Work vehicle

Abstract

To provide a work vehicle in which the line of sight of a driver hardly moves up and down greatly.SOLUTION: A work vehicle 100 has an automatic travel mode in which the work vehicle travels along a predetermined travel route. The work vehicle 100 includes a traveling device, a driver's seat, a steering operation unit 6, and an operation terminal 12. The traveling device travels. A driver is seated on the driver's seat. The steering operation unit 6 is operated by the driver to change the direction in which the traveling device travels. The operation terminal 12 receives an operation of the driver. The operation terminal 12 is disposed on a lateral side of the steering operation unit 6 in the right-left direction.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

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

[0003] The rice transplanter of Patent Document 1 is equipped with a wireless communication terminal. A user of the rice transplanter uses the wireless communication terminal to set up automatic driving. The rice transplanter then drives automatically based on the settings. In the rice transplanter of Patent Document 1, the wireless communication terminal is positioned at the same height as the top of the steering handle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-122997 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a configuration in which a wireless communication terminal (operation terminal) is positioned at the same height as the top of a steering wheel (steering operation unit) is applied to a work vehicle equipped with a gearshift operation device, the wireless communication terminal (operation terminal) is positioned at a position that does not match the height of the top of the gearshift operation device, which results in the driver's line of sight moving significantly up and down when autonomous driving begins.

[0006] Specifically, in a work vehicle equipped with a gearshift, the driver operates the operation terminal to issue a command to start the automatic driving mode, and then operates the gearshift to start driving the work vehicle (automatic driving). Therefore, it is necessary to operate the gearshift after operating the operation terminal. Therefore, in a work vehicle in which the operation terminal is positioned at a height that does not match the height of the top of the gearshift, the driver's line of sight moves significantly up and down when automatic driving begins.

[0007] The present invention has been made in view of the above-mentioned problems, and its object is to provide a work vehicle in which the driver's line of sight is less likely to move significantly up and down. [Means for solving the problem]

[0008] In the present invention, a work vehicle has an automatic driving mode in which it travels along a predetermined driving route. The work vehicle comprises a driving device, a driver's seat, a steering operation unit, and an operation terminal. The driving device travels. A driver sits in the driver's seat. The steering operation unit changes the direction in which the driving device travels in response to operation by the driver. The operation terminal accepts operation by the driver. The operation terminal is disposed to the side of the steering operation unit in the left-right direction. [Effects of the Invention]

[0009] According to the work vehicle of the present invention, the driver's line of sight is less likely to move significantly up and down. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a left side view of a work vehicle according to an embodiment of the present invention. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] FIG. 2 is a diagram showing the periphery of the operation terminal as seen from the rear. [Figure 5] FIG. 2 is an enlarged view showing the periphery of the operation terminal as seen from behind. [Figure 6]FIG. 2 is an enlarged view showing the periphery of the operation terminal as seen from the front. [Figure 7] 1 is a block diagram showing a configuration of a work vehicle according to an embodiment of the present invention. [Figure 8] FIG. 1 is a diagram illustrating an example of a farm field. [Figure 9] FIG. 10 is a diagram showing a first screen displayed on the operation terminal. [Figure 10] FIG. 10 is a diagram showing a second screen displayed on the operation terminal. [Figure 11] FIG. 10 is a diagram showing a third screen displayed on the operation terminal. [Figure 12] FIG. 10 is a diagram showing a fourth screen displayed on the operation terminal. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the work vehicle of 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 embodiment, and can be implemented in various forms without departing from the spirit of the present invention. Note that where explanations are redundant, they may be omitted as appropriate. Furthermore, in the drawings, the same or equivalent parts are designated by the same reference numerals, and explanations thereof will not be repeated.

[0012] First, a work vehicle 100 of this embodiment will be described with reference to Figure 1. Figure 1 is a left side view of the work vehicle 100 of this embodiment. The work vehicle 100 has a manual driving mode and an automatic driving mode. The manual driving mode is a mode in which the driver of the work vehicle 100 manually operates the work vehicle 100. The automatic driving mode is a mode in which the work vehicle 100 travels along a predetermined travel route SG. In this embodiment, the work vehicle 100 is a head-propelled combine harvester.

[0013] In this specification, for ease of understanding, the terms front-rear direction, left-right direction, and up-down direction may be used. Here, the front-rear direction, left-right direction, and up-down direction are directions seen from the perspective of a driver seated in the driver's seat 4 (see FIG. 2). However, the definitions of the front-rear direction, left-right direction, and up-down direction are provided merely for the convenience of explanation, and are not intended to limit the orientation of the work vehicle of the present invention when in use or when assembled.

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

[0015] The traveling machine body 101 (work vehicle 100) is equipped with 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 causes the work vehicle 100 to travel. Specifically, the traveling device 102 travels based on 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 causes the work vehicle 100 to travel in the forward and backward directions. The pair of left and right traveling crawler devices also causes the work vehicle 100 to turn in the left and right directions.

[0017] The reaping device 200 is driven by power (kinetic energy) generated by an engine. The reaping device 200 reaps uncut stalks in the field H. In this embodiment, the reaping device 200 includes a reaping frame 201, a cutting blade device 202, a scull raising device 203, a scull transport device 204, and a grass body 205.

[0018] The reaping frame 201 is mounted on the front of the traveling body 101 so as to be able to move up and down freely. The cutting blade device 202 is disposed below the reaping frame 201. The cutting blade device 202 cuts uncut stalks in the field H. Specifically, the cutting blade device 202 has a cutting blade. The cutting blade device 202 moves the cutting blade back and forth to cut the base of the uncut stalks in the field H.

[0019] The stalk raising device 203 is positioned in front of the reaping frame 201 and raises uncut stalks in the field H. The cutting blade device 202 cuts the base of the uncut stalks raised by the stalk raising device 203. The stalk transport device 204 transports the stalks cut by the cutting blade device 202 to the threshing device 300.

[0020] The plant dividing body 205 is positioned in front of the culm raising device 203 and divides the uncut culms in the field H one row at a time. For example, the plant dividing body 205 divides six or seven rows of uncut culms one row at a time. The culm raising device 203 raises the uncut culms divided by the plant dividing body 205 one row at a time.

[0021] The work vehicle 100 can drive the traveling device 102 to move within the field H, and drive the reaping device 200 to continuously reap the unharvested stalks in the field H.

[0022] Next, the work vehicle 100 of this embodiment will be further described with reference to Figure 1. As shown in Figure 1, the traveling machine body 101 (work vehicle 100) is equipped with a threshing device 300. In addition, the traveling machine body 101 (work vehicle 100) is further equipped with a grain tank (not shown).

[0023] The threshing device 300 is driven by power (kinetic energy) generated by the engine. The threshing device 300 threshes the harvested stalks transported to the traveling machine body 101 by the stalk transport device 204. The grain tank stores the grains threshed by the threshing device 300. Specifically, the threshing device 300 includes a threshing drum 301, a swinging sorting plate 302, a winnowing fan 303, a processing drum 304, and a dust discharge fan 305. The threshing device 300 further includes a second processing section (not shown).

[0024] The tip side of the harvested stalks is introduced into the threshing drum 301. The threshing drum 301 threshes the tip side of the harvested stalks. The oscillating sorting plate 302 is positioned below the threshing drum 301. The oscillating sorting plate 302 oscillates and sorts (gravity sorts) the threshed grains that have fallen from the threshing drum 301. In more detail, the oscillating sorting plate 302 sorts the threshed grains that have fallen from the threshing drum 301 into grains (first sorted material) and second sorted material such as grains with stalks.

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

[0026] The second-sorted material, such as grains with stalk branches, falls from the oscillating sorting plate 302 and is returned to the oscillating sorting plate 302 via the second processing section. The second processing section removes the stalk branches and other particles from the second-sorted material. The oscillating sorting plate 302 re-sorts the second-sorted material after it has been processed by the second processing section.

[0027] The processing drum 304 reprocesses the threshing waste material taken out from the rear of the threshing drum 301. The dust discharge fan 305 discharges the dust discharged from the rear of the oscillating sorting board 302 to the outside of the machine.

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

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

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

[0031] The driver of the work vehicle 100 sits in the driver's seat 4. The steering wheel 6 is located in front of the driver's seat 4. The steering wheel 6 is operated by the driver seated in 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 work vehicle 100 is in the manual traveling mode, the driver can turn the work vehicle 100 by operating the steering wheel 6. Turning can 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 side panel 8 has various switches 81. The main speed change lever 82 is disposed on the side panel 8. Therefore, the main speed change lever 82 is disposed to the left of the driver's seat 4. The main speed change lever 82 is operated by the driver seated in the driver's seat 4 to switch the traveling direction of the traveling device 102 shown in FIG. 1 between forward and reverse. The main speed change lever 82 is an example of a speed change operating device.

[0033] More specifically, the main speed change lever 82 can be tilted forward and rearward. In manual travel mode, when the main speed change lever 82 is tilted forward, the work vehicle 100 moves forward, and when the main speed change lever 82 is tilted rearward, the work vehicle 100 moves backward. The traveling device 102 travels at a speed that corresponds to the amount of tilt of the main speed change lever 82. Specifically, the greater the amount of tilt of the main speed change lever 82, the greater the traveling speed. When the main speed change lever 82 is not tilted forward or rearward, the traveling device 102 does not travel.

[0034] The main speed change lever 82 has various switches, including, for example, a switch for adjusting the reaping depth, a switch for raising the reaping device 200, a switch for lowering the reaping device 200, and a switch for adjusting the height of the reaping device 200.

[0035] The operation terminal 12 is disposed near the steering wheel 6. In this embodiment, the operation terminal 12 is disposed to the right of the steering wheel 6. The operation terminal 12 is, for example, a tablet terminal. As will be described later with reference to FIG. 5, the operation terminal 12 has a touch display 121, and displays various screens on the touch display 121.

[0036] The operation terminal 12 accepts operations by the driver. More specifically, the operation terminal 12 accepts operations to instruct the start of the autonomous driving mode. In particular, the driver operates the operation terminal 12 to instruct the start of the autonomous driving mode, and then tilts the main shift lever 82 forward. As a result, the work vehicle 100 (traveling device 102) travels autonomously. The driver can also operate the operation terminal 12 to instruct the stop or interruption of the autonomous driving mode. Furthermore, the driver can operate the operation terminal 12 to set various conditions related to the autonomous driving.

[0037] The display device 14 displays a predetermined image. The display device 14 displays, for example, the engine RPM. In a plan view, the display device 14 is disposed between the operation terminal 12 and the main shift lever 82. Therefore, the display device 14 is disposed in a position relatively close to the operation terminal 12. As a result, the driver can view the touch display 121 (FIG. 5) of the operation terminal 12 and the display device 14 without moving his or her line of sight significantly. In this embodiment, the display device 14 is disposed inside the steering wheel 6.

[0038] The right armrest 42 is disposed to the right of the driver's seat 4 and is supported by the boarding door 26 shown in Fig. 3. The left armrest 44 is disposed to the left of the driver's seat 4 and is supported by the driver's seat 4. A driver seated in the driver's seat 4 can rest the elbows of their left and right arms on the right armrest 42 and the left armrest 44, respectively.

[0039] The handrail 46 is supported by the boarding / alighting door 26 shown in FIG. 3 and extends from between the right armrest 42 and the boarding / alighting door 26 forward of the right armrest 42. As shown in FIG. 2, the front end of the handrail 46 is located near the operation terminal 12. The handrail 46 is grasped by the driver seated in the driver's seat 4. Specifically, the portion of the handrail 46 that is forward of the right armrest 42 is grasped by the driver. In other words, the portion of the handrail 46 on the operation terminal 12 side is grasped by the driver. The handrail 46 is an example of a grasping member.

[0040] Next, the work vehicle 100 of this embodiment will be described with reference to Figure 3. Figure 3 is a perspective view showing the periphery of the handrail 46. As shown in Figure 3, the cabin 2 further has a right-side window portion 24c and an access door 26. The right-side window portion 24c and the access door 26 are arranged to the right of the driver's space 2a shown in Figure 2. The access door 26 is supported by the frame 22 so that it can be opened and closed freely. The right-side window portion 24c is supported by the access door 26. The driver opens the access door 26 to enter and exit the cabin 2.

[0041] 3, the right armrest 42 and the handrail 46 are fixed to the boarding door 26. More specifically, the right armrest 42 and the handrail 46 are attached to the inside of the boarding door 26.

[0042] Next, the work vehicle 100 of this embodiment will be described with reference to Figure 4. Figure 4 is a diagram showing the area around the operation terminal 12 as seen from the rear. As shown in Figure 4, the operation terminal 12 is disposed at the same height as the upper part of the main shift lever 82 relative to the floor surface of the cabin 2 (the bottom surface of the driving space 2a). Specifically, the operation terminal 12 is disposed at a position higher than the steering wheel 6. Furthermore, the operation terminal 12 is disposed at a position overlapping the upper end of the main shift lever 82 in the vertical direction.

[0043] According to this embodiment, after the driver operates the operation terminal 12 to instruct the start of the automatic driving mode, when tilting the main shift lever 82 forward, the driver can operate the main shift lever 82 without moving his or her eyes significantly up or down.

[0044] Furthermore, according to this embodiment, the burden on the driver when operating the operation terminal 12 can be reduced compared to a configuration in which the operation terminal 12 is arranged at the eye level of the driver sitting in the driver's seat 4. That is, in a configuration in which the operation terminal 12 is arranged at the vertical position of the eye level of the driver sitting in the driver's seat 4 (height with respect to the floor of the cabin 2), the driver needs to raise his / her hand above his / her shoulder to operate the operation terminal 12. Therefore, operating the operation terminal 12 is a heavy burden. In contrast, according to this embodiment, the operation terminal 12 is arranged at the position of the upper part of the main shift lever 82 in the vertical direction (height with respect to the floor of the cabin 2), so the driver can operate the operation terminal 12 below his / her shoulder. Therefore, operating the operation terminal 12 does not impose a heavy burden.

[0045] Next, the work vehicle 100 of this embodiment will be further described with reference to Figures 2 and 4. As shown in Figures 2 and 4, in the work vehicle 100 of this embodiment, the operation terminal 12 is arranged on the opposite side of the steering wheel 6 from the main shift lever 82 side. Therefore, compared to a configuration in which the operation terminal 12 is arranged in front of the steering wheel 6, it is easier for the driver to see what is ahead.

[0046] 2 and 4, the operation terminal 12 is disposed on the opposite side of the steering wheel 6 from the side panel 8. As a result, the burden on the driver can be reduced. In other words, in a configuration in which the operation terminal 12 is disposed on the side of the side panel 8, the driver must use his or her left hand to operate the various switches 81, the main shift lever 82, and the operation terminal 12, which places a heavy burden on the driver's left hand. In contrast, according to this embodiment, the operation terminal 12 is disposed on the opposite side of the side panel 8, so the driver's operating burden can be distributed between his or her right and left hands. As a result, the burden on the driver is reduced.

[0047] 2, the steering wheel 6 is disposed between the main shift lever 82 and the operation terminal 12 in a plan view. Therefore, the burden of operating the main shift lever 82, the steering wheel 6, and the operation terminal 12 can be distributed to the left and right. This reduces the burden on the driver. As described with reference to FIG. 4, the operation terminal 12 is disposed at a higher position than the steering wheel 6, so even if the steering wheel 6 is disposed between the main shift lever 82 and the operation terminal 12, the operation of the steering wheel 6 by the driver is not hindered by the operation terminal 12.

[0048] 2 and 4, the rearview mirror 30 is disposed on the right side of the cabin 2, and the operation terminal 12 is disposed between the steering wheel 6 and the rearview mirror 30. Therefore, the driver's line of sight when viewing the rearview mirror 30 is not blocked by the operation terminal 12. This allows the driver to reliably view the rearview mirror 30. Furthermore, by disposing the operation terminal 12 between the steering wheel 6 and the rearview mirror 30, the driver can view the rearview mirror 30 without moving their line of sight significantly when moving their line of sight from the operation terminal 12 to the rearview mirror 30. Similarly, the driver can view the operation terminal 12 without moving their line of sight significantly when moving their line of sight from the rearview mirror 30 to the operation terminal 12.

[0049] Next, the work vehicle 100 of this embodiment will be described with reference to Figures 4 and 5. As shown in Figure 4, the traveling machine 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] FIG. 5 is an enlarged view showing the periphery of the operation terminal 12 as seen from the rear. As shown in FIG. 5, the frame 22 of the cabin 2 has support columns 28 extending in the vertical direction. In this embodiment, the support columns 28 are pillars. More specifically, the support columns 28 are pillars of the front window section 24b (FIG. 2) and the right window section 24c (FIG. 3). The support mechanism 5 is fixed to the support columns 28. Therefore, the support columns 28 support the operation terminal 12 via the support mechanism 5. According to this embodiment, the operation terminal 12 is supported by the support columns 28 of the cabin 2, and therefore the operation terminal 12 can be firmly supported.

[0051] 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 swingably supports the support member 51. Therefore, the support mechanism 5 swingably supports the operation terminal 12.

[0052] Here, the operation terminal 12 will be described with reference to Fig. 5. As shown in Fig. 5, the operation terminal 12 has a touch display 121 and hard keys 122. The touch display 121 and the hard keys 122 constitute an operation unit of the operation terminal 12. The driver operates the operation terminal 12 by performing a touch operation on the touch display 121. The driver also operates the operation terminal 12 by pressing the hard keys 122.

[0053] Next, the support mechanism 5 will be described with reference to FIGS. 5 and 6. FIG. 6 is an enlarged view showing the periphery of the operation terminal 12 as seen 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 from behind. The second support member 51b is disposed above the first support member 51a and supports the operation terminal 12 from the rear and sides. 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] Next, the swing mechanism 53 will be described with reference to Fig. 6. The swing mechanism 53 supports the support member 51 so that it can swing freely around each of the first to third rotation axes AX1 to AX3 as central axes. The first rotation axis AX1 is an imaginary axis extending in the vertical direction. The second rotation axis AX2 is an imaginary axis extending parallel to the first rotation axis AX1, and the third rotation axis AX3 is an imaginary axis extending in the horizontal direction. The horizontal direction is a direction perpendicular to the vertical direction. Since the support mechanism 5 has three rotation axes (the first to third rotation axis AX1 to AX3), the driver can change the position of the operation terminal 12.

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

[0056] The first mounting member 531 is attached to the support 28. The first mounting 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 around the first rotation axis AX1 as its central axis.

[0057] The arm member 532 is fixed to the circumferential surface of the first shaft member 536a and extends from the first shaft member 536a in the radial direction of the first rotation axis AX1, so that the arm member 532 rotates around 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 around the second rotation axis AX2 as its 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 around 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 horizontal direction. The third rotation axis AX3 passes through the center of the third shaft member 536c. The third shaft member 536c is rotatable around the third rotation axis AX3 as its central axis.

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

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

[0062] Next, the work vehicle 100 of this embodiment will be described with reference to Fig. 7. Fig. 7 is a block diagram showing the configuration of the work vehicle 100 of this embodiment. As shown in Fig. 7, the operation terminal 12 further has a terminal processing unit 123, a storage unit 124, a communication processing unit 125, and a communication antenna 126. In addition, the touch display 121 has a display unit 121a and a touch sensor 121b.

[0063] The display unit 121a is controlled by the device processing unit 123 to display various screens. For example, the display unit 121a displays a screen for setting a travel route SG. The display unit 121a is configured by a display such as a liquid crystal display or an organic EL display. The touch sensor 121b is arranged on the display surface of the display unit 121a and detects touch operations by the driver. The touch sensor 121b is, for example, a capacitive touch sensor.

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

[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 machine 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 that complies 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 configured with, for example, a random access memory (RAM) and a read only memory (ROM). The storage unit 124 may further include a non-volatile memory such as an EEPROM (registered trademark) or a flash memory.

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

[0068] For example, before the start of autonomous driving, the device processing unit 123 displays a screen on the display unit 121a that accepts an instruction to start the autonomous driving mode. Then, when an instruction to start the autonomous driving mode is accepted by a touch operation by the driver or by operation of the hard keys 122 by the driver, the device processing unit 123 transmits a signal to permit the autonomous driving mode to the traveling machine 101 via the communication processing unit 125. Furthermore, after the start of autonomous driving, the device processing unit 123 displays a screen on the display unit 121a that accepts an instruction to stop or suspend the autonomous driving mode. Then, when an instruction to stop or suspend the autonomous driving mode is accepted by a touch operation by the driver or by operation of the hard keys 122 by the driver, the device processing unit 123 transmits a signal to stop or suspend the autonomous driving mode to the traveling machine 101 via the communication processing unit 125.

[0069] Next, we will explain the traveling machine body 101. As shown in Figure 7, the traveling machine body 101 (work vehicle 100) further includes a main body processing unit 401, a memory 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 that make up a global navigation satellite system (GNSS). The positioning antenna 405 also receives radio waves from base stations.

[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 radio waves 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. The communication antenna 406 may also include an antenna for an internet connection.

[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 that complies 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 configured with, 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] Main processing unit 401 is configured by a processor that executes various calculations, such as a CPU or MPU. Alternatively, main processing unit 401 may be configured by a general-purpose computing machine. Main processing unit 401 executes various processes based on various computer programs and various data stored in 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] Furthermore, after receiving a signal permitting the autonomous driving mode from the operation terminal 12 via the communication processing unit 404, the main body processing unit 401 drives the traveling device 102 to start autonomous driving when it detects that the main shift lever 82 shown in FIG. 2 has tilted forward. Specifically, the main body processing unit 401 controls the traveling device 102 based on data indicating the traveling route SG stored in the memory unit 402 and data indicating the position of the work vehicle 100 acquired from time to time by the position acquisition unit 403. As a result, the work vehicle 100 travels along the traveling route SG stored in the memory unit 402. Furthermore, after the autonomous driving has started, when the main body processing unit 401 receives a signal to stop or suspend the autonomous driving mode from the operation terminal 12 via the communication processing unit 404, it stops or suspends the driving of the traveling device 102.

[0078] The data indicating the travel route SG is created by the device processing unit 123 before the start of automatic traveling. Before the start of automatic traveling, the device processing unit 123 transmits the data indicating the travel route SG to the traveling machine body 101 via the communication processing unit 125. As a result, the data indicating the travel route SG is stored in the memory unit 402 of the traveling machine body 101.

[0079] Next, an example of processing executed by the terminal processing unit 123 and the main body processing unit 401 will be described with reference to Figs. 7 to 12. Fig. 8 is a diagram showing an example of a 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 field H is rectangular. As shown in Fig. 8, field H includes an outermost region H1, a headland region H2, and an auto mode region H3. The driver first manually operates work vehicle 100 to perform reaping work to reaper uncut stalks in outermost region H1.

[0081] When the harvesting work in the outermost peripheral region H1 is completed, the device processing unit 123 registers the outline of the field H based on the current position data of the work vehicle 100. Specifically, the device processing unit 123 displays a screen showing the outline of the field H on the touch display 121 (display unit 121a) based on the current position data of the work vehicle 100. The device processing unit 123 then registers the outline of the field H in response to a touch operation by the driver or an operation of the hard keys 122 by the driver. The device processing unit 123 may also display a screen on the touch display 121 (display unit 121a) that accepts operations for fine-tuning the outline of the field H.

[0082] After completing registration of the outline of the field H, the device processing unit 123 displays the first screen G1 shown in FIG. 9 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. The first screen G1 also displays a start button B1. Note that the first screen G1 may also gray out a mode switching button B3, which will be described later with reference to FIG. 11.

[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. When the driver touches the start button B1 and tilts the main shift lever 82 forward while the first screen G1 is displayed, the work vehicle 100 automatically drives (goes straight) along the headland area H2 and cuts the uncut stalks in the headland area H2.

[0084] In the headland straight-ahead mode, when moving from one side to the next, the driver operates the steering wheel 6 and main shift lever 82 to turn the work vehicle 100. Specifically, when mowing work on one side of the headland area H2 is completed, the work vehicle 100 stops. After the work vehicle 100 has stopped, the driver manually turns the work vehicle 100 to a position that allows it to travel straight along the next side. Thereafter, when the driver touches the start button B1 and tilts the main shift lever 82 forward, the work vehicle 100 will automatically travel (travel straight) along the next side.

[0085] When the work vehicle 100 is traveling automatically (straight) along the headland area H2, the device processing unit 123 displays the second screen G2 shown in FIG. 10 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 work vehicle 100 to stop in the headland straight traveling mode (automatic traveling mode). When the driver touches the stop button B2 while the second screen G2 is displayed, the work vehicle 100 will stop. Note that the second screen G2 may display the mode switch button B3 in a grayed-out state, as with the first screen G1.

[0086] When the mowing work in the headland area H2 is completed, the terminal processing unit 123 displays the third screen G3 shown in FIG. 11 on the touch display 121 (display unit 121a). As shown in FIG. 11, the third screen G3 further displays a mode switching button B3. More specifically, the third screen G3 displays the mode switching button B3 in a selectable manner. 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 driving mode. The auto mode is a mode in which the work vehicle 100 automatically drives within the auto mode area H3. In the auto mode, unlike the headland straight ahead mode, the work vehicle 100 turns automatically.

[0087] When the driver touches the mode switching button B3, the device 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 mowing work in the auto mode region H3. For example, the device processing unit 123 sequentially displays a screen for setting the work direction and a screen for selecting back-and-forth mowing or circular mowing on the touch display 121 (display unit 121a). If the driver selects back-and-forth mowing, the device processing unit 123 may also display a screen for setting the middle division on the touch display 121 (display unit 121a). The driver sets the various conditions by touch operation or operating the hard keys 122. Once the various conditions have been set, the device processing unit 123 creates a travel route SG based on the various conditions.

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

[0089] While the fourth screen G4 is being displayed, 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 as selectable. After the start button B1 becomes selectable, when the driver touches the start button B1 and tilts the main shift lever 82 forward, the work vehicle 100 automatically travels along the travel route SG and cuts the uncut stalks 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 embodied in various forms without departing from the spirit of the present invention. Furthermore, the components disclosed in the above embodiments can be modified as appropriate. For example, some of the components shown in one embodiment may be added to the components of another embodiment, or some of the components shown in one embodiment may be deleted from the embodiment.

[0091] The drawings mainly show each component in a schematic manner to facilitate understanding of the invention, and the thickness, length, number, spacing, etc. of each component shown in the drawings may differ from the actual ones due to the convenience of creating the drawings. Furthermore, the configuration of each component shown in the above embodiment is merely an example and is not particularly limited, and it goes without saying that various modifications are possible within a range that does not substantially deviate from the effects of the present invention.

[0092] For example, in the embodiment described with reference to Figures 1 to 12, the operation terminal 12 is 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] Furthermore, in the embodiment described with reference to Figures 1 to 12, the operation terminal 12 performs wireless communication with the traveling machine body 101, but the operation terminal 12 may also perform wired communication with the traveling machine body 101.

[0094] 1 to 12, the work vehicle 100 is a combine harvester, but the work vehicle 100 is not limited to a combine harvester. The work vehicle 100 may be any vehicle that performs a predetermined task. For example, the work vehicle 100 may be an agricultural machine other than a combine harvester, such as a tractor or a rice transplanter, or may be a construction machine.

[0095] <Notes on the invention> According to one aspect of the present invention, a work vehicle has an automatic driving mode in which it travels along a predetermined travel route. The work vehicle includes a travel device, a driver's seat, a steering operation unit, a speed change device, and an operation terminal. The travel device travels. A driver sits in the driver's seat. The steering operation unit changes the direction in which the travel device travels when operated by the driver. The speed change device switches the traveling direction of the travel device between forward and reverse when operated by the driver. The operation terminal accepts operation by the driver. The operation terminal accepts operation to instruct the start of the automatic driving mode. The operation terminal is positioned to match the height of an upper part of the speed change device. [Industrial Applicability]

[0096] The present invention is useful for work vehicles that have an automatic driving mode. [Explanation of symbols]

[0097] 2: Cabin 4: Driver's seat 6: Steering wheel (steering operation part) 8: Side panel 12: Operation terminal 14:Display device 22: Frame 28: Strut 30: Rearview mirror 81: Switch 82: Main shift lever (shifting device) 100: Work vehicle 102: Running gear 121: Touch display 121a: Display section 121b: Touch sensor B1: Start button B2: Stop button B3: Mode switch button SG: Travel route

Claims

1. A work vehicle having an automatic driving mode that travels along a predetermined travel route, a running device that runs; A driver's seat in which a driver sits; a steering operation unit that changes the direction in which the traveling device travels by operation of the driver; an operation terminal that accepts operations by the driver, The operation terminal is disposed to the side of the steering operation unit in the left-right direction. Work vehicle.

2. a lower end of the operation terminal is disposed above an upper end of the steering operation unit in the vertical direction; The work vehicle according to claim 1 .

3. The vehicle further includes a speed change device that switches the traveling direction of the traveling device between forward and reverse by operation of the driver, the operation terminal is disposed on the opposite side of the steering operation unit from the gear shift operating device in the left-right direction, The work vehicle according to claim 1 or 2.

4. The vehicle further includes a speed change device that switches the traveling direction of the traveling device between forward and reverse by operation of the driver, The speed change operating device is disposed at a position overlapping with the operating terminal in the vertical direction. A work vehicle according to any one of claims 1 to 3.

5. a support mechanism that supports the operation terminal so that the position of the operation terminal can be changed; A work vehicle according to any one of claims 1 to 4.

Images