are individually detachable, it is possible to easily perform the operation of adding or reducing the number of indicator lights.

[0086] (3) In the above embodiment, as the arrangement position of the state display unit 35, an example in which a pair of state display units 35 are arranged at least diagonally to the tractor 1 in a plan view was shown, but the combination of positions for the arrangement position of the state display unit 35 can be appropriately changed.

[0087] For example, as the state display unit 35, only the seventh state display unit 107 disposed on the upper part of the bonnet 63 can be provided. Further, as the state display unit 35, the seventh state display unit 107 disposed on the upper part of the bonnet 63 and any one of the second state display unit 102, the fourth state display unit 104, the fifth state display unit 105, and the sixth state display unit 106 disposed on the rear side of the cabin 9 can be provided. Furthermore, as the state display unit 35, any one of the second state display unit 102 or the fourth state display unit 104 disposed at a position corresponding to the right rear corner of the cabin 9 and any one of the fifth state display unit 105 or the sixth state display unit 106 disposed at a position corresponding to the left rear corner of the cabin 9 can be provided.

[0088] <Supplementary Note of the Invention> The first embodiment of the present invention includes a work vehicle body capable of autonomous driving, a state detection unit that detects the state of the work vehicle body, and a state display unit that performs a state display according to the state of the work vehicle body detected by the state detection unit. In a plan view, the state display unit is arranged at least at a pair of diagonal positions of the work vehicle body.

[0089] According to this configuration, since the state display units are arranged in a pair at the diagonal positions of the work vehicle body, a user or a person around the work vehicle can visually recognize at least one of the pair of state display units, and the visibility can be improved. Moreover, instead of above the cabin, a pair of state display units may be arranged at the diagonal positions of the work vehicle body, and the state display units can be arranged at a relatively low position. Therefore, the installation work of the state display units can be simplified, the vehicle height of the work vehicle can be prevented from increasing, and damage to the state display units can also be prevented.

[0090] In the second embodiment of the present invention, the work vehicle body has a cabin, and in a front view, the state display unit is arranged outside the cabin and inside the outer end of the traveling unit of the work vehicle body.

[0091] According to this configuration, since the status display unit is disposed outside the cabin in a front view, it is possible to prevent the status display unit from being difficult to see due to the cabin in the front view. Moreover, since the status display unit is disposed inside the outer end of the traveling unit in a front view, the status display unit does not protrude outside the traveling unit in the left-right direction of the work vehicle body, and it is possible to prevent the status display unit from being damaged by contacting something during the automatic traveling of the work vehicle body.

[0092] In the third embodiment of the present invention, a muffler is provided on the front side of the cabin and on one side in the left-right direction of the cabin, and one of the pair of status display units is disposed on the front side of the cabin and on the side opposite to the side where the muffler is located in the left-right direction of the cabin.

[0093] According to this configuration, since the status display unit is disposed on the side opposite to the side where the muffler is located in the left-right direction of the cabin, the status display unit can be disposed at a position where visibility can be improved without being obstructed by the muffler.

[0094] In the fourth embodiment of the present invention, the status display unit is detachably provided to the cabin frame of the cabin via a support stay.

[0095] According to this configuration, since the status display unit is detachable from the cabin frame via the support stay, the status display unit can be attached and detached as necessary, making it user-friendly. In addition, since it is possible to retroactively attach the status display unit to the work vehicle, by retroactively attaching the status display unit to the work vehicle, it is also possible to change it to an automatically driven work vehicle, and the work for that can be simplified. Moreover, usually, a cabin configured by a cabin frame is supported via a vibration damping member such as an elastic body, so by attaching the status display unit to the cabin frame via the support stay, the status display unit can be installed in a state where transmission of vibration to the status display unit is prevented.

[0096] A fifth embodiment of the present invention includes a state display control unit that controls the state display of the state display unit, and the state display control unit is disposed inside the operation panel unit in the cabin.

[0097] According to this configuration, by providing the state display control unit, it is possible to appropriately perform the state display of the state display unit while effectively utilizing the inside of the operation panel unit as the arrangement position of the state display control unit. Usually, various control units mounted on the work vehicle can be arranged inside the operation panel unit, so that the wirings of these control units and the state display control unit can be bundled and installed, thereby simplifying the wiring and the wiring work.

[0098] A tractor according to an aspect of the present invention includes a tractor body, a state detection unit, and a state display unit. The tractor body has a cabin and is configured to be capable of autonomous driving. The state detection unit detects the state of the tractor body. The state display unit performs a state display according to the state of the tractor body detected by the state detection unit. The state display unit is provided outside the cabin and is arranged at a corner of the cabin in a plan view.

[0099] A work vehicle according to an aspect of the present invention includes a work vehicle body, a state detection unit, and a state display unit. The work vehicle body has a cabin and is configured to be capable of autonomous driving. The state detection unit detects the state of the work vehicle body. The state display unit performs a state display according to the state of the work vehicle body detected by the state detection unit. The state display unit is arranged in a pair at a pair of corners of the cabin in a plan view. A muffler is provided on the front side of the cabin and on one side in the left-right direction of the cabin. One of the pair of state display units is arranged on the front side of the cabin and on the side opposite to the side where the muffler is located in the left-right direction of the cabin.

[0100] A work vehicle according to an aspect of the present invention includes a work vehicle body, a state detection unit, and a state display unit. The work vehicle body has a cabin and is configured to be capable of autonomous driving. The state detection unit detects the state of the work vehicle body. The state display unit performs a state display according to the state of the work vehicle body detected by the state detection unit. The state display unit is attached to the support portion so as to protrude upward from the support portion attached to the cabin.

Explanation of Signs

[0101] 1 Tractor (Work Vehicle Body) 9 Cabin 7 Front Wheels (Traveling Unit) 8 Rear Wheels (Traveling Unit) 34 State Detection Unit 35 State Display Unit 36 State Display Control Unit 47 Front Support Pillar (Cabin Frame) 48 Rear Support Pillar (Cabin Frame) 51 Fender (Cabin Frame) 52 Muffler 58 Mirror Mounting Portion (Support Stay) 61 Light Support Stay (Support Stay) 201 Support Stay 202 Support Stay

Claims

1. An operating vehicle body having a cabin and capable of autonomous driving, a state detection unit that detects the state of the operating vehicle body, a state display unit that performs a state display according to the state of the operating vehicle body detected by the state detection unit, and a mirror attached to the cabin, and the state display unit is disposed at the same corner as the mirror in the cabin in a plan view, and a lower end of the state display unit is disposed at a position higher than a lower end of the mirror. An operating vehicle.

2. The mirror is supported by a mirror mounting portion that protrudes forward from a cabin frame of the cabin. The operating vehicle according to Claim 1.

3. The state display unit is disposed at a position where an upper end of the state display unit is higher than an upper end of the mirror. The operating vehicle according to Claim 1 or 2.

4. The state display unit is disposed behind the mirror. The operating vehicle according to any one of Claims 1 to 3.

Images