Work vehicles

Abstract

To provide useful work vehicles. [Solution] The tractor (work vehicle) 1 is capable of automatic driving and includes a driver's seat 9, a steering control unit 10 positioned in front of the driver's seat 9, a display device 60 that displays information related to automatic driving, and an armrest 21 positioned to the side of the driver's seat 9. The display device 60 is positioned in front of the steering control unit 10 on one side in the left-right direction and spaced apart from the armrest 21. At least a portion of the display device 60 and the steering control unit 10 are at the same height in the vertical direction.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a work vehicle including a steering handle and a steering shaft that rotatably supports the steering handle, and capable of automatically steering the steering handle to travel. The work vehicle includes a display device disposed in front of the steering shaft.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a display device is provided in front of the steering handle, for example, the display screen of the display device may be difficult to see depending on the angle of the steering handle, the posture of the driver, or the physique of the driver. That is, there is a concern that it may be difficult to perform operations while viewing the display screen.

[0005] In view of the above points, an object of the present invention is to provide a technology capable of improving the visibility and operability of a device for displaying information related to automatic driving.

Means for Solving the Problems

[0006] An exemplary work vehicle of the present invention is a work vehicle provided to be capable of automatic driving, including a driver's seat, a steering operation unit disposed in front of the driver's seat, and a display device for displaying information related to the automatic driving. The display device is disposed on one side in the left-right direction of the steering operation unit.

Effects of the Invention

[0007] According to an exemplary example of the present invention, the visibility and operability of a device that displays information related to autonomous driving can be improved. [Brief explanation of the drawing]

[0008] [Figure 1] Side view showing the schematic configuration of the tractor. [Figure 2] Plan view showing the general configuration of the tractor. [Figure 3] Block diagram showing the configuration of the tractor [Figure 4A] A diagram to explain how to set the baseline. [Figure 4B] A diagram illustrating the first modified example of the method for setting the baseline. [Figure 4C] A diagram illustrating a second modified example of the method for setting the baseline. [Figure 5] Front view showing the schematic configuration of the display device. [Figure 6] Side view showing the schematic configuration of the display device. [Figure 7] Perspective view showing the schematic configuration of the display device with the display cover removed. [Figure 8] Schematic diagram illustrating the configuration of the monitor control unit. [Figure 9] A schematic plan view showing a close-up of the area around the tractor's driver's compartment. [Figure 10] A schematic side view showing a close-up of the area around the tractor's driver's compartment. [Figure 11] Schematic perspective view showing the mounting structure of the display device to the tractor. [Figure 12A] A schematic perspective view showing the relationship between the display device and a part of the support member. [Figure 12B] A schematic perspective view showing the relationship between the display device and a part of the support member. [Figure 13] Perspective view showing the schematic configuration of a cabin-type tractor. [Figure 14] A perspective view showing the schematic configuration of a tractor according to another embodiment. [Figure 15] Schematic diagram showing the mounting structure of a display device according to another embodiment. [Figure 16A] Schematic perspective view showing the relationship between the display device and the support member provided in the tractor of another embodiment [Figure 16B] Schematic perspective view showing the relationship between the display device and the support member provided in the tractor of another embodiment

Mode for Carrying Out the Invention

[0009] Embodiments of the present invention will be described with reference to the drawings. In this embodiment, a tractor will be described as an example of a work vehicle. However, the work vehicle may be a work vehicle other than a tractor, such as various harvesters, rice transplanters, combines, civil engineering and construction work devices, snow removal vehicles, etc.

[0010] Also, in this specification, the directions are defined as follows. First, the direction in which the tractor as a work vehicle advances during work is defined as "front", and the opposite direction is defined as "rear". Also, the right side when facing the advancing direction of the tractor is defined as right, and the left side is defined as left. And the direction perpendicular to the front-rear direction and the left-right direction of the tractor is defined as the up-down direction. At this time, the direction of gravity is defined as down, and the opposite side is defined as up. Also, the plane perpendicular to the up-down direction is defined as the horizontal plane, and the direction along the horizontal plane is defined as the horizontal direction.

[0011] Also, the display device of the work vehicle can change its orientation on the work vehicle as will be described later. When explaining the display device alone, the directions are defined according to the XYZ coordinate axes shown in FIGS. 5 and 6. The direction along the X axis is the X direction, the direction along the Y axis is the Y direction, and the direction along the Z axis is the Z direction. Note that the Z direction coincides with the above-described up-down direction. The X direction and the Y direction are directions along the horizontal plane and are perpendicular to each other. The X direction can be said to be the lateral width direction of the display device, and the Y direction can be said to be the depth direction of the display device. In some cases, the X direction may be the left-right direction and the Y direction may be the front-rear direction.

[0012] Note that the above directions are merely names used for explanation and are not intended to limit the actual positional relationship and directions.

[0013] <1. Overview of work vehicles> Figure 1 is a side view showing the schematic configuration of the tractor 1 according to this embodiment. Figure 2 is a top view showing the schematic configuration of the tractor 1 according to this embodiment. As shown in Figure 1, the tractor 1 comprises a body 2, an engine 3, and a transmission case 4.

[0014] As shown in Figures 1 and 2, a pair of front wheels 5 are positioned at the front of the vehicle body 2. A pair of rear wheels 6 are positioned at the rear of the vehicle body 2. The vehicle body 2 is able to move using the front wheels 5 and rear wheels 6. In other words, the tractor 1 in this embodiment is a wheeled tractor. However, the tractor 1 may also be a crawler tractor.

[0015] The engine 3 is located at the front of the vehicle body 2, covered by a hood 7. The engine 3 is the power source for the tractor 1. In this embodiment, the engine 3 is a diesel engine. However, the engine 3 may be a gasoline engine. Also, the power source for the tractor 1 may be another power source such as an electric motor instead of the engine.

[0016] The transmission case 4 is located behind the engine 3 and below the driver's compartment 8. A power transmission device (not shown) is located inside the transmission case 4. The rotational power of the engine 3 is transmitted to at least one of the front wheels 5 and the rear wheels 6 via the power transmission device inside the transmission case 4.

[0017] The driver's compartment 8 is located behind the engine 3 in the vehicle body 2. The driver's compartment 8 is the part where the driver (operator) sits. The driver's compartment 8 includes the driver's seat 9 and the steering control unit 10. That is, the tractor 1 comprises the driver's seat 9 and the steering control unit 10. The driver's seat 9 is where the driver sits. The steering control unit 10 is located in front of the driver's seat 9. The steering control unit 10 is, in detail, a steering wheel operated by the driver sitting in the driver's seat 9. The steering control unit 10 is rotatably supported by a steering shaft (not shown) located in the steering column 11. The direction of the front wheels 5 can be changed by rotating the steering control unit 10.

[0018] The driver's unit 8 also includes a front panel 14 on which, for example, operating levers 12 and pedals 13 operated by the driver, as well as a meter indicating the speed of the tractor 1. The operating levers 12 may include multiple types of levers, such as a main gear lever, an auxiliary gear lever, or a work lever. The pedals 13 may also include multiple types of pedals, such as an accelerator pedal and a brake pedal.

[0019] In this embodiment, a locating frame 15 is provided behind the driver's seat 9. The locating frame 15 can protect the driver in the event of the tractor 1 tipping over. Note that the tractor 1 may be a cabin type in which the driver's seat 9 is covered by a cabin, rather than a locating frame 15.

[0020] A work implement coupling section 16, consisting of a three-point linkage mechanism or the like, is provided at the rear of the vehicle body 2. A work implement can be attached to the work implement coupling section 16. The work implement may be, for example, a tilling device, a plow, a fertilizer applicator, a pesticide sprayer, a harvesting device, or a mowing device. A lifting device (not shown) having a hydraulic system such as a lifting cylinder is also provided at the rear of the vehicle body 2. The lifting device can raise and lower the work implement coupling section 16, thereby raising and lowering the work implement. In addition, the power generated by the engine 3 can be transmitted to the towed work implement via the transmission case 4 and a power take-off shaft (PTO shaft; not shown) located at the rear of the vehicle body 2.

[0021] Figure 3 is a block diagram showing the configuration of the tractor 1 according to this embodiment. As shown in Figure 3, the tractor 1 includes a control unit 50. The control unit 50 is a computer comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 51. The arithmetic unit is, for example, a processor or microprocessor. The storage unit 51 is a main memory device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 51 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 51. The arithmetic unit reads various programs from the storage unit 51 and executes them.

[0022] Through the cooperation of the above hardware and software, the control unit 50 can be operated as an automatic driving management unit 52, a driving control unit 53, and a work equipment control unit 54. The control unit 50 may be a single piece of hardware, or it may be composed of multiple pieces of hardware that can communicate with each other. That is, the automatic driving management unit 52, the driving control unit 53, and the work equipment control unit 54 may be composed of a single control device, or they may be composed of multiple control devices. For example, the automatic driving management unit 52 may be composed of a first control device, the driving control unit 53 may be composed of a second control device, and the work equipment control unit 54 may be composed of a third control device.

[0023] As can be seen from the inclusion of an automatic driving management unit 52, the tractor 1 is equipped to be capable of automatic driving. Here, automatic driving means that the devices related to driving are controlled by the control unit 50 equipped in the tractor 1, and at least steering is performed autonomously to follow a predetermined path. In addition to steering, automatic driving may also involve at least one of the following being performed autonomously: vehicle speed and work performed by implements. In this embodiment, steering is performed autonomously to follow a predetermined path through automatic driving. That is, the tractor 1 is equipped to be capable of automatic steering driving.

[0024] The control unit 50 is connected to a position acquisition unit 18, an inertial measuring device 20, a display unit 61, and an operation unit 62.

[0025] The position acquisition unit 18 acquires the position of the tractor 1, for example, as latitude and longitude information, using the positioning signal received by the positioning antenna 19 from the positioning satellite. The position acquisition unit 18 outputs the position information of the tractor 1 to the control unit 50. The position acquisition unit 18 may, for example, receive a positioning signal from a reference station (not shown) in an appropriate manner and then perform positioning using the known RTK-GNSS (Real Time Kinematic GNSS) method. Alternatively, the position acquisition unit 18 may, for example, perform positioning using the DGNSS (Differential GNSS) method. In this embodiment, the positioning antenna 19 is attached to the LOPS frame 15. The mounting position of the positioning antenna 19 may be changed as appropriate.

[0026] The inertial measurement device 20 includes a three-axis angular velocity sensor and three-directional acceleration sensors. The inertial measurement device 20 outputs the measured information to the control unit 50. The provision of the inertial measurement device 20 makes it possible to measure inertial information such as the yaw angle, pitch angle, and roll angle of the vehicle body 2.

[0027] The display unit 61 displays information as appropriate in response to commands from the control unit 50. In this embodiment, the display unit 61 displays information related to the automatic driving of the tractor 1. Details of the display unit 61 will be described later.

[0028] The control unit 62 is operated by the driver seated in the driver's seat 9. In this embodiment, the control unit 62 is provided so that the driver can perform operations related to the automatic driving of the tractor 1. Commands from the driver using the control unit 62 are input to the control unit 50. Details of the control unit 62 will be described later.

[0029] The automatic driving management unit 52 performs management related to automatic driving. For example, the automatic driving management unit 52 performs start and end processes for automatic driving in response to commands from the driver using the operation unit 62. The automatic driving management unit 52 also determines the position and orientation of the tractor body 2 based on information obtained from the position acquisition unit 18 and the inertial measuring device 20. Furthermore, the automatic driving management unit 52 outputs control commands related to automatic driving according to the relationship between the determined body position and a predetermined automatic driving route.

[0030] The driving control unit 53 controls the driving system of the tractor 1. For example, in response to a control command from the automatic driving management unit 52, the driving control unit 53 controls the automatic steering mechanism (not shown) so that the body 2 of the tractor 1 travels along a predetermined path. The automatic steering mechanism automatically rotates the steering shaft located in the steering column 11, as described above, and automatically changes the direction of the front wheels 5. The automatic steering mechanism includes, for example, a steering motor and a power transmission unit composed of a gear mechanism, etc. The operation of the steering motor is controlled according to the position of the vehicle body. Since the operation of the steering motor is transmitted to the steering shaft via the power transmission unit, the direction of operation of the front wheels 5 can be controlled by controlling the steering motor.

[0031] The implement control unit 54 controls the work system of the tractor 1. For example, the implement control unit 54 controls the raising and lowering of the implement coupling unit 16 in response to the operation of the operating lever 12 provided on the driver's unit 8 or commands from the automatic driving management unit 52.

[0032] Here, we will explain the outline of the automatic driving (automatic steering driving) performed by the tractor 1 of this embodiment. When performing automatic driving, first, a reference line L is set. Figure 4A is a diagram illustrating the method for setting the reference line L.

[0033] When setting the baseline L, the tractor 1 is first moved to a suitable location in the field (point A in the diagram), and point A is registered. Point A is registered by a registration command from the driver. The vehicle position obtained by the position acquisition unit 18 at the time the point A registration command is issued is registered as the position of point A.

[0034] Once point A is registered, the driver manually operates the tractor 1 to move in a straight line to the designated position (point B in the diagram). When the tractor 1 reaches the designated position, point B is registered. Point B is registered by a registration command from the driver. The vehicle position obtained by the position acquisition unit 18 at the time the point B registration command is issued is registered as the position of point B. Once points A and B are registered, a straight line passing through points A and B is set as the reference line L.

[0035] When a reference line L is set, lines parallel to the reference line L are generated as automatic driving lines at predetermined intervals. During automatic driving (automatic steering driving), steering control of the tractor 1's direction of travel is performed so that the automatic driving lines and the vehicle position acquired by the position acquisition unit 18 coincide.

[0036] Note that the method for setting the reference line L may be other than the method shown in Figure 4A, for example, the method shown in Figure 4B or Figure 4C. Figure 4B is a diagram illustrating a first modified example of the method for setting the reference line L. Figure 4C is a diagram illustrating a second modified example of the method for setting the reference line L.

[0037] In the method shown in Figure 4B, similar to the method shown in Figure 4A, the tractor 1 is moved to a suitable location in the field (point A in the figure), and point A is registered. Once point A is registered, the reference line L is automatically registered based on the orientation of the vehicle body 2 at that time (in Figure 4B, this corresponds to the orientation indicated by the dashed arrow). The orientation of the vehicle body 2 can be obtained from information from the inertial measuring device 20.

[0038] In the method shown in Figure 4C, similar to the method shown in Figure 4A, the tractor 1 is moved to a suitable location in the field (point A in the figure), and point A is registered. Once point A is registered, the reference line L is automatically set according to the set azimuth angle θ. In the example shown in Figure 4C, the dashed line DL indicates the north direction as viewed from the vehicle body 2. The dashed arrow in Figure 4C indicates the direction of the set azimuth angle. The azimuth angle is defined, for example, with north being 0° and clockwise direction being positive. The azimuth angle θ is set, for example, by the driver.

[0039] <2.Display device> [2-1. Display Device Configuration] As shown in Figures 1 to 3, the tractor 1 is equipped with a display device 60. As shown in Figure 3, the display device 60 is equipped with a display unit 61 and an operation unit 62. Figure 5 is a front view showing a schematic configuration of the display device 60 according to this embodiment. Figure 6 is a side view showing a schematic configuration of the display device 60 according to this embodiment.

[0040] The display unit 61 has a display screen 611 that displays information related to the automatic driving of the tractor 1. That is, the display device 60 displays information related to automatic driving. The display screen 611 can be constructed using, for example, a liquid crystal panel or an organic EL (electroluminescence) panel. In this embodiment, the display unit 61 is generally rectangular in shape, and the display screen 611 is rectangular. However, the shapes of the display unit 61 and the display screen 611 may be other shapes.

[0041] The operation unit 62 is connected to the display unit 61. The operation unit 62 has an operating member 621 that enables operations related to the automatic driving of the tractor 1. In other words, the display device 60 of this embodiment has an integrated unit structure in which the display unit 61 that displays information related to automatic driving and the operation unit 62 that performs operations related to automatic driving are combined into one unit. The display device 60 can also be described as an operation display device.

[0042] The display device 60, which integrates the parts related to the operation of automatic driving, can be positioned independently of other operating parts, making the operation related to automatic driving intuitively easy to understand. In other words, according to this embodiment, the operability of the operation related to automatic driving can be improved. Because the display unit 61 and the operating unit 62 are connected and positioned close together, the driver can easily operate the operating unit 62 while looking at the display screen 611 which displays information related to automatic driving during automatic driving. Note that the operating unit 62 and the display unit 61 may be separate units. Furthermore, operating members having the same function as the operating members provided on the operating unit 62 may be provided in other locations. Other locations may be, for example, the steering control unit 10, the steering column 11, or the operating lever 12 located next to the driver's seat 9. Alternatively, the operating unit 62 may not be provided, and each operating member may be provided in the above-mentioned other locations. In this configuration, the position of the display unit 61 may be on one side in the left-right direction of the steering control unit 10, or it may be on the front side of the steering column 11. The front of the steering column 11 may be, for example, the upper part of the front panel 14.

[0043] In this embodiment, as shown in Figures 5 and 6, the operation unit 62 is positioned on the -Z side relative to the display unit 61. In other words, the operation unit 62 is positioned below the display unit 61. By positioning the operation unit 62 below the display unit 61, the possibility of the display screen 611 becoming difficult to see due to obstruction by body parts such as hands during operation can be reduced, thereby improving operability.

[0044] As shown in Figure 6, the display device 60 further includes a display unit cover 63. The display unit cover 63 is, for example, a resin cover. The display unit cover 63 is box-shaped with an opening on the -Y side. The display unit cover 63 covers the +Y side of the display unit 61, which is opposite to the -Y side where the display screen 611 is located. In other words, the display unit cover 63 covers the back of the display unit 61. The display unit cover 63 is detachably provided. The display unit cover 63 is provided so as not to protrude from the outermost periphery of the display unit 61, giving the display device 60 a compact shape.

[0045] Figure 7 is a perspective view showing the schematic configuration of the display device 60 with the display unit cover 63 removed. Figure 7 is a view of the display device 60 from the rear. As shown in Figure 7, a connecting frame 64 is attached to the +Y side (rear) of the display unit 61. In this embodiment, the connecting frame 64 is fixed to the display unit 61 using bolts 65. The -Z side (lower side) end of the connecting frame 64 extends into the interior of the operation unit 62 and is attached to the operation unit 62. In this embodiment, the connecting frame 64 is fixed using tapping screws by overlapping a through hole (not shown) provided in the frame with a boss (not shown) provided inside the operation unit 62 (more specifically, the second housing 623 described later). Alternatively, the connecting frame 64 may be fixed to the operation unit 62 using a combination of a through hole (not shown) provided in the frame and a pin (not shown) provided inside the operation unit 62. In other words, the display unit 61 and the operation unit 62 are connected by the connecting frame 64. In detail, the display unit 61 and the operation unit 62 are connected by a connecting frame 64 so that they cannot move relative to each other. However, the display unit 61 and the operation unit 62 may be connected so that they can move relative to each other.

[0046] As shown in Figure 7, a connector 613 for connecting electrical wiring (not shown) is provided on the +Y side (rear) of the display unit 61. A fuse 67 for the display unit 61 is attached to the +Y side (rear) of the connecting frame 64. The display unit cover 63 covers the connecting frame 64, the connector 613, the fuse 67, and the electrical wiring (not shown) connected to the connector 613 and the fuse 67.

[0047] In this embodiment, the display unit cover 63 is detachably attached to the connecting frame 64 using push rivets 68 (see Figure 6). This allows the display unit cover 63 to be easily removed for inspection and replacement of the fuse 67. The display unit cover 63 may be fixed to the connecting frame 64 using fastening means other than push rivets, such as screws. Alternatively, the display unit cover 63 may be detachably attached to the display unit 61 instead of the connecting frame 64.

[0048] In this embodiment, the operating unit 62 is box-shaped and extends in the X direction. As shown in Figure 6, the surface 62a on which the operating member 621 of the operating unit 62 is provided is inclined with respect to the display screen 611. Hereinafter, surface 62a will be referred to as the operating member placement surface 62a. In detail, the display screen 611 is slightly inclined with respect to the Z direction, with the +Z side being the +Y side and the -Z side being the -Y side. The operating member placement surface 62a is also inclined with respect to the Z direction in the same direction as the display screen 611, but is inclined more significantly than the display screen 611. As a result, the operating member placement surface 62a is inclined with respect to the display screen 611. The operating member placement surface 62a is inclined toward the display screen 611 side.

[0049] With this configuration, the display screen 611 in the tractor 1 can be tilted slightly vertically, allowing the driver to easily view the display screen 611. When the display screen 611 is positioned in this manner, the operating unit 62 can be positioned so that the operating member mounting surface 62a faces upward. This improves the operability of the operating unit 62.

[0050] The operating member 621 of the operating unit 62 preferably includes at least the first operating member, which enables switching automatic driving on and off, and the second operating member which enables operations different from those of the first operating member. By providing a switch for turning automatic driving on and off in the operating unit 62 which is integrated with the display unit 61, the driver can easily start and stop automatic driving. However, the operating member 621 may be configured not to include the first operating member.

[0051] In this embodiment, in a more preferred form, as shown in Figures 5 and 6, the operating member 621 includes a first operating member 621a and a second operating member 621b. In addition to the first operating member 621a and the second operating member 621b, at least one other operating member may be arranged on the operating member 621.

[0052] In this embodiment, the first operating member 621a and the second operating member 621b are arranged side by side in the X direction. Furthermore, the first operating member 621a is positioned on the -X side and the second operating member 621b is positioned on the +X side. However, the arrangement of the first operating member 621a and the second operating member 621b is not limited to this and may be changed as appropriate. For example, the first operating member 621a and the second operating member 621b may be arranged in a direction along the operating member arrangement surface 62a and in a direction perpendicular to the X direction. Alternatively, for example, the first operating member 621a may be positioned on the +X side and the second operating member 621b may be positioned on the -X side.

[0053] In this embodiment, the first operating member 621a is a push-type operating button. By pressing the operating button 621a, the automatic driving function can be switched on and off. For example, when the automatic driving function is off, pressing the operating button 621a will turn the automatic driving function on. When the automatic driving function is on, pressing the operating button 621a will turn the automatic driving function off.

[0054] Furthermore, the surface of the operation button 621a may be printed with an indication of the function of the operation button. By printing the function on the surface of the button, the driver can immediately determine the function of the operation button 621a. In addition, by printing the function on the surface of the button, it is possible to reduce the amount of work required, for example, by eliminating the need to attach a nameplate. Moreover, the first operating member 621a is not limited to a push-type operation button, but may also be an operating lever, a rotary operating dial, or the like.

[0055] In this embodiment, the second operating member 621b is a route correction operating member that enables correction of the automatic driving route. The route correction operating member is used, for example, when the driver determines that the automatic driving route differs from the intended route after automatic driving has started. The route correction operating member is also used, for example, when a positional deviation occurs during automatic driving, causing the vehicle body position acquired by the position acquisition unit 18 to deviate from its original position. By operating the route correction operating member, the position of the automatic driving line described above can be shifted, correcting the route that the tractor 1 automatically travels to the route that it originally wanted to travel.

[0056] In this embodiment, the second operating member 621b, which is configured as a path correction operating member, is a seesaw switch. By pressing the +X side of the seesaw switch 621b, the position of the automatic travel line (not shown) displayed on the display screen 611 can be shifted to the +X side. Also, by pressing the -X side of the seesaw switch 621b, the position of the automatic travel line displayed on the display screen 611 can be shifted to the -X side.

[0057] In this embodiment, a mark 69 (specifically an arrow) indicating the function of the second operating member 621b is provided on the operating member placement surface 62a of the operating unit 62. This makes it easier for the driver to intuitively understand how to operate the second operating member 621b. The mark 69 may be formed, for example, by hot stamping on the operating member placement surface 62a. Furthermore, the second operating member 621b may have a configuration other than a seesaw switch, such as an operating lever or an operating dial.

[0058] In this embodiment, the operating unit 62 comprises a first housing 622 and a second housing 623. The first housing 622 is positioned on the -Z side (lower side) than the second housing 623. The first housing 622 is box-shaped with an opening on the +Z side. The second housing 623 is box-shaped with an opening on the -Z side. The second housing 623 has the aforementioned operating member placement surface 62a on the +Z side. In this embodiment, the first housing 622 and the second housing 623 are made of resin, for example.

[0059] The operating section 62 is formed by arranging the first operating member 621a and the second operating member 621b in the second housing 623 and fitting the first housing 622 into the second housing 622 from the -Z side. The first operating member 621a and the second operating member 621b are inserted from the +Z side into an opening (not shown) provided on the operating member placement surface 62a of the second housing 623. Parts of the first operating member 621a and the second operating member 621b protrude outward from the operating member placement surface 62a, while the remaining parts are arranged inside the operating section 62. In addition, as shown in Figure 7, a wiring opening 62d is provided on the +Y side (back) of the first housing 622. Electrical wiring (not shown) is electrically connected to the electrical circuit portions of the first operating member 621a and the second operating member 621b through the wiring opening 62d.

[0060] In this embodiment, the first housing 622 and the second housing 623 are fastened together using snap-fit ​​mechanisms 624 provided at the +X end and the -X end, respectively. While other fasteners, such as screws, may be used instead of the snap-fit ​​mechanisms 624, using the snap-fit ​​mechanisms 624 reduces assembly time.

[0061] Furthermore, in this embodiment, the operating section 62 has a shape that tapers towards the -Z side. In other words, the operating section 62 has a shape that tapers towards the bottom. More specifically, the second housing 623 has a shape in which the width in the X and Y directions narrows towards the -Z side. As shown in Figure 5, the -Z side portion of the second housing 623 is a trapezoidal shape in front view, where the -Z side is shorter than the +Z side. Also, as shown in Figure 6, the -Z side portion of the second housing 623 is a trapezoidal shape in side view, where the -Z side is shorter than the +Z side.

[0062] By making the -Z side (lower side) of the operating section 62 tapered in this way, the protrusion of the operating section 62 can be reduced, making it easier to grip. In other words, the operability of the operating section 62 can be improved. This effect is particularly noticeable when a seesaw switch is used as the operating member, as in this embodiment.

[0063] Furthermore, in this embodiment, as shown in Figure 5, the display unit 61 has a monitor operation unit 612. The display screen 611 displays content that can be operated by the monitor operation unit 612. In other words, the monitor operation unit 612 enables operations corresponding to the display on the display screen 611. Using the monitor operation unit 612, operations can be performed in accordance with the guidance displayed on the display screen 611.

[0064] In this embodiment, the monitor operation unit 612 enables, for example, the registration and deletion of points A and B (see Figures 4A, 4B, and 4C) described above. The monitor operation unit 612 also enables the modification of setting conditions related to automatic driving. Furthermore, the monitor operation unit 612 enables the selection of the registration method for points A and B. For example, it is possible to select one of the registration methods shown in Figure 4A, Figure 4B, and Figure 4C described above.

[0065] In this embodiment, as shown in Figure 5, the monitor operation unit 612 is positioned on the -Z side (bottom side) of the display screen 611. The monitor operation unit 612 includes a plurality of operation buttons 612a to 612f. The operation buttons 612a to 612f are physical buttons that can be operated by pressing. The plurality of operation buttons 612a to 612f are arranged in a line in the X direction. Note that the arrangement, shape, and type of the monitor operation unit 612 may be changed as appropriate.

[0066] Figure 8 is a schematic diagram illustrating the configuration of the monitor operation unit 612 in this embodiment. Figure 8 is a close-up of the area surrounding the monitor operation unit 612 in Figure 5. Figure 8 also shows a scenario where the registration of points A and B described above has been completed and preparation for automatic driving is complete. The display screen 611 shows an image 6111 prompting the start of automatic steering driving (straight-line assist mode). At the -Z end of image 6111, operation content images 6111a to 6111f, which show multiple operations that can be performed with the monitor operation unit 612, are displayed in a row in the X direction.

[0067] Image 6111a shows the operations that can be performed with the first operation button 612a. Image 6111b shows the operations that can be performed with the second operation button 612b. Image 6111c shows the operations that can be performed with the third operation button 612c. Image 6111d shows the operations that can be performed with the fourth operation button 612d. Image 6111e shows the operations that can be performed with the fifth operation button 612e. Image 6111f shows the operations that can be performed with the sixth operation button 612f.

[0068] In other words, in this embodiment, the X-direction arrangement of the operation buttons 612a to 612f constituting the monitor operation unit 612 is the same as the X-direction arrangement of the operation content images 6111a to 6111f that indicate the operations that each operation button 612a to 612f can perform. Furthermore, the operation buttons 612a to 612f and the operation content images 6111a to 6111f that indicate the operations that can be performed by those operation buttons are arranged in the Z-direction (vertically). This arrangement makes it easy to grasp the operations of the operation buttons 612a to 612f and perform the appropriate operations.

[0069] In this embodiment, the monitor operation unit 612 is configured with physical buttons, but this is merely an example. For example, the display screen 611 may be configured to include a touch panel, and the monitor operation unit may be configured using the touch panel. In this case, the monitor operation unit may be implemented as soft keys (software keys) displayed on the display screen 611. Furthermore, the operation content image itself, which indicates the operation content, may serve as the soft key.

[0070] [2-2. Variations of Display Device Configuration] In the above example, the second operating member 621b is configured as a path correction operating member, but this is merely an example.

[0071] (2-2-1. First variation) The second operating member 621b may be a mode switching operating member that enables a transition to an automatic driving mode in which operations related to automatic driving are enabled. In this modified example, unless the vehicle is switched to automatic driving mode by the mode switching operating member, it is not possible to operate the first operating member 621a or to make settings related to automatic driving using the monitor operating unit 612 (for example, registering points A and B). Such a mode switching operating member is not essential, and if a mode switching operating member is provided, the second operating member 621b may be used as the mode switching operating member.

[0072] The second operating member 621b, which is configured as a mode switching operating member, may be a seesaw switch, but may also be configured in other ways, such as a push-type operating button, an operating lever, or an operating dial.

[0073] In this modified example, the system may be configured to allow setting of the above-mentioned reference line L (see Figures 4A to 4C) when the system enters automatic driving mode via the mode switching operation member. Furthermore, the system may be configured to enable the start of automatic driving using the first operation member 621a when the reference line L is set and predetermined conditions are met. In addition, notification processing may be performed to inform the user that the operation of the mode switching operation member has been performed and the state achieved by that operation. The means of notification by this notification processing may be, for example, a screen display or voice guidance. Such notification processing when the operation member 621 is operated is not limited to this modified example, but may also be performed as appropriate in the above-described embodiment.

[0074] Furthermore, in this modified example, the system may be configured to either not accept the operation of the mode switching control member when it is operated during automatic driving, or to accept the operation. In the case where the system is configured to accept the operation of the mode switching control member during automatic driving, for example, the system may be configured to make an emergency stop or to switch from automatic driving to manual driving when the mode switching control member is operated.

[0075] (2-2-2. Second variation) The second operating member 621b may be a reference line setting operating member that enables the setting of a reference line L used for generating an automated driving route. In the above embodiment, the setting of the reference line L was performed using the monitor operating unit 612, but in this modified example, the setting of the reference line L is performed using the second operating member 621b, which is configured as a reference line setting operating member.

[0076] The second operating member 621b, which is configured as a reference line setting operating member, may be a seesaw switch, but may also be configured in other ways, such as a push-button, an operating lever, or an operating dial. For example, if the reference line setting operating member is configured as an operating button, the reference line setting operating member may include an operating button for point A and an operating button for point B.

[0077] Furthermore, the second operating member 621b, which is configured as a reference line setting operating member, may be configured to have both the function of a push-type operating button and the function of an operating dial. In this case, when the reference line L is set in the manner shown in Figure 4A, point A may be registered when the reference line setting operating member is pressed once, and point B may be registered when the reference line setting operating member is pressed again after point A has been registered. Furthermore, when the reference line L is set in the manner shown in Figure 4B, the reference line L may be automatically set according to the orientation of the vehicle body 2 at the time of pressing when the reference line setting operating member is pressed once. Furthermore, when the reference line L is set in the manner shown in Figure 4C, the reference line L may be automatically set when the reference line operating member is pressed after the azimuth angle has been set by rotating the reference line operating member. Note that the azimuth angle may be set before the manner shown in Figure 4C is selected, or it may be set after the manner shown in Figure 4C is selected.

[0078] (2-2-3. Third variation) The second operating member 621b may be a reference line setting mode selection operating member that enables the selection of a reference line setting mode used when setting a reference line L used for generating an automated driving route. Examples of reference line setting modes include a first reference line setting mode in which the reference line L is set in the manner shown in Figure 4A above, a second reference line setting mode in which the reference line L is set in the manner shown in Figure 4B above, and a third reference line setting mode in which the reference line L is set in the manner shown in Figure 4C above. The reference line setting mode selection operating member is used, for example, to select one reference line setting mode from among the first reference line setting mode, the second reference line setting mode, and the third reference line setting mode.

[0079] The second operating member 621b, which is configured as a reference line setting mode selection operating member, may be a seesaw switch or the like, but may also be configured to have both the function of a push-type operating button and the function of an operating dial. When a reference line setting mode selection operating member with this configuration is used, the reference line setting mode may be selected by, for example, the following first and second steps. The first step is to change the selectable reference line setting mode on the display screen 611 by rotating the reference line setting mode selection operating member. The second step is to determine the reference line setting mode to be selected by pressing the reference line setting mode selection operating member while the desired reference line setting mode is displayed.

[0080] The reference line setting mode selection operating member may also have the function of a reference line setting operating member as shown in the second modified example. In this case, the operating member may be used to first select a reference line setting mode, and then the reference line L may be set according to the method of the selected reference line setting mode.

[0081] (2-2-4. Fourth variation) The second operating member 621b may be a registered reference line selection operating member that enables the selection of a reference line L to be used from among the reference lines L that are pre-registered as reference lines L used for generating the automatic driving route. The second operating member 621b configured as a registered reference line selection operating member may have both the function of a push-type operating button and the function of an operating dial, although this is not particularly limited. An example of use when the registered reference line selection operating member has this configuration will be described below.

[0082] For example, the display screen 611 may show a selection screen for selecting a registered reference line L. This state may be achieved by operating the registered reference line selection operating member, or by operating other operating means such as the monitor operating unit 612. The display on the display screen 611 of the registered reference line L may simply show the registered name, or it may be configured to display an icon indicating the name of the registered reference line L together with a work screen that shows the work setting conditions and the reference line L, etc.

[0083] With the registered reference line L (hereinafter sometimes referred to as the registered reference line) displayed on the display screen 611, the following steps 1 and 2 may be performed to select the registered reference line to be selected. Step 1 is a step of changing the selectable registered reference line on the display screen 611 by rotating the registered reference line selection operating member. Step 2 is a step of determining the registered reference line to be selected by pressing the registered reference line selection operating member while the registered reference line to be selected is displayed.

[0084] The registered reference line selection operating member may be configured to allow various settings for the work (e.g., work type, work width, etc.). In addition, notification processing such as voice notification may be performed in response to the switching of settings.

[0085] [2-3. Arrangement and mounting structure of display devices in tractors] Next, we will describe in detail the arrangement and mounting structure of the display device 60 configured as described above on the tractor 1.

[0086] (2-3-1. Arrangement of display devices) Figure 9 is a schematic plan view showing an enlarged view of the area around the driver's unit 8 of the tractor 1 according to this embodiment. Figure 10 is a schematic side view showing an enlarged view of the area around the driver's unit 8 of the tractor 1 according to this embodiment.

[0087] As shown in Figure 9, the display device 60 is positioned on one side of the steering control unit 10 in the left-right direction. This configuration prevents the steering control unit 10 from obstructing the view or interfering with operation, thereby improving the visibility and operability of the display device 60. It also makes it easier to secure a clear view in front of the driver's seat 9. In this embodiment, the display device 60 is positioned to the right of the steering control unit 10. However, this is an example, and the display device 60 may be positioned to the left of the steering control unit 10.

[0088] Furthermore, the display device 60 is arranged side by side on one side of the steering control unit 10 in the left-right direction. More specifically, as shown in Figure 10, at least a portion of the display device 60 is positioned at the same height as the steering control unit 10. With this height relationship between the steering control unit 10 and the display device 60, the driver operating the steering control unit 10 can easily operate the display device 60. In addition, the display screen 611 of the display device 60 can be easily seen by the driver sitting in the driver's seat 9.

[0089] Furthermore, as shown in Figures 9 and 10, the display device 60 is positioned in front of the rear end 10a of the steering control unit 10. This configuration reduces the possibility that the display device 60 may interfere with the operation of the tractor 1.

[0090] Furthermore, as shown in Figures 9 and 10, the display device 60 is positioned in front of the armrest 21, which is located to the side of the driver's seat 9. More specifically, the armrest 21 is located to the right of the driver's seat 9. Also, at least a portion of the display device 60 is positioned at the same height as the armrest 21. With this configuration, the display device 60 can be positioned near a location where the driver's hand (right hand in this embodiment) is likely to be placed, allowing the driver to easily operate the display device 60.

[0091] In this embodiment, more specifically, the operating lever 12 is positioned in front of the armrest 21. More specifically, the operating lever 12 is the main gear shift lever for adjusting the speed of the tractor 1. The display device 60 is positioned in front of the operating lever 12. At least a portion of the display device 60 is at the same height as the operating lever 12. As a result, the driver can easily access the display device 60 while holding the operating lever 12. This improves the operability of the display device 60.

[0092] In this embodiment, in a preferred configuration, the first operating member 621a of the display device 60 is positioned closer to the steering control unit 10 than the second operating member 621b. However, the first operating member 621a may be positioned further away from the steering control unit 10 than the second operating member 621b.

[0093] In detail, since the display device 60 is located to the right of the steering control unit 10, in a preferred configuration, the first operating member 621a is located to the left of the second operating member 621b. When the display device 60 is located to the left of the steering control unit 10, in a preferred configuration, the first operating member 621a is located to the right of the second operating member 621b.

[0094] Because the first operating member 621a, which switches the automatic driving on and off, is located near the driver, the driver can easily switch the automatic driving on and off. This also reduces the possibility of mistaking this switching operation for another operation. Furthermore, the second operating member 621b, located to the right of the first operating member 621a, can be operated by gripping the right side of the operating unit 62. In this embodiment, the second operating member 621b is a seesaw switch, and by being able to operate it by gripping the right side of the operating unit 62 in this way, operability can be improved. In addition, in this embodiment, as described above, the second operating member 621b, which is configured as a seesaw switch, can be used to offset the automatic driving path.

[0095] (2-3-2. Mounting structure of display device) As shown in Figure 10, the driver's compartment 8 is provided with mudguards 22. More specifically, the mudguards 22 are provided at the front end of the driver's compartment 8. The mudguards 22 are mudguards, and in this embodiment, they are made of transparent material so as not to obstruct the forward view. The mudguards 22 may be, for example, acrylic plates. The mudguards 22 are also provided at the left and right front ends of the driver's compartment 8.

[0096] The tractor 1 further includes a frame 23 (hereinafter sometimes referred to as the mudguard frame 23) that supports the mudguard 22. In this embodiment, the display device 60 is attached to the tractor 1 using the mudguard frame 23. More specifically, the display device 60 is attached to the tractor 1 using the mudguard frame 23 that supports the right mudguard 22 of the left and right mudguards 22.

[0097] A support member 70 for supporting the display device 60 is positioned in the driver's unit 8. Figure 11 is a schematic perspective view showing the mounting structure of the display device 60 to the tractor 1. The support member 70 for supporting the display device 60 is attached to the frame 23 of the mudguard 22. In other words, the display device 60 is attached to the mudguard frame 23 using the support member 70 provided by the tractor 1.

[0098] In this embodiment, the support member 70 includes a support stay 71 and an arm member 72. The arm member 72 is supported by the support stay 71 and supports the display device 60. The support member 70 further includes a first connecting portion 73 and a second connecting portion 74.

[0099] The support stay 71 is fixed to the frame that constitutes the driver's unit 8. More specifically, the support stay 71 is fixed to the mudguard frame 23. The support stay 71 may consist of a single component, but in this embodiment, it consists of multiple components. The support stay 71 includes a pipe portion 711, a pipe portion mounting frame 712, and a frame with position adjustment holes 713.

[0100] The pipe section 711 is constructed, for example, by bending or welding a round pipe. The pipe section 711 has a first pipe section 711a, a second pipe section 711b, and a third pipe section 711c.

[0101] The first pipe section 711a extends vertically. The first pipe section 711a is fixed to the pipe section mounting frame 712 by welding or the like.

[0102] The second pipe section 711b has one end connected to the upper end of the first pipe section 711a and the other end attached to the mudguard frame 23. More specifically, the second pipe section 711b has two front and rear pipe sections 711b1 and 711b2 that extend front and rear, and a connecting pipe section 711b3 that connects the rear ends of the two front and rear pipe sections 711b1 and 711b2. The other end of the second pipe section 711b is fixed to the mudguard frame 23 using a high nut (not shown) that is attached to the mudguard frame 23 by welding or the like. More specifically, the other end of the second pipe section 711b is attached to a horizontally extending lateral frame section 23a of the mudguard frame 23. The lateral frame section 23a generally extends in the left-right direction, but in this embodiment, it is slightly inclined with respect to the left-right direction, as shown in Figure 9, for example.

[0103] The third pipe section 711c is attached at one end to the connecting pipe section 711b3, which constitutes the second pipe section 711b, by welding or the like. The third pipe section 711c extends downward and forward from the end attached to the second pipe section 711b. The other end of the third pipe section 711c is fixed to the pipe section mounting frame 712 by welding or the like.

[0104] The pipe mounting frame 712 is fixed to the mudguard frame 23 by screws or the like. More specifically, the pipe mounting frame 712 is fixed to the vertical frame section 23b of the mudguard frame 23, which extends vertically. The upper end of the vertical frame section 23b is connected to the right end of the horizontal frame section 23a.

[0105] The frame with position adjustment holes 713 is constructed by bending sheet metal and is attached to the pipe section 711 by welding or the like. More specifically, the frame with position adjustment holes 713 is attached to a part of the first pipe section 711a and a part of the second pipe section 711b. The frame with position adjustment holes 713 has a side wall section 713a that extends in the vertical direction. The upper part of the side wall section 713a protrudes above the pipe section 711, and six through holes 713b that penetrate horizontally are provided in this upper part. The arrangement of the six through holes 713b is such that three through hole sets 713bG, each consisting of two through holes 713b arranged vertically, are arranged in the front-to-back direction. A first connecting section 73 is attached to the frame with position adjustment holes so that its position can be adjusted.

[0106] As described above, the support stay 71 is supported by the horizontal frame portion 23a and vertical frame portion 23b of the mudguard frame 23, thus providing strong support for the display device 60. This prevents the display device 60 from shaking due to vibrations during the tractor 1's operation. Furthermore, because the main part of the support stay 71 is formed from pipes, its strength and rigidity can be ensured in a compact shape. In addition, the pipe portion 711 of the support stay 71 can be used as a handhold when getting on or off the tractor 1.

[0107] Figures 12A and 12B are schematic perspective views showing the relationship between the display device 60 and a part of the support member 70. Figures 12A and 12B show different viewing directions. Figure 12A is a view from the rear at an angle, and Figure 12B is a view from the front at an angle. In addition to Figure 11, the mounting structure of the display device 60 will be further explained with reference to Figures 12A and 12B.

[0108] The first connecting portion 73 has a first shaft portion 731 and a first shaft portion support frame 732. The first shaft portion 731 extends vertically. The front end of the arm member 72 is connected to the first shaft portion 731. The first shaft portion support frame 732 supports the first shaft portion 731 in a fixed state. The first shaft portion support frame 732 is constructed by bending sheet metal. The first shaft portion support frame 732 has a side wall portion 732a that extends vertically. The side wall portion 732a is provided with four through holes 732b that penetrate horizontally. The arrangement of the four through holes 732b is such that two through hole sets 732bG, each consisting of two through holes 732b arranged vertically, are arranged front to back.

[0109] The first connecting portion 73 is fixed to the support stay 71 by aligning the four through holes 732b of the first shaft support frame 732 with four of the six through holes 713b of the frame with position adjustment holes 713 and screwing them together. When fixing, one can choose between a first configuration that uses the front and middle through hole sets 713bG of the three through hole sets 713bG arranged in the front-rear direction of the frame with position adjustment holes 713, and a second configuration that uses the middle and rear through hole sets 713bG. When the first configuration is selected, the display device 60 can be positioned further forward compared to when the second configuration is selected. Conversely, when the second configuration is selected, the display device 60 can be positioned further back compared to when the first configuration is selected.

[0110] The arm member 72 has a rod-shaped portion 721, a first cylindrical portion 722 positioned at the front end of the rod-shaped portion 721, and a second cylindrical portion 723 positioned at the rear end of the rod-shaped portion 721. The rod-shaped portion 721 is formed by bending sheet metal. The first cylindrical portion 722 and the second cylindrical portion 723 extend vertically. The first cylindrical portion 722 and the second cylindrical portion 723 are attached to the rod-shaped portion 721 by welding or the like.

[0111] The arm member 72 is connected to the first connecting portion 73 by having the first shaft portion 731 of the first connecting portion 73 inserted into the first cylindrical portion 722. A friction structure is provided between the first cylindrical portion 722 and the first shaft portion 731, allowing the arm member 72 to rotate relative to the first connecting portion 73 and stop at any position. The friction structure may be configured to utilize, for example, a torque hinge. The second cylindrical portion 723 is used for connection with the second connecting portion 74.

[0112] The second connecting portion 74 includes a second shaft portion 741, a second shaft portion support frame 742, a third shaft portion 743, a third shaft portion support frame 744, and a device-side mounting piece 745. The second shaft portion 741 extends vertically. The second shaft portion support frame 742 supports the second shaft portion 741 in a fixed state. The second shaft portion support frame 742 is constructed by bending sheet metal. The second connecting portion 74 is connected to the arm member 72 by the second shaft portion 741 being inserted into the second cylindrical portion 723 of the arm member 72. A friction structure is provided between the second cylindrical portion 723 and the second shaft portion 741, allowing the second connecting portion 74 to rotate relative to the arm member 72 and be stopped at any position. The friction structure may be configured to utilize, for example, a torque hinge.

[0113] The third shaft portion 743 extends horizontally. The third shaft portion support frame 744 supports the third shaft portion 743. The third shaft portion support frame 744 is constructed by bending sheet metal. More specifically, the third shaft portion support frame 744 supports the third shaft portion 743 by a pair of side wall portions 744a and 744b that extend vertically and face each other. The third shaft portion support frame 744 is connected to the second shaft portion support frame 742 by welding or the like at a back wall portion 744c that connects the pair of side wall portions 744a and 744b. One of the pair of side wall portions 744a, 744b, is provided with a screw hole 744d that penetrates horizontally.

[0114] The device-side mounting piece 745 is constructed by bending sheet metal. The device-side mounting piece 745 is fixed to the connecting frame 64 (see Figure 7), which connects the display unit 61 and the operating unit 62 of the display device 60, by screws or the like. The device-side mounting piece 745 has a pair of side wall portions 745a and 745b that extend vertically and face each other. The pair of side wall portions 745a and 745b of the device-side mounting piece 745 are superimposed from the outside onto the pair of side wall portions 744a and 744b of the third shaft support frame 744 to support the third shaft 743. The third shaft 743 has a threaded portion and is fixed to the third shaft support frame 744 and the device-side mounting piece 745 in combination with a nut 743a.

[0115] Furthermore, one of the pair of side wall portions 745a and 745b of the device-side mounting piece 745, 745a, is provided with an elongated hole 745c that penetrates horizontally. The elongated hole 745c is aligned with a screw hole 744d provided in the side wall portion 744a of the third shaft support frame 744. Screws (not shown) are fitted into the screw hole 744d and the elongated hole 745c, thereby fixing the third shaft support frame 744 and the device-side mounting piece 745 to each other.

[0116] Furthermore, by removing the screw from the screw hole 744d and loosening the screw fastening of the third shaft portion 743, the display device 60 becomes rotatable around the third shaft portion 743. In other words, the display device 60 is provided so as to be rotatable around an axis extending horizontally with respect to the arm member 72. This allows adjustment of the angle of the display screen 611 of the display device 60 with respect to the horizontal plane. However, in this embodiment, the display device 60 is rotatable around the third shaft portion 743 within the range in which the screw hole 744d and the elongated hole 745c overlap each other.

[0117] The angle adjustment of the display device 60 relative to the horizontal plane may be performed at all times, not just when the screw is loosened, by using a torque hinge. However, in this embodiment, the angle adjustment of the display device 60 relative to the horizontal plane is performed only when the screw is loosened, so that the angle of the display device 60 does not easily change due to the force applied to the display device 60 by operating the operating unit 62.

[0118] As can be seen from the above, the arm member 72 is rotatable around an axis extending vertically relative to the support stay 71. More specifically, the arm member 72 is rotatable relative to the support stay 71 with respect to the first shaft portion 731. The display device 60 is also rotatable around an axis extending vertically relative to the arm member 72. More specifically, the display device 60 is rotatable relative to the arm member 72 with respect to the second shaft portion 741. With these configurations, the driver can easily adjust the position and orientation of the display device 60 to a location that is easy for them to operate and has good visibility.

[0119] In this embodiment, when the arm member 72 is rotated around the first shaft portion 731, the arm member 72 and the first shaft portion support frame 732 come into contact, preventing rotation beyond a certain point. More specifically, the arm member 72 and the side wall portion 732a of the first shaft portion support frame 732 come into contact, preventing rotation beyond a certain point. In the first shaft portion support frame 732, the side wall portion 732a is provided outward in the left-right direction. In other words, in this embodiment, the support member 70 has a restricting portion 732a that restricts the rotation of the arm member 72 outward in the left-right direction.

[0120] The regulating portion 732a prevents the arm member 72 from rotating more than necessary, thereby preventing it from colliding with the components of the driver's unit 8. For example, if the tractor has a cabin, it can prevent the display device 60 from colliding with the glass that makes up the cabin. Alternatively, the first shaft support frame 732 may be configured to have side walls extending inward in the left-right direction, thereby restricting the inward rotation of the arm member 72 in the left-right direction.

[0121] In the above configuration, cylindrical portions 722 and 723 are provided on the arm member 72, and shaft portions 731 and 741 are provided on the first connecting portion 73 and the second connecting portion 74. This configuration is illustrative, and for example, shaft portions may be provided on both ends of the arm member, and cylindrical portions may be provided on the first connecting portion and the second connecting portion.

[0122] Furthermore, the rotation of the arm member 72 relative to the support stay 71, and the rotation of the display device 60 relative to the arm member 72, are configured to be adjustable at any angle using a friction structure, but this is also an example. The rotation of the arm member 72 relative to the support stay 71, and the rotation of the display device 60 relative to the arm member 72, may be configured to be adjustable at predetermined angle intervals.

[0123] Alternatively, instead of using the second shaft portion 741 and the third shaft portion 743 to adjust the angle of the display device 60, a configuration may be used in which a ball joint is used to adjust the angle of the display device 60. Furthermore, the arm member 72 is not essential, and the display device 60 may be connected to the support stay 71 in an angle-adjustable manner without using the arm member 72.

[0124] (2-3-3. Variations of the arrangement of display devices, etc.) Figure 13 is a perspective view showing the schematic configuration of a cabin-equipped tractor 1A. Like the tractor 1 described above, tractor 1A is equipped with a driver's seat 9 and a steering control unit 10 (see Figure 1, etc.). A cabin 24 is provided in the driver's seat 8A. The cabin 24 covers the driver's seat 9 and the steering control unit 10. Note that Figure 13 shows the cabin 50 with the right-side door removed.

[0125] A display device 60 is placed inside the cabin 24. The display device 60 is supported by a support member 70A located in the cabin 24. The support member 70A that supports the display device 60 is attached to the frame 25 of the cabin 24 (hereinafter referred to as the cabin frame 25).

[0126] The support member 70A has a slightly different configuration from the support member 70 provided in the tractor 1 according to the above embodiment, except for the configuration of the support stay 71A. The support stay 71A is attached to the horizontal frame portion 25a extending horizontally of the cabin frame 25 and the vertical frame portion 25b extending vertically of the cabin frame 25. In other words, in this modified example as well, the support stay 71A is supported by the horizontal frame portion 25a and the vertical frame portion 25b, similar to the above embodiment, and can firmly support the display device 60. This makes it possible to suppress the shaking of the display device 60 due to vibrations when the tractor 1A is running.

[0127] <3. Alternative Embodiments> Next, we will describe another embodiment. When describing the other embodiment, we will omit explanations of content that is the same as that of the embodiment described above as appropriate. The configuration of the other embodiment is not particularly limited, but it is a configuration suitable for small work vehicles.

[0128] Figure 14 is a perspective view showing the schematic configuration of a tractor 1B according to another embodiment of the present invention. Note that Figure 14 is a diagram showing only some of the components that make up the tractor 1B. The tractor 1B according to the other embodiment is a tractor with a loft specification. Mudguards 22B are provided on the driver's seat (not shown in Figure 14) and steering control unit 10B of the driver's unit 8B. In detail, the mudguards 22B are positioned on the left and right sides of the front end of the driver's unit 8B. The mudguards 22B are plate-shaped and extend in the vertical direction. The driver's unit 8B is provided with a pair of mudguard frames 23B that support the mudguards 22B positioned on the left and right sides of the driver's unit 8B. The pair of mudguard frames are positioned symmetrically with respect to the front panel 14B. Each mudguard frame 23B extends in the vertical direction and has a curved structure that curves in the left and right direction on the upper side. Each mudguard frame 23B is fixed at its lower end to the floor 26B and at its upper end to the front panel 14B.

[0129] As shown in Figure 14, the tractor 1B according to another embodiment also includes a display device 60B positioned on one side of the steering control unit 10B in the left-right direction, similar to the embodiment described above. More specifically, the display device 60B is positioned to the right of the steering control unit 10B. Similar to the embodiment described above, at least a portion of the display device 60B is positioned at the same height as the steering control unit 10B. Furthermore, the display device 60B is positioned in front of the rear end of the steering control unit 10B.

[0130] The display device 60B comprises a display unit 61B and an operation unit 62B. The display unit 61B has a display screen 611B. The display screen 611B displays information related to the automatic driving of the tractor 1B. The display unit 61B has a monitor operation unit 612B that enables operation in accordance with the display on the display screen 611B. The operation unit 62B has an operation member 621B that performs operations related to automatic steering. The operation member 621B includes a first operation member 621Ba and a second operation member 621Bb. The first operation member 621Ba is a push-type operation button that allows switching automatic driving on and off. The second operation member 621Bb is a seesaw switch that allows correction of the automatic driving path. These configurations are the same as in the embodiment described above.

[0131] However, in the other embodiment, the display device 60B has a separate display unit 61B and an operation unit 62B, and is not a single integrated structure that connects the two. The display unit 61B and the operation unit 62B are arranged separately. In this respect, it differs from the embodiment described above. The mounting structure of the display device 60B on the tractor 1B is different from the configuration of the embodiment described above. The mounting structure of the display device 60B will be described below. Note that the display unit 61B and the operation unit 62B are electrically connected, and the functions of the display device 60B are the same as those of the display device 60 in the embodiment described above.

[0132] Figure 15 is a schematic diagram showing the mounting structure of a display device 60B according to another embodiment. As shown in Figure 15, the driver unit 8B is provided with a connecting member 27B that connects a pair of mudguard frames 23B. The connecting member 27B extends in the left-right direction and has a curved structure that curves downward on each of its left and right ends. The left end of the connecting member 27B is fixed to the left mudguard frame 23B by, for example, bolting or welding. The right end of the connecting member 27B is fixed to the right mudguard frame 23B by, for example, bolting or welding. Using bolting makes it easier to accommodate changes in specifications. The connecting member 27B is included in the frame that constitutes the driver unit 8.

[0133] A support member 70B for supporting the display device 60B is positioned in the driver's unit 8B. In another embodiment, the support member 70B is attached to the connecting member 27B. The support member 70B may be attached to the mudguard frame 23B instead of the connecting member 27B. However, it is preferable that the support member 70B be attached to the connecting member 27B that bridges the left and right mudguard frames 23B. This makes it possible to reduce the shaking of the display device 60B due to vehicle body vibrations compared to when the support member 70 is attached to the mudguard frame 23B. In addition, in the above-described embodiment, a similar connecting member may be provided, and the support member for supporting the display device 60 may be attached to the connecting member.

[0134] A base 28B is fixed to the right end of the connecting member 27B by welding or the like. In other words, the base 28B is integrated with the connecting member 27B. The support member 70B is fixed to the base 28B. This fixing is done using fasteners. The fasteners are, for example, bolts and nuts. The display unit 61B and the operating unit 62B of the display device 60B are attached to other parts of the support member 70B.

[0135] Figures 16A and 16B are schematic perspective views showing the relationship between the display device 60B and the support member 70B of a tractor 1B of another embodiment. Figures 16A and 16B show the object from different viewing directions. Figure 16A is a view of the object from the rear at an angle, while Figure 16B is a view of the object from the front at an angle.

[0136] As shown in Figures 16A and 16B, the support member 70B has a support stay 71B and an arm member 72B. The support stay 71B is fixed to the base 28B described above. In other words, the support stay 71B is fixed to the frame (specifically the connecting member 27B) that constitutes the driver unit 8B. The arm member 72B is supported by the support stay 71.

[0137] The support stay 71B is constructed of, for example, metal. The support stay 71B may be composed of a single member, but in this embodiment, it is composed of multiple members. The support stay 71B has a stay body portion 711B, a display unit mounting portion 712B, a shaft mounting portion 713B, and a stopper receiving portion 714B. The stay body portion 711B, the display unit mounting portion 712B, and the shaft mounting portion 713B are the same member. The stopper receiving portion 714B is a separate member from the members that make up the stay body portion 711B, the display unit mounting portion 712B, and the shaft mounting portion 713B.

[0138] The main body of the stay 711B extends in the front-rear direction. The main body of the stay 711B is fixed to the base 28B (see Figure 15) using fasteners. The front end of the main body of the stay 711B is attached to the base 28B. The display unit mounting portion 712B protrudes to the left from the left side of the main body of the stay 711B. The display unit mounting portion 712B has a mounting surface 712Ba that extends horizontally. The display unit 61B is positioned on the mounting surface 712Ba. The shaft mounting portion 713B is positioned at the rear end of the main body of the stay 711B. The shaft mounting portion 713B is cylindrical and extends vertically. The shaft portion 723B, which will be described later, is placed inside the shaft mounting portion 713B. The stopper receiving portion 714B has a horizontal plate-shaped portion 714Ba that extends horizontally and a vertical plate-shaped portion 714Bb that extends downward from the right end of the horizontal portion 714Ba. The horizontal section 714Ba is fixed to the upper surface of the stay body section 711B using a fastener. The vertical section 714Bb is fixed to the right side surface of the stay body section 711B using a fastener.

[0139] The arm member 72B is provided so as to be rotatable around an axis extending vertically relative to the support stay 71B. With this configuration, the components placed on the arm member 72B can be rotated in the horizontal plane. In this example, some of the components constituting the display device 60B are provided so as to be rotatable in the horizontal plane using the arm member 72B. The arm member 72B may be provided so as to be rotatable around an axis extending in a direction different from the axis extending vertically relative to the support stay 71B. For example, the arm member 72B may be provided so as to be rotatable around an axis extending horizontally relative to the support stay 71B. In this case, the arm member 72B can be rotated in the vertical plane. By providing the arm member 72B so as to be rotatable relative to the support stay 71B, it is possible to easily store the operating unit 62B attached to the arm member 72B.

[0140] The arm member 72B has an arm body portion 721B, an arm connecting portion 722B, and a shaft portion 723B. The arm body portion 721B and the arm connecting portion 722B are the same member and are made of, for example, metal. The shaft portion 723B is a separate member from the arm body portion 721B and the arm connecting portion 722B and is made of, for example, metal.

[0141] The main arm portion 721B extends horizontally. The arm connecting portion 722B is located at the front end of the main arm portion 721B. The arm connecting portion 722B has an upper connecting portion 722Ba, a lower connecting portion 722Bb, and an intermediate connecting portion 722Bc. Both the upper connecting portion 722Ba and the lower connecting portion 722Bb are plate-shaped and extend horizontally, and are spaced apart in the vertical direction. The intermediate connecting portion 722Bc connects the rear end of the upper connecting portion 722Ba to the rear end of the lower connecting portion 722Bb. The intermediate connecting portion 722Bc is connected to the main arm portion 721B. The shaft portion 723B is columnar and extends vertically. The shaft portion 723B has a head portion 723Ba at its upper end, which is larger in diameter than the others.

[0142] The shaft mounting portion 713B of the support stay 71B is positioned vertically between the upper part 722Ba and the lower part 722Bb of the connecting portion. Through holes (not shown) that penetrate vertically are provided in both the upper part 722Ba and the lower part 722Bb of the connecting portion. The shaft portion 723B, with the head portion 723Ba on top, passes through the through hole in the upper part 722Ba of the connecting portion, through the cylinder of the shaft mounting portion 713B, and through hole in the lower part 722Bb of the connecting portion. A nut is attached to the portion of the shaft portion 723B that protrudes downward from the lower part 722Bb of the connecting portion, and it is fixed to the arm connecting portion 722B by screw fastening. As a result, the arm member 72B is rotatably connected to the support stay 71B.

[0143] A friction structure is provided between the shaft mounting portion 713B and the shaft portion 723B that is inserted into the shaft mounting portion 713B. The arm member 72B can be rotated relative to the support stay 71B and stopped at any position. The friction structure may be configured to utilize, for example, a torque hinge.

[0144] The display unit 61B is attached to the support stay 71B. The operating unit 62B is attached to the arm member 72B. More specifically, the operating unit 62 is attached to the rear end of the arm body 721B. In other embodiments, the display unit 61B and the operating unit 62B are attached to different positions on the support member 70B. The display unit 61B is positioned in front of the operating unit 62B.

[0145] In this configuration, the display unit 61B, which tends to be taller vertically, can be positioned closer to the front of the driver's seat 8B. This reduces the possibility of the driver's body hitting the display unit 61B when getting in or out of the driver's seat 8B. This effect is expected to be particularly effective when the tractor 1B is small. On the other hand, since the control unit 62B is positioned closer to the driver sitting in the driver's seat compared to the display unit 61B, the reduction in the operability of the control unit 62B can be suppressed. In addition, by positioning the display unit 61B on the base side of the support member 70B, the shaking of the display unit 61B due to vehicle vibrations can be suppressed to a minimum. In other words, the content displayed on the display screen 611B can be made easier for the driver to see.

[0146] Furthermore, a projection 722Bd extending diagonally forward is provided at the right end of the intermediate section 722Bc of the connecting part. A bolt BT is fixed to the front end of the projection 722Bd. A resin cap CP is attached to the head portion of the bolt BT. The cap CP is positioned inward in the left-right direction from the projection 722Bd. When the arm member 72B rotates outward in the left-right direction around the shaft portion 723B, when it reaches a certain position, the cap CP comes into contact with the stopper receiving portion 714B (vertical portion 714Bb) of the support stay 71B. As a result, the arm member 72B is restricted from rotating outward in the left-right direction. In other words, the cap CP and the stopper receiving portion 714B function as restricting parts that restrict rotation. The support member 70B has a restricting part that restricts the rotation of the arm member 72B outward in the left-right direction. By providing a restricting part, it is possible to prevent the arm member 72B from rotating more than necessary. As a result, for example, collision between the arm member 72B and the members constituting the operating unit 8B can be suppressed. In this example, the cap CP is attached to the head portion of the bolt BT, but it may be configured so that the cap CP is not attached. By configuring it so that the cap CP is attached, it is possible to make it less likely for scratches to occur on the stopper receiving portion 714B, thereby suppressing a deterioration in appearance quality.

[0147] In another embodiment, the display unit 61B is rotatably mounted on the support stay 71B around an axis extending horizontally. This allows adjustment of the angle of the display unit 61B with respect to the horizontal plane of the display screen 611B. More specifically, the display unit 61B is positioned on the display unit mounting portion 712B via an intermediate member 715B that is fixedly positioned on the mounting surface 712Ba of the display unit mounting portion 712B. A display unit rotation shaft portion 716B, which is composed of bolts extending in the horizontal direction, is attached to the intermediate member 715. The display unit 61B is rotatable about the display unit rotation shaft portion 716B.

[0148] The rotational structure around the horizontally extending axis is the same as the rotational structure in the display device 60 of the embodiment described above, so a detailed explanation is omitted. When the bolt 717B is removed and the screw fastening of the display unit rotation shaft portion 716B is loosened, the display unit 61B can rotate around the display unit rotation shaft portion 716B. In this example, the display unit 61B is mounted so as not to rotate around an axis extending in the vertical direction relative to the support stay 71B, but this is an example. The display unit 61B may be mounted so as to rotate around an axis extending in the vertical direction relative to the support stay 71B. Such a configuration may be realized, for example, by providing a screw structure or a torque hinge between the display mounting portion 712B and the intermediate member 715B.

[0149] Furthermore, the configuration of the other embodiment is also applicable to a cabin-type tractor. In such a configuration, the support member 70B may be attached, for example, to the horizontally extending transverse frame portion 25a (see Figure 13) of the cabin frame 25 (see Figure 13). More specifically, a base may be attached to the transverse frame portion 25a, and the support member 70B may be attached to the base.

[0150] <4. Things to keep in mind> Various technical features disclosed herein can be modified in various ways without departing from the spirit of the technical creation. Furthermore, the multiple embodiments and modifications shown herein may be combined as possible.

[0151] <5. Addendum> An exemplary work vehicle of the present invention is a work vehicle that is capable of automatic driving and comprises a driver's seat, a steering control unit positioned in front of the driver's seat, and a display device that displays information related to the automatic driving, wherein the display device is positioned on one side in the left-right direction of the steering control unit (first configuration).

[0152] In the first configuration described above, at least a portion of the display device may be arranged at the same height as the steering control unit (second configuration).

[0153] In the first or second configuration described above, the display device may be positioned in front of the rear end of the steering control unit (third configuration).

[0154] In any of the first to third configurations described above, the display device may be positioned in front of the armrest located to the side of the driver's seat (fourth configuration).

[0155] In any of the first to fourth configurations described above, the display device includes an operating unit having an operating member for performing operations related to the automatic driving, the operating member including a first operating member that enables switching the automatic driving on and off, and a second operating member that enables operations different from those of the first operating member, wherein the first operating member may be positioned closer to the steering control unit than the second operating member (fifth configuration).

[0156] In any of the first to fifth configurations described above, the driver's seat and the steering control unit are provided with a support member for supporting the display device, and the support member comprises a support stay fixed to the frame constituting the driver's unit and an arm member supported by the support stay and supporting the display device, and the arm member may be provided so as to be rotatable about an axis extending vertically with respect to the support stay (sixth configuration).

[0157] In the sixth configuration described above, the support member may have a restricting portion that restricts the rotation of the arm member outward in the left-right direction (seventh configuration).

[0158] In the sixth or seventh configuration described above, the display device may be configured to be rotatable around an axis extending vertically with respect to the arm member (the eighth configuration).

[0159] In any of the above configurations 6 to 8, the display device may be configured to be rotatable about an axis extending horizontally with respect to the arm member (configuration 9).

[0160] In any of the above configurations 1 to 9, the driver's seat and the steering control unit may be provided with a cabin, and a support member for supporting the display device may be attached to the frame of the cabin (configuration 10).

[0161] In any of the above configurations 1 to 9, the driver's seat and the driver's unit including the steering control unit may be provided with mudguards, and a support member for supporting the display device may be attached to the frame of the mudguard (configuration 11).

[0162] In any of the above configurations 1 to 9, the driver's seat and the steering control unit are provided with a pair of mudguard frames that support mudguards positioned on the left and right sides of the driver's seat, and a connecting member that connects the pair of mudguard frames, and a support member that supports the display device is attached to the connecting member (configuration 12).

[0163] In any of the first to fifth configurations described above, the driver's seat and the steering control unit are provided with a support member for supporting the display device, and the support member comprises a support stay fixed to the frame constituting the driver's unit and an arm member supported by the support stay, and the arm member may be configured to be rotatable relative to the support stay (the 13th configuration).

[0164] In the 13th configuration described above, the display device may have a display unit having a display screen and an operating unit having an operating member for performing operations related to the automatic driving, wherein the display unit is attached to the support stay and the operating unit is attached to the arm member (14th configuration).

[0165] In the above-described 14th configuration, the display unit may be configured to be rotatably mounted with respect to the support stay (15th configuration). [Explanation of symbols]

[0166] 1, 1A, 1B... Tractor (work vehicle) 8, 8A, 8B...Operation Unit 9. Driver's seat 21. Armrest 10, 10B... Steering control unit 60, 60B...Display device 61, 61B...Display section 62, 62B...Operation unit 621... Operating component 621a...First operating member 621b...Second operating member 70, 70A, 70B... Support members 71, 71A, 71B... Support stays 72, 72B... Arm component 22, 22B... Mudguards 23, 23B... Mudguard frame (frame that makes up the driver's compartment) 24 cabins 25. Cabin frame (frame that makes up the driver's compartment) 732a...Regulatory Department

Claims

1. A work vehicle that is designed to be able to drive autonomously, The driver's seat and A steering control unit located in front of the driver's seat, A display device that displays information related to the aforementioned automated driving, An armrest positioned to the side of the driver's seat, Equipped with, The display device is positioned on one side of the steering control unit in the left-right direction, and forward, with a gap between it and the armrest. The display device and the steering control unit are positioned at the same height in the vertical direction, at least in part. Work vehicle.

2. The upper end of the display device is positioned below the upper end of the steering control unit. The work vehicle according to feature 1.

3. A work vehicle that is designed to be able to drive autonomously, The driver's seat and A steering control unit located in front of the driver's seat, A display device that displays information related to the aforementioned automated driving, An armrest positioned to the side of the driver's seat, Equipped with, The display device is positioned on one side of the steering control unit in the left-right direction, and forward, with a gap between it and the armrest. The display device is positioned such that at least a portion of it is at the same height as the armrest. Work vehicle.

4. The lower end of the display device is positioned below the upper end of the armrest. The work vehicle according to feature 3.

Images