Field work vehicle

Abstract

To provide a notification device capable of notifying an operator of a state of a work vehicle, guidance, etc. in a reliable manner.SOLUTION: A notification device mounted on a work vehicle includes a buzzer 41 for outputting a blowing sound, a first speaker 42 for outputting sound guidance, and a notification control part 2 capable of controlling the buzzer 41 and the first speaker 42 respectively. When controlling the buzzer 41 and the first speaker 42 respectively, the notification control part 2 executes first control for causing the buzzer 41 to output a blowing sound first, and executes second control for causing the first speaker 42 to output the sound guidance after the buzzer 41 finishes outputting the blowing sound.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention , news The present invention relates to a field work vehicle equipped with a sensing device. [Background technology]

[0002] For example, a notification device (referred to as a "notification unit" in the document) is mounted on a work vehicle (referred to as a "traveling work machine" in the document) disclosed in Patent Document 1. The notification device is configured to display the status of the work vehicle, guidance, etc., mainly using a screen. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-099225 Summary of the Invention [Problem to be solved by the invention]

[0004] However, operators often operate work vehicles while checking the surrounding conditions, and may not have time to visually check the display unit mounted on the work vehicle. This poses a challenge in how to reliably notify the operator of the status of the work vehicle, guidance, etc.

[0005] The present invention is a notification device that can reliably notify an operator of the condition of a work vehicle, guidance, etc. A field work vehicle equipped with The purpose is to provide [Means for solving the problem]

[0006] The present invention provides A field where automatic steering along a target route is possible Work vehicle Both a buzzer that outputs a buzzing sound; and a first speaker that outputs a voice guidance. a steering control device configured to be able to change between a non-control state in which the automatic steering is not performed and an automatic control state in which the automatic steering is performed, and which executes the automatic steering along the target route when in the automatic control state; andand a notification control unit capable of controlling each of the buzzer and the first speaker, wherein the notification control unit, when executing control over each of the buzzer and the first speaker, first executes a first control to make the buzzer output the sound, and after the buzzer has finished outputting the sound, executes a second control to make the first speaker output the sound. Regarding the automatic steering The present invention is characterized in that it is configured to execute a second control for outputting the voice guidance. In the present invention, it is preferable that the notification control unit outputs the voice guidance to the first speaker to start the automatic steering as the second control in response to the steering control device changing its state from the non-control state to the automatic control state. In the present invention, it is preferable that the steering control device is configured to execute a suppression process to suppress the steering amount of the automatic steering when changing the state from the non-control state to the automatic control state and starting the automatic steering.

[0007] According to the present invention, the notification device uses a buzzer and a speaker to notify the operator by voice. Therefore, even if the operator is operating the work vehicle while checking the surrounding conditions and does not have time to visually check the work vehicle's status, guidance, etc., the operator can clearly confirm the work vehicle's status, guidance, etc. by voice. Furthermore, with the present invention, a buzzer sound is output first, and after the buzzer sound output has finished, voice guidance is output by the first speaker. Therefore, the buzzer sound and the first speaker sound do not mix. This allows the operator to recognize from the buzzer sound that voice guidance is about to be played, and can clearly hear the subsequent voice guidance. In this way, with the present invention, a notification device that can clearly notify the operator of the work vehicle's status, guidance, etc. A field work vehicle equipped with is realized. Furthermore, with this configuration, even if the operator is unfamiliar with automatic steering, appropriate voice guidance regarding automatic steering can be provided to the operator.

[0008] In the alarm device of the present invention, it is preferable that a display unit capable of displaying alarm information is provided, and the alarm control unit is configured to, when executing the first control, cause the buzzer to output the blowing sound and at the same time cause the display unit to display the alarm information.

[0009] According to this configuration, the notification information is displayed on the display unit. Therefore, for example, if an operator wants to know details of the notification based on the voice guidance, he or she can find out the details of the notification based on the voice guidance by checking the notification information displayed on the display unit. Therefore, even if the operator is unfamiliar with operating a work vehicle, for example, by checking the notification by voice guidance and the notification information displayed on the display unit, the operator can easily become accustomed to operating the work vehicle as quickly as possible.

[0010] In the notification device of the present invention, it is preferable that the display unit is configured to, once displaying the notification information, continue displaying the notification information until the first speaker finishes outputting the voice guidance.

[0011] With this configuration, the notification information continues to be displayed until the first speaker finishes outputting the voice guidance, so the operator can clearly check the notification information displayed on the display unit, compared to a configuration in which the display of the notification information ends before the first speaker finishes outputting the voice guidance.

[0012] In the alarm device of the present invention, it is preferable that the alarm control unit is configured to execute the first control and the second control based on a plurality of alarm signals according to priority, the plurality of alarm signals including a first alarm signal and a second alarm signal having a higher priority than the first alarm signal, and that the alarm control unit is configured to, when the second alarm signal is output after the first alarm signal has been output but before the execution of the second control based on the first alarm signal has been completed, stop the execution of the first control and the second control based on the first alarm signal and execute the first control and the second control based on the second alarm signal.

[0013] A high-priority notification signal contains more important notification information than a low-priority notification signal, and therefore there is a high need to convey the information to the operator quickly. With this configuration, when a second notification signal having a higher priority than the first notification signal is output, the execution of the first control and the second control based on the first notification signal is stopped, and the first control and the second control based on the second notification signal are executed. Therefore, this configuration can quickly notify the operator of important notification information compared to a configuration in which the execution of the first control and the second control based on the first notification signal is completed before the first control and the second control based on the second notification signal are executed.

[0014] In the alarm device of the present invention, it is preferable that the buzzer is configured to output the blowing sound based on the second alarm signal when the second alarm signal is output without waiting for the completion of output of the blowing sound based on the first alarm signal.

[0015] With this configuration, important notification information can be quickly notified to the operator, compared to a configuration in which the buzzer waits until the completion of outputting the blowing sound based on the first notification signal before outputting the blowing sound based on the second notification signal.

[0016] In the alarm device of the present invention, it is preferable that the first speaker is configured to immediately stop outputting the voice guidance based on the first alarm signal when the second alarm signal is output, and to output the voice guidance based on the second alarm signal after the buzzer has finished outputting the blowing sound based on the second alarm signal.

[0017] With this configuration, important notification information can be notified to the operator more quickly than with a configuration in which the first speaker waits until the completion of outputting the voice guidance based on the first notification signal before outputting the voice guidance based on the second notification signal. Also, because the output of the voice guidance based on the first notification signal is immediately stopped, the operator can quickly become aware of the notification information with higher priority.

[0018] In the alarm device of the present invention, it is preferable that the alarm control unit is configured to execute the first control and the second control based on a plurality of alarm signals according to priority, the plurality of alarm signals including a first alarm signal and a third alarm signal having the same priority as or lower than the first alarm signal, and that if the third alarm signal is output after the first alarm signal has been output and before the execution of the second control based on the first alarm signal has been completed, the alarm control unit is configured to execute the first control and the second control based on the third alarm signal after completing the execution of the first control and the second control based on the first alarm signal, and that the buzzer is configured to output the blowing sound based on the third alarm signal after the first speaker has finished outputting the voice guidance based on the first alarm signal when the third alarm signal is output, and that the first speaker is configured to output the voice guidance based on the third alarm signal after the buzzer has finished outputting the blowing sound based on the third alarm signal when the third alarm signal is output.

[0019] When the priority of the third notification signal is the same as or lower than the priority of the first notification signal, there is often no need to rush the notification based on the third notification signal. With this configuration, the notification control unit executes the first control and the second control based on the third notification signal after completing the first control and the second control based on the first notification signal. This allows the notification control unit to issue notifications to the operator in order.

[0020] In the alarm device of the present invention, the alarm control unit is preferably configured to execute the first control and the second control based on a plurality of alarm signals according to priority, the plurality of alarm signals including a first alarm signal and a third alarm signal having the same priority as or lower than the first alarm signal, and the alarm control unit is preferably configured to be unable to execute the first control and the second control based on the third alarm signal if the third alarm signal is output after the first alarm signal has been output but before the execution of the second control based on the first alarm signal has been completed.

[0021] When the priority of the third notification signal is equal to or lower than that of the first notification signal, there is often no need to rush the notification based on the third notification signal. Furthermore, it is possible that a notification based on the third notification signal is not always necessary, and it is not necessarily desirable for the operator if the notification control unit performs notification processing continuously based on the first notification signal and the third notification signal. With this configuration, if the third notification signal is output before the execution of the second control based on the first notification signal is completed, the first control and second control based on the third notification signal cannot be executed. Therefore, an appropriate notification for the operator is provided at an appropriate time.

[0022]

[0023]

[0024] In the field work vehicle of the present invention, it is preferable that a second speaker is provided that outputs second voice guidance regarding information excluding the automatic steering, and the notification control unit is configured to cause the second speaker to immediately stop outputting the second voice guidance when at least one of the first control and the second control is executed.

[0025] With this configuration, the notification control unit is configured to be able to control the second speaker and to stop output from the second speaker to provide a notification regarding automatic steering. This enables a configuration in which the buzzer sound and the sound from the second speaker do not mix, and a configuration in which the sound from the first speaker does not mix with the sound from the second speaker. This allows the operator to clearly hear the sound information regarding automatic steering without being interrupted by the sound from the second speaker.

[0026] The present invention Field work vehicle In this case, the present invention may be configured not to include the first speaker. A field where automatic steering along a target route is possible Work vehicle Both a buzzer that outputs a buzzing sound; and a display unit that can display notification information. a steering control device configured to be able to change between a non-control state in which the automatic steering is not performed and an automatic control state in which the automatic steering is performed, and which executes the automatic steering along the target route when in the automatic control state; andand a notification control unit capable of controlling each of the buzzer and the display unit, wherein the notification control unit controls the buzzer to output the buzzing sound and the display unit at the same time. Regarding the automatic steering The notification device is characterized in that it is configured to display the notification information. In this case as well, a notification device is realized that can reliably notify the operator of the condition of the work vehicle, guidance, etc.

[0027] The present invention Field work vehicle The present invention may be configured without a buzzer. A field where automatic steering along a target route is possible Work vehicle Both a first speaker that outputs voice guidance; and a display unit that can display notification information. a steering control device configured to be able to change between a non-control state in which the automatic steering is not performed and an automatic control state in which the automatic steering is performed, and which executes the automatic steering along the target route when in the automatic control state; and a notification control unit capable of controlling each of the first speaker and the display unit, and the notification control unit controls each of the first speaker and the display unit, and Regarding the automatic steering The voice guidance is output and simultaneously the display unit Regarding the automatic steering The notification device is characterized in that it is configured to display the notification information. In this case as well, a notification device is realized that can reliably notify the operator of the condition of the work vehicle, guidance, etc. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 2 is a block diagram showing a steering control device and a notification control device. [Figure 2] FIG. 2 is a diagram showing transitions of control modes in the steering control device. [Figure 3] FIG. 10 is a diagram showing a transition from a manual steering mode to an automatic steering mode. [Figure 4] FIG. 2 is a block diagram showing automatic steering control in the steering control device. [Figure 5] FIG. 10 is a graph showing a process of suppressing a command current value when automatic steering is started. [Figure 6] FIG. 10 is a graph showing a process of suppressing a command current value when automatic steering is started. [Figure 7] FIG. 10 is a graph showing a process of suppressing a command current value when automatic steering is started. [Figure 8] FIG. 4 is a logic graph diagram showing output processing of the notification control device. [Figure 9] FIG. 4 is a logic graph diagram showing output processing of the notification control device. [Figure 10] FIG. 4 is a logic graph diagram showing output processing of the notification control device. [Figure 11] FIG. 10 is a block diagram showing another embodiment of the notification control device. [Figure 12] FIG. 10 is a logic graph diagram showing output processing of a notification control device according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0029] [Basic configuration of steering control device and notification control device] A steering control device 1 and a notification control device 2 mounted on a field work vehicle will be described with reference to Figure 1. The steering control device 1 and the notification control device 2 may be physical devices such as microcomputers, or may be a combination of devices and software. Although not shown, the steering control device 1 and the notification control device 2 each include a storage device. These storage devices are, for example, non-volatile memory (for example, flash memory) or ROM such as EEPROM. The storage device temporarily or permanently stores data generated by each functional section in each of the steering control device 1 and the notification control device 2.

[0030] The steering control device 1 receives as input a detection value from a current sensor 32, a calculation value from a steering angle calculation unit 34, a positioning signal from a navigation positioning device 35, and a detection value from an inertial measurement device 36. Furthermore, a command current value is output from the steering control device 1 to the electric motor 31. In addition, a notification signal is output from the steering control device 1 to the notification control device 2. The notification signal from the steering control device 1 to the notification control device 2 may be, for example, an interrupt control signal or a status signal that transmits the control mode of the steering control device 1.

[0031] The notification control device 2 is configured to be able to control the buzzer 41, speaker 42, and display device 43, respectively, based on the notification signal from the steering control device 1, to notify an operator or the like of information related to automatic steering. The buzzer 41 outputs a buzzer sound. The speaker 42 outputs voice guidance. Voice guidance means voice in a natural language. The display device 43 is, for example, a touch panel display (liquid crystal display device or OLED display device) provided in a mobile information terminal or an in-vehicle device, and is configured to be able to display notification information. The mobile information terminal or the in-vehicle device may be configured to serve as the buzzer 41, speaker 42, and display device 43. In addition, the buzzer 41, speaker 42, and display device 43 may be integrated (for example, a display panel with a sound emitting function).

[0032] The electric motor 31 is interlocked with the steering mechanism 3, and when the electric motor 31 is driven, the steering mechanism 3 is driven. The steering mechanism 3 is also provided with a steering wheel 3A, which receives steering operations from the operator.

[0033] The current sensor 32 detects the actual current value in the electric motor 31. The motor encoder 33 detects the rotation angle of the electric motor 31. The motor encoder 33 is configured to be able to detect the rotation angle of the electric motor 31 in the range of, for example, -10800 degrees to +10800 degrees. The motor encoder 33 may be, for example, a resolver type encoder or an optical encoder.

[0034] The steering angle calculation unit 34 is configured to calculate the steering angular velocity of the steered wheels (wheels, crawlers, etc.) of the field work vehicle based on the detection value of the motor encoder 33. In addition, the steering angle calculation unit 34 is configured to calculate the steering angular velocity of the steered wheels of the field work vehicle based on the amount of change per unit time in the detection value of the motor encoder 33. The steering angular velocity of the steered wheels refers to the speed at which the direction of the steered wheels (the turning angle of the steered wheels) changes. The greater the steering angular velocity, the more abruptly the turning angle of the steered wheels changes.

[0035] The navigation and positioning device 35 receives positioning signals from artificial satellites (not shown) used in GNSS (Global Satellite Navigation Systems, such as GPS, GLONASS, Galileo, QZSS, BeiDou, etc.).

[0036] The inertial measurement unit 36 ​​is, for example, a gyro acceleration sensor or a magnetic direction sensor, and detects the angular velocity of the yaw angle of the field work vehicle and the acceleration in three mutually perpendicular axial directions over time. The inertial measurement unit 36 ​​can calculate the angle of change in the orientation of the field work vehicle by integrating the angular velocity. As a result, the measurement data measured by the inertial measurement unit 36 ​​includes data indicating the orientation (direction) of the field work vehicle. Although not described in detail, the inertial measurement unit 36 ​​can measure not only the angular velocity of the turning angle of the field work vehicle, but also the angular velocity of the left and right tilt angle of the field work vehicle and the fore and aft tilt angle of the field work vehicle. In this way, the inertial measurement unit 36 ​​detects the orientation of the field work vehicle's body.

[0037] The steering control device 1 calculates the position coordinates of the field work vehicle over time based on the positioning data output by the navigation positioning device 35. In this way, the steering control device 1 acquires the position coordinates of the field work vehicle. Furthermore, the steering control device 1 calculates the attitude direction of the field work vehicle based on the position coordinates of the field work vehicle and the values ​​detected by the inertial measurement device 36. The attitude direction of the field work vehicle is the direction in which the field work vehicle will move forward or backward while traveling straight.

[0038] Explaining based on Fig. 3, first, while a tractor 5, which is an example of a work vehicle (field work vehicle), is traveling, the steering control device 1 calculates an initial attitude and orientation based on the current position coordinates of the tractor 5 and the position coordinates of the tractor 5 at the point where it was traveling immediately before. Next, when the tractor 5 has traveled for a certain period of time after the initial attitude and orientation is calculated, the steering control device 1 calculates the amount of change in orientation by integrating the angular velocity detected by the inertial measurement unit 36 ​​during that certain period of travel.

[0039] Then, the steering control device 1 updates the calculation result of the orientation by adding the amount of change in orientation calculated in this way to the initial attitude orientation. After that, the amount of change in attitude orientation is similarly calculated at regular time intervals, and the calculation result of the attitude orientation is successively updated. With the above configuration, the steering control device 1 calculates the orientation of the tractor 5.

[0040] The steering mechanism 3 shown in Fig. 1 is a mechanism for steering the front wheels of the tractor 5 in the embodiment shown in Fig. 3. The steering control device 1 is configured to be able to control the steering mechanism 3 and perform automatic steering to automatically drive the tractor 5 along an automatic steering target line GL. The automatic steering target line GL corresponds to the "target route" of the present invention.

[0041] [About automatic steering control] As shown in Fig. 2, the steering control device 1 has a plurality of control modes for controlling the steering mechanism 3. The control modes can be switched between a plurality of modes including a manual steering mode in which automatic steering is not performed, and an automatic steering mode in which automatic steering can be performed. A switching operation device 37 shown in Fig. 1 accepts a manual operation (intentional operation) for switching the control mode of the steering control device 1.

[0042] When the control mode of the steering control device 1 is the manual steering mode, the steering control device 1 does not output a command current value to the electric motor 31. At this time, the wheels and crawlers of the field work vehicle are steered in response to manual operation of the steering wheel 3A of the steering mechanism 3. For this reason, when the control mode of the steering control device 1 is the manual steering mode, the state of the steering control device 1 is a non-controlled state in which automatic steering is not performed. In this case, the steering control device 1 outputs various notification signals to the notification control device 2 based on the detection value from the current sensor 32, the calculation value from the steering angle calculation unit 34, the positioning signal from the navigation positioning device 35, and the detection value from the inertial measurement unit 36.

[0043] When the control mode of the steering control device 1 is the automatic steering mode, the steering control device 1 is configured to be able to control the steering of the field work vehicle so that the field work vehicle performs automatic steering travel along the automatic steering target line GL (see Figure 3) based on the positioning data output by the navigation positioning device 35 and the detection values ​​by the inertial measurement device 36.

[0044] The steering control device 1 is configured to be able to switch the control mode based on an operation signal from the switching operation device 37 and the state of the field work vehicle. As described above, the switching operation device 37 accepts a manual operation for switching the control mode of the steering control device 1 to the automatic steering mode. The operation on the switching operation device 37 is shown as "operation #01" in Figure 2. When operation #01 is performed, the steering control device 1 switches the control mode from the manual steering mode to the preparation mode.

[0045] When switching the control mode from the manual steering mode to the preparation mode, the steering control device 1 outputs a notification signal to the notification control device 2. Then, the notification control device 2 notifies the operator of the start of preparation for transition to the automatic steering mode, based on the notification signal from the steering control device 1. That is, based on the notification signal from the steering control device 1, the notification control device 2 causes the buzzer 41 to output a buzzer sound, the speaker 42 to output audio guidance, and the display device 43 to display notification information.

[0046] The preparation mode is a control mode in which preparations are made for starting automatic steering, and manual steering by the operator continues in this preparation mode. Therefore, when the control mode of the steering control device 1 is in the preparation mode, the state of the steering control device 1 is a non-control state in which automatic steering is not performed. Note that when operation #01 is performed while the control mode of the steering control device 1 is in the preparation mode, the steering control device 1 switches the control mode of the steering control device 1 from the preparation mode to the manual steering mode.

[0047] When in preparation mode, the steering control device 1 determines whether condition #01 for transitioning to automatic steering mode is met. At this time, the operator manually operates the field work vehicle to prepare the conditions for transitioning to automatic steering mode. In other words, based on the preparation mode, the operator manually steers the field work vehicle so that its attitude and orientation are aligned with a preset reference orientation. The preset reference orientation is, for example, an orientation set based on two points, the start and end points of teaching travel.

[0048] FIG. 3 shows a state in which operation #01 is performed at point P1, the control mode of the steering control device 1 is switched from manual steering mode to preparation mode, and the tractor 5 travels between points P1 and P2 based on manual steering.

[0049] Condition #01 for transitioning from preparation mode to automatic steering mode is, for example, that the main shift lever (not shown) operated by the operator is set to the forward position, that the clutch (not shown, e.g., PTO clutch) for transmitting power to the work implement (not shown) of the field work vehicle is in a power transmission state, and that the difference between the attitude direction of the field work vehicle and a preset reference direction is within a preset angle (e.g., 3 degrees).

[0050] When in the preparation mode, the steering control device 1 outputs a notification signal to the notification control device 2. Then, the notification control device 2 notifies the operator of guidance information for satisfying condition #01 based on the notification signal from the steering control device 1. That is, based on the notification signal from the steering control device 1, the notification control device 2 causes the buzzer 41 to output a buzzer sound, causes the speaker 42 to output the operation content required to satisfy condition #01, and causes the display device 43 to display the operation content required to satisfy condition #01.

[0051] When the control mode is in preparation mode and the items required as condition #01 are met, it becomes possible to switch to automatic steering mode. If the field work vehicle travels a predetermined distance D1 in this state, as shown in Figure 3, the steering control device 1 generates an automatic steering target line GL and the control mode transitions from preparation mode to automatic steering mode. The automatic steering target line GL extends along a preset reference orientation.

[0052] 3 shows a state in which condition #01 is satisfied at point P2 and the tractor 5 travels a predetermined distance D1 between points P2 and P3. The predetermined distance D1 is not particularly limited, but may be, for example, one meter.

[0053] While the field work vehicle travels the predetermined distance D1, the steering control device 1 outputs a notification signal to the notification control device 2. The notification control device 2 then notifies the operator that automatic steering has begun. At this time, based on the notification signal from the steering control device 1, the notification control device 2 causes the buzzer 41 to output a sound, the speaker 42 to output audio guidance saying, "Automatic steering will begin soon," and the display device 43 to display notification information. With this configuration, the operator can know when to take their hands off the steering wheel 3A.

[0054] In this way, the steering control device 1 is configured to be able to change its state to an automatic control state when, in the non-control state, traveling in the same direction for a predetermined distance D1 based on manual operation of the steering wheel 3A. Note that, in the non-control state, the steering control device 1 may also be configured to be able to change its state to an automatic control state when, in the non-control state, traveling in the same direction for a predetermined time (for example, 3 to 5 seconds) based on manual operation of the steering wheel 3A.

[0055] When the control mode of the steering control device 1 is the automatic steering mode, the state of the steering control device 1 is an automatic control state in which automatic steering is performed. Therefore, when in the automatic control state, the steering control device 1 outputs to the electric motor 31 a command current value for causing the field work vehicle to travel along the automatic steering target line GL.

[0056] A method for canceling the automatic steering mode will now be described. The steering control device 1 will terminate automatic steering if "Condition #02" shown in Figure 2 is detected while automatic steering is being performed. "Condition #02" is a condition related to the stopping of work. Condition #02 is, for example, when the main shift lever operated by the operator is operated to an operating position other than the forward position, when the clutch for transmitting power to the work implement of the field work vehicle goes into a power non-transmitting state, or when the steering wheel 3A is manually operated left or right beyond a preset operating amount.

[0057] If any one of the items listed as condition #02 is met, automatic steering is released, and the control mode of the steering control device 1 transitions from automatic steering mode to preparation mode. At this time, the steering control device 1 outputs a notification signal to the notification control device 2. Then, based on the notification signal from the steering control device 1, the notification control device 2 notifies the operator of the end of automatic steering by causing the buzzer 41 to output a sound, the speaker 42 to output audio guidance, and the display device 43 to display notification information.

[0058] Note that even if automatic steering ends because any one of the items listed as condition #02 is met, the control mode of the steering control device 1 transitions to preparation mode and does not return to manual steering mode. Therefore, automatic steering can be resumed when the above-mentioned condition #01 is met. For example, if an operator performs an operation that meets condition #02 at the edge of a field, and then turns the field work vehicle by 90 degrees or 180 degrees and travels it along a preset reference direction, the above-mentioned condition #01 can be met. This allows automatic steering to be resumed immediately.

[0059] In this way, the steering control device 1 is configured to be able to change its state between a non-control state in which automatic steering is not performed and an automatic control state in which automatic steering is performed.

[0060] If the control mode of the steering control device 1 is the automatic steering mode and the operator presses the switching operation device 37 during automatic steering (operation #01), the steering control device 1 switches the control mode of the steering control device 1 from the automatic steering mode to the manual steering mode, and ends the automatic steering of the steering control device 1. When automatic steering is released, the command current value output from the steering control device 1 to the electric motor 31 becomes zero.

[0061] The automatic steering control in this embodiment will be described with reference to Fig. 4. The steering control device 1 has a plurality of modules. The steering control device 1 is provided with an aircraft position PI control module 11, an azimuth angle PI control module 12, an azimuth angular velocity PI control module 13, a steering angular velocity PI control module 14, a current PI control module 15, and a current value suppression processing module 16.

[0062] The vehicle position PI control module 11 calculates a positional deviation amount, which is the difference between the target position of the field work vehicle to proceed along the automatic steering target line GL and the actual position coordinates of the field work vehicle based on the positioning signal from the navigation positioning device 35. This positional deviation amount means the amount of positional deviation to the right or left in the direction of travel with respect to the automatic steering target line GL. The vehicle position PI control module 11 then calculates a target heading for the field work vehicle to proceed along the automatic steering target line GL based on this positional deviation amount.

[0063] The azimuth angle PI control module 12 calculates an azimuth deviation amount, which is the difference between the target azimuth calculated by the vehicle position PI control module 11 and the actual azimuth of the field work vehicle measured by the inertial measurement unit 36. Then, based on this azimuth deviation amount, the azimuth angle PI control module 12 calculates a target azimuth angular velocity for aligning the azimuth of the field work vehicle with the target azimuth. The target azimuth angular velocity for aligning the azimuth of the field work vehicle with the target azimuth is a target amount of change per unit time in the orientation of the body of the field work vehicle.

[0064] The azimuth angular velocity PI control module 13 calculates an azimuth angular velocity deviation amount, which is the difference between the target azimuth angular velocity calculated by the azimuth angle PI control module 12 and the actual azimuth angular velocity measured by the inertial measurement unit 36. Then, based on this azimuth angular velocity deviation amount, the azimuth angular velocity PI control module 13 calculates a target steering angular velocity of the steered wheels for turning the field work vehicle in line with the target azimuth angular velocity. The target steering angular velocity of the steered wheels is a target amount of change per unit time in the steering angle of the steered wheels.

[0065] The steering angular velocity PI control module 14 calculates a steering angular velocity deviation amount, which is the difference between the target steering angular velocity calculated by the azimuth angular velocity PI control module 13 and the actual steering angular velocity of the steered wheels calculated by the steering angle calculation unit 34. Then, the steering angular velocity PI control module 14 calculates a target current value for the electric motor 31 based on the steering angular velocity deviation amount.

[0066] The current PI control module 15 calculates a current value deviation amount, which is the difference between the target current value calculated by the steering angular velocity PI control module 14 and the actual current value of the electric motor 31 detected by the current sensor 32. The current PI control module 15 then adjusts the target current value based on the current value deviation amount, and outputs a more appropriate command current value to the electric motor 31. With this configuration, the electric motor 31 drives and controls the steering mechanism 3 based on the command current value when the steering control device 1 is in an automatic control state. If the field work vehicle is a tractor 5 shown in FIG. 3, the front wheels of the tractor 5 are steered by driving the steering mechanism 3. The steering angle of the steered wheels is then adjusted, and the field work vehicle moves along the automatic steering target line GL.

[0067] In the steering control device 1 of this embodiment, at the start timing of automatic steering control, the command current value calculated by the current PI control module 15 is not output as is, but the command current value is set weakly by the current value suppression processing module 16 and output to the electric motor 31. The suppression processing of the command current value at the start of automatic steering will be described below.

[0068] [Processing for suppressing command current value when automatic steering starts] When the control mode of the steering control device 1 switches from manual steering mode to automatic steering mode via preparation mode, the steering control device 1 starts automatic steering control of the field work vehicle. When the steering control device 1 starts automatic steering control of the field work vehicle, depending on the turning angle of the steering wheels, it is possible that a large command current value will be output from the steering control device 1 and the steering mechanism 3 will be driven at high speed.

[0069] The steering wheel 3A rotates in response to the drive of the steering mechanism 3. In other words, the steering wheel 3A is configured so that the steering amount changes in conjunction with the drive control of the steering mechanism 3 by the electric motor 31. Therefore, when the steering mechanism 3 is driven at high speed, the steering wheel 3A rotates at high speed. In this case, the steering wheel 3A may suddenly and sharply rotate at the start timing of the automatic steering control, which may surprise or make the operator feel uncomfortable.

[0070] To avoid such inconveniences, in this embodiment, the current value suppression processing module 16 executes processing to suppress abrupt movements of the steering wheel 3A at the start timing of automatic steering control. In other words, the steering control device 1 is configured to execute suppression processing to suppress the command current value for the electric motor 31 when the state is changed from a non-controlled state to an automatic controlled state. In further other words, the steering control device 1 is configured to output a command current value for the electric motor 31 so that the amount of change in the steering amount of the steering wheel 3A per unit time falls below a preset threshold when the state is changed from a non-controlled state to an automatic controlled state.

[0071] 5 to 7 show an example of suppression processing for suppressing the command current value for the electric motor 31. In this embodiment, a multiplier K is provided for the command current value. The current value suppression processing module 16 sets the multiplier K within a range from a first parameter to a second parameter, and multiplies the command current value calculated by the current PI control module 15 by the multiplier K. In the example shown in FIGS. 5 to 7, 0.5 is shown as the first parameter of the multiplier K, and 1.0 is shown as the second parameter of the multiplier K.

[0072] When the multiplier K is 1.0, the current value suppression processing module 16 outputs the command current value calculated by the current PI control module 15 as is to the electric motor 31. When the multiplier K is 0.5, the current value suppression processing module 16 suppresses the command current value calculated by the current PI control module 15 to half the current value and outputs it to the electric motor 31.

[0073] In the example shown in Fig. 5, the current value suppression processing module 16 sets the multiplier K to 0.5 (first parameter) from the start timing of the automatic steering control until a preset set time T1 has elapsed. The set time T1 is set to, for example, 5 seconds. The timing of the set time T1 shown in Fig. 5 is the end timing of the suppression processing. In other words, the steering control device 1 is configured to execute the suppression processing from the start timing at which execution of the suppression processing begins to the end timing at which the preset set time T1 has elapsed from the start timing.

[0074] During the period from the start timing of the automatic steering control until a preset time T1 has elapsed, the current value suppression processing module 16 suppresses the command current value calculated by the current PI control module 15 to half the current value and outputs the suppressed current value to the electric motor 31. That is, the current value suppression processing module 16 of the steering control device 1 is configured to maintain the multiplier K at 0.5 (first parameter) over the period from the start timing to the set time T1. Then, when the set time T1 has elapsed, the current value suppression processing module 16 changes the multiplier K in a stepwise manner from 0.5 (first parameter) to 1.0 (second parameter). Thereafter, the current value suppression processing module 16 outputs the command current value calculated by the current PI control module 15 to the electric motor 31 as is.

[0075] In the example shown in FIG. 6, the current value suppression processing module 16 sets the multiplier K to 0.5 (first parameter) at the start timing of the automatic steering control. The timing of the set time T5 shown in FIG. 6 is the end timing of the suppression processing. The current value suppression processing module 16 changes the multiplier K in multiple steps within the range from 0.5 (first parameter) to 1.0 (second parameter) from the start timing of the automatic steering control until the preset set time T5 has elapsed. In the example shown in FIG. 6, the multiplier K changes in five steps. Note that in the example shown in FIG. 6, the multiplier K is not limited to five steps, and can be changed as appropriate to any number of steps of two or more.

[0076] In the example shown in FIG. 6 , from the start timing of the automatic steering control until a preset set time T1 has elapsed, the current value suppression processing module 16 sets the multiplier K to 0.5 (first parameter). As a result, the command current value calculated by the current PI control module 15 is suppressed to half the current value. Then, the current value suppression processing module 16 increases the multiplier K by, for example, 0.1 at each of the set times T1, T2, T3, T4, and T5. Then, at the set time T5, the multiplier K reaches 1.0 (second parameter). In other words, the current value suppression processing module 16 of the steering control device 1 is configured to change the setting of the multiplier K in a stepwise manner so that it approaches 1.0 (second parameter) over the period from the start timing of the automatic steering control to the set time T5. Then, after the set time T5 has elapsed, the current value suppression processing module 16 outputs the command current value calculated by the current PI control module 15 to the electric motor 31 as is.

[0077] In the example shown in FIG. 7, the current value suppression processing module 16 sets the multiplier K to 0.5 (first parameter) at the start timing of the automatic steering control. The current value suppression processing module 16 proportionally changes the multiplier K within a range from 0.5 (first parameter) to 1.0 (second parameter) from the start timing of the automatic steering control until a preset set time T1 has elapsed. The set time T1 is set to, for example, 5 seconds. The timing of the set time T1 shown in FIG. 7 is the end timing of the suppression processing. In other words, the current value suppression processing module 16 of the steering control device 1 is configured to change the setting of the multiplier K so that it approaches 1.0 (second parameter) as time passes over the period from the start timing of the automatic steering control to the set time T1. Then, after the set time T1 has elapsed, the current value suppression processing module 16 outputs the command current value calculated by the current PI control module 15 to the electric motor 31 as it is.

[0078] In this way, the steering control device 1 is configured to set the multiplier K to a first parameter at the start timing of the automatic steering control, and to set the multiplier K to a second parameter greater than the first parameter at the end timing after the set time T1 (set time T5 in FIG. 6) has elapsed. With this configuration, at the start timing of the automatic steering control, the amount of steering change of the steering wheel 3A per unit time is smaller than in a configuration in which the suppression process is not executed, and the steering wheel 3A begins to rotate slowly. As a result, when the state is changed from the non-controlled state to the automatic controlled state, the steering control device 1 is configured to output a command current value to the electric motor 31 so that the amount of change in the steering amount of the steering wheel 3A per unit time falls below a preset threshold.

[0079] [Notification by notification control device] The notification control device 2, buzzer 41, speaker 42, and display device 43 shown in FIG. 1 are configured to notify the operator of various information related to automatic steering depending on the control mode of the steering control device 1. Examples of the various information related to automatic steering include information to alert the operator, guidance information informing the operator of operation methods, and information informing the operator of the status of equipment in the field work vehicle. The notification control device 2 is, for example, a voice synthesis LSI, and is arranged separately from the buzzer 41, speaker 42, and display device 43. The buzzer 41, speaker 42, and display device 43 are arranged in appropriate positions in the cockpit of the field work vehicle and are connected to the notification control device 2 by wiring. The notification control device 2, buzzer 41, speaker 42, and display device 43 correspond to the "notification device" of the present invention. The notification control device 2 corresponds to the "notification control unit" of the present invention. The speaker 42 corresponds to the "first speaker" of the present invention. The display device 43 corresponds to the "display unit" of the present invention.

[0080] The notification control device 2 is configured to be able to control each of the buzzer 41, the speaker 42, and the display device 43. The operator can recognize various information related to automatic steering based on the sounds and displays output from the buzzer 41, the speaker 42, and the display device 43, respectively.

[0081] When manually operating a field work vehicle, the operator often makes fine adjustments to the position and speed of the field work vehicle while visually checking the surrounding conditions in the field, the position of the crops, and the like. For this reason, when the operator tries to start automatic steering of the field work vehicle, there may be cases where the operator cannot visually check the display device 43 while visually checking the surrounding conditions in the field, the position of the crops, and the like. In particular, if the operator is unfamiliar with switching the control mode of the steering control device 1 to the automatic steering mode, it may be difficult for the operator to understand what to do to start automatic steering of the field work vehicle while visually checking the surrounding conditions in the field, the position of the crops, and the like. This makes the automatic steering function of the field work vehicle difficult for the operator to use.

[0082] In this embodiment, various pieces of information related to automatic steering are output as voice in natural language from the speaker 42. This allows the operator to understand at the appropriate time what to do to cause the field work vehicle to start automatic steering while visually checking the surrounding conditions in the field, the position of the crops, etc. In other words, the operator can perform operations to cause the field work vehicle to start automatic steering by following the voice guidance output from the speaker 42 while visually checking the surrounding conditions in the field, the position of the crops, etc., without looking at the display device 43. This allows the operator to concentrate on checking the surrounding conditions in the field, the position of the crops, etc.

[0083] Furthermore, even if the operator is unfamiliar with switching the control mode of the steering control device 1 to the automatic steering mode, it is easy for the operator to start automatic steering of the field work vehicle by following the audio guidance output from the speaker 42. This makes the automatic steering function of the field work vehicle easy for the operator to use.

[0084] The voice guidance output from speaker 42 includes messages such as "Please switch to autopilot mode," "Warming up," "Please register the start point (or end point)," "Please sit in the seat," "Turn the aircraft left (or right)," "A malfunction has been detected," "Positioning level has decreased," "Autopilot will begin shortly," and "Thank you for your hard work."

[0085] As described above, the notification control device 2 is configured to control the buzzer 41, speaker 42, and display device 43 based on the notification signal from the steering control device 1, thereby being able to notify the operator, etc. of information regarding automatic steering.

[0086] Fig. 8 shows a first notification signal as an example of the notification signal. As shown in Fig. 8, when the notification control device 2 receives the notification signal from the steering control device 1, it executes control over each of the buzzer 41 and the speaker 42. At that time, the notification control device 2 is configured to first execute a first control that causes the buzzer 41 to output a sound, and then execute a second control that causes the speaker 42 to output audio guidance after the buzzer 41 has finished outputting the sound.

[0087] That is, the sound from the buzzer 41 and the voice guidance from the speaker 42 do not overlap, and the voice guidance is output from the speaker 42 after the sound from the buzzer 41 has stopped. This makes it easier for the operator to hear the voice guidance from the speaker 42.

[0088] Furthermore, the display of the notification information by the display device 43 is linked to the output of a sound from the buzzer 41 and the output of audio guidance from the speaker 42. When first executing the first control to make the buzzer 41 output a sound, the notification control device 2 is configured to make the buzzer 41 output the sound and simultaneously display the notification information on the display device 43. In other words, the display device 43 starts displaying the notification information at the same time as the buzzer 41 starts outputting the sound.

[0089] Then, once the display device 43 displays the notification information, it continues to display the notification information until the speaker 42 finishes outputting the voice guidance. The notification control device 2 causes the display device 43 to display content similar to the content of the voice guidance from the speaker 42. In other words, the content of the notification information displayed on the display device 43 is linked to the content of the voice guidance from the speaker 42. At the timing when the voice guidance from the speaker 42 ends, the display device 43 ends displaying the notification information related to automatic steering and switches to another screen. In other words, the display device 43 ends displaying the notification information at the same time as the output of the voice guidance from the speaker 42 ends.

[0090] There are multiple types of notification signals that can be output from the steering control device 1. The types of notification signals are categorized according to priority. That is, the notification signals that can be output by the steering control device 1 include multiple notification signals according to priority.

[0091] 9, a first report signal and a second report signal are shown as the multiple report signals. The second report signal has a higher priority than the first report signal. That is, in this embodiment, the multiple report signals include the first report signal and the second report signal that has a higher priority than the first report signal.

[0092] In the example shown in FIG. 9 , after a first alert signal is output, the alert control device 2 executes a first control to cause the buzzer 41 to first output a sound based on the first alert signal. Then, after the buzzer 41 finishes outputting the sound, the alert control device 2 executes a second control to cause the speaker 42 to output audio guidance based on the first alert signal. However, in the example shown in FIG. 9 , a second alert signal having a higher priority than the first alert signal is output before the alert control device 2 completes execution of the second control based on the first alert signal. In this case, the alert control device 2 is configured to stop execution of the first control and the second control based on the first alert signal. Then, the alert control device 2 is configured to execute the first control and the second control based on the second alert signal.

[0093] 9, when the second alert signal is output, the alert control device 2 completes the first control based on the first alert signal, and the buzzer 41 has finished sounding. However, if the second alert signal is output before the alert control device 2 completes the first control based on the first alert signal, the alert control device 2 immediately stops the first control based on the first alert signal. Then, the buzzer 41 stops sounding based on the first alert signal. In other words, when the second alert signal is output, the buzzer 41 is configured to output a sound based on the second alert signal without waiting for the completion of the sound output based on the first alert signal.

[0094] 9, immediately before the second alert signal is output, the alert control device 2 is in the middle of executing the second control based on the first alert signal, and the speaker 42 is in the middle of outputting audio guidance. When the second alert signal is output, the alert control device 2 immediately stops executing the second control based on the first alert signal. The audio guidance from the speaker 42 based on the second alert signal is then stopped midway. In other words, when the second alert signal is output, the speaker 42 is configured to immediately stop outputting audio guidance based on the first alert signal, and to output audio guidance based on the second alert signal after the buzzer 41 has finished outputting the sound based on the second alert signal.

[0095] 9 , immediately before the second alert signal is output, the alert control device 2 executes control to cause the display device 43 to display the alert information based on the first alert information, and the display device 43 displays the alert information based on the first alert information. When the second alert signal is output, the alert control device 2 immediately stops controlling the display device 43 based on the first alert signal and executes control of the display device 43 based on the second alert signal. Then, the display on the display device 43 switches from the display based on the first alert signal to the display based on the second alert signal. Additionally, the display device 43 ends displaying the alert information based on the second alert signal simultaneously with the end of the output of the audio guidance from the speaker 42 based on the second alert signal.

[0096] 10, a first report signal and a third report signal are shown as the multiple report signals. The third report signal has the same priority as the first report signal or a lower priority than the first report signal. In other words, in this embodiment, the multiple report signals include the first report signal and a third report signal having the same priority as the first report signal or a lower priority than the first report signal.

[0097] In the example shown in FIG. 10 , after a first alert signal is output, the alert control device 2 executes a first control to cause the buzzer 41 to first output a sound based on the first alert signal. Then, after the buzzer 41 has finished outputting the sound, the alert control device 2 executes a second control to cause the speaker 42 to output audio guidance based on the first alert signal. In the example shown in FIG. 10 , a third alert signal is output before the alert control device 2 completes execution of the second control based on the first alert signal. In this case, the alert control device 2 is configured to continue execution of the first control and the second control based on the first alert signal. Then, after completing execution of the first control and the second control based on the first alert signal, the alert control device 2 executes the first control and the second control based on the third alert signal.

[0098] 10, the notification control device 2 has completed the first control based on the first notification signal and the buzzer 41 has finished sounding at the timing when the third notification signal is output. For example, even if the third notification signal is output before the notification control device 2 has completed the execution of the first control based on the first notification signal, the notification control device 2 continues the execution of the first control based on the first notification signal. In other words, when the third notification signal is output, the buzzer 41 is configured to finish outputting the sound based on the first notification signal and to output the sound based on the third notification signal only after the speaker 42 has finished outputting the voice guidance based on the first notification signal.

[0099] 10, immediately before the third alert signal is output, the alert control device 2 is in the middle of executing the second control based on the first alert signal, and the speaker 42 is in the middle of outputting the voice guidance. At the timing when the third alert signal is output, the alert control device 2 continues to execute the second control based on the first alert signal. In other words, when the third alert signal is output, the speaker 42 is configured to output the voice guidance based on the third alert signal after completing the output of the voice guidance based on the first alert signal, and further after the buzzer 41 has finished outputting the sound based on the third alert signal.

[0100] 10 , immediately before the third alert signal is output, the alert control device 2 executes control to cause the display device 43 to display the alert information based on the first alert information, and the display device 43 displays the alert information based on the first alert information. When the third alert signal is output, the alert control device 2 continues to control the display device 43 based on the first alert signal, and executes control of the display device 43 based on the third alert signal after the audio guidance from the speaker 42 based on the first alert signal is completed. That is, the display on the display device 43 switches from the display based on the first alert signal to the display based on the third alert signal at the completion of the audio guidance from the speaker 42 based on the first alert signal. Additionally, the display device 43 ends displaying the alert information based on the third alert signal simultaneously with the completion of the output of the audio guidance from the speaker 42 based on the third alert signal.

[0101] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

[0102] (1) The above-described buzzer 41 may not be provided. In this case, the notification control device 2 may be configured to cause the speaker 42 to output audio guidance and the display device 43 to display notification information when executing control over the speaker 42 and the display device 43, respectively.

[0103] (2) The above-described speaker 42 may not be provided. In this case, the notification control device 2 may be configured to cause the buzzer 41 to output a sound and the display device 43 to display notification information simultaneously when executing control over the buzzer 41 and the display device 43.

[0104] (3) The above-mentioned display device 43 may not be provided.

[0105] (4) In the embodiment described above with reference to FIG. 10 , if the third notification signal is output after the first notification signal has been output but before the execution of the second control based on the first notification signal is completed, the notification control device 2 continues the execution of the first control and the second control based on the first notification signal. The notification control device 2 is also configured to execute the first control and the second control based on the third notification signal after completing the execution of the first control and the second control based on the first notification signal, but this is not limited to this embodiment. The notification control device 2 may be configured not to accept the third notification signal if the third notification signal is output after the first notification signal has been output but before the execution of the second control based on the first notification signal is completed. In this case, the notification control device 2 does not execute the first control and the second control based on the third notification signal. In other words, the notification control device 2 may be configured not to execute the first control and the second control based on the third notification signal if the third notification signal is output after the first notification signal has been output but before the execution of the second control based on the first notification signal is completed.

[0106] (5) As shown in FIG. 11 , a field work vehicle may be equipped with a second speaker 44 that outputs voice guidance (second voice guidance) related to information other than automatic steering. In this case, the notification control device 2 may be configured to execute a stop control that causes the second speaker 44 to immediately stop output of the voice guidance (second voice guidance) when executing at least one of the first control and the second control. The second speaker 44 may be, for example, a speaker of a radio or music player, or a speaker of a wireless device. As shown in FIG. 12 , the notification control device 2 executes the stop control simultaneously when the first control and the second control are being executed based on the first notification signal, the second notification signal, and the third notification signal, respectively. While the notification control device 2 executes the stop control, the output of the second speaker 44 is stopped.

[0107] (6) In the above embodiment, the notification signals including the first notification signal, the second notification signal, and the third notification signal are output from the steering control device 1 to the notification control device 2, but this is not limited to this embodiment. For example, the notification control device 2 may be configured to output notification signals including the first notification signal, the second notification signal, and the third notification signal while monitoring the state of the steering control device 1.

[0108] (7) In the embodiment described above with reference to FIG. 9 , if the second notification signal is output before the notification control device 2 completes the execution of the first control based on the first notification signal, the notification control device 2 immediately halts the execution of the first control based on the first notification signal. This embodiment is not limited to this. For example, the notification control device 2 may be configured to continue the execution of the first control based on the first notification signal for a predetermined time period rather than immediately halting the execution of the first control based on the first notification signal even when the second notification signal is output. After the predetermined time period has elapsed, the notification control device 2 may be configured to halt the execution of the first control based on the first notification signal and execute the first control based on the second notification signal. Furthermore, the notification control device 2 may be configured to continue the execution of the second control based on the first notification signal for a predetermined time period rather than immediately halting the execution of the second control based on the first notification signal even when the second notification signal is output. After the predetermined time period has elapsed, the notification control device 2 may be configured to halt the execution of the second control based on the first notification signal and execute the first control based on the second notification signal.

[0109] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the present invention. [Industrial Applicability]

[0110] The present invention , news This can be applied to a field work vehicle equipped with a sensing device. [Explanation of symbols]

[0111] 2: Notification control device (notification control unit) 5: Tractor (work vehicle) 41: Buzzer 42: Speaker (first speaker) 43:Display device (display section) 44: Second speaker

Claims

1. A farm work vehicle capable of automatic steering along a target route, a buzzer that outputs a buzzing sound; a first speaker that outputs audio guidance; a steering control device configured to be able to change between a non-control state in which the automatic steering is not performed and an automatic control state in which the automatic steering is performed, and which executes the automatic steering along the target route when in the automatic control state; an alert control unit capable of controlling each of the buzzer and the first speaker based on an alert signal from the steering control device, The field work vehicle is configured such that, when executing control over each of the buzzer and the first speaker, the notification control unit first executes a first control that causes the buzzer to output the blowing sound, and then executes a second control that causes the first speaker to output the voice guidance regarding the automatic steering after the buzzer has finished outputting the blowing sound.

2. A display unit capable of displaying notification information is provided, The field work vehicle according to claim 1 , wherein the notification control unit is configured to cause the buzzer to output the sound and the display unit to display the notification information when the first control is executed.

3. The field work vehicle according to claim 2 , wherein the display unit is configured to, once displaying the notification information, continue displaying the notification information until the first speaker finishes outputting the voice guidance.

4. the notification control unit is configured to execute the first control and the second control based on a plurality of notification signals according to priority; the plurality of notification signals include a first notification signal and a second notification signal having a higher priority than the first notification signal; 4. The field work vehicle according to any one of claims 1 to 3, wherein, when the second notification signal is output after the first notification signal has been output but before execution of the second control based on the first notification signal has been completed, the notification control unit is configured to cancel execution of the first control and the second control based on the first notification signal and to execute the first control and the second control based on the second notification signal.

5. 5. The field work vehicle according to claim 4, wherein the buzzer is configured to output the blowing sound based on the second alert signal without waiting for completion of output of the blowing sound based on the first alert signal when the second alert signal is output.

6. 6. The field work vehicle according to claim 5, wherein the first speaker is configured to immediately stop outputting the voice guidance based on the first alert signal when the second alert signal is output, and to start outputting the voice guidance based on the second alert signal after the buzzer has finished outputting the blowing sound based on the second alert signal.

7. the notification control unit is configured to execute the first control and the second control based on a plurality of notification signals according to priority; the plurality of notification signals include a first notification signal and a third notification signal having the same priority as the first notification signal or a priority lower than the first notification signal; the notification control unit is configured to, when the third notification signal is output after the first notification signal has been output and before the execution of the second control based on the first notification signal has been completed, execute the first control and the second control based on the third notification signal after completing the execution of the first control and the second control based on the first notification signal, the buzzer is configured to, when the third alert signal is output, output the buzzing sound based on the third alert signal after the first speaker has finished outputting the voice guidance based on the first alert signal, 4. The field work vehicle according to claim 1, wherein the first speaker is configured to output the voice guidance based on the third notification signal after the buzzer has finished outputting the sound based on the third notification signal when the third notification signal is output.

8. the notification control unit is configured to execute the first control and the second control based on a plurality of notification signals according to priority; the plurality of notification signals include a first notification signal and a third notification signal having the same priority as the first notification signal or a priority lower than the first notification signal; 4. The field work vehicle according to claim 1, wherein the notification control unit is configured to be unable to execute the first control and the second control based on the third notification signal if the third notification signal is output after the first notification signal has been output but before execution of the second control based on the first notification signal has been completed.

9. A field work vehicle as described in any one of claims 1 to 3, wherein the notification control unit outputs the voice guidance to the first speaker to start the automatic steering as the second control in response to the steering control device changing its state from the non-control state to the automatic control state.

10. A field work vehicle described in any one of claims 1 to 3, wherein the steering control device is configured to execute a suppression process that suppresses the steering amount of the automatic steering when the state is changed from the non-controlled state to the automatic control state and the automatic steering is started.

11. a second speaker that outputs second voice guidance related to information other than the automatic steering; 4. The field work vehicle according to claim 1, wherein the notification control unit is configured to immediately stop outputting the second voice guidance from the second speaker when at least one of the first control and the second control is executed.

12. A farm work vehicle capable of automatic steering along a target route, a buzzer that outputs a buzzing sound; a display unit capable of displaying notification information; a steering control device configured to be able to change between a non-control state in which the automatic steering is not performed and an automatic control state in which the automatic steering is performed, and which executes the automatic steering along the target route when in the automatic control state; a notification control unit that can control each of the buzzer and the display unit based on a notification signal from the steering control device, The notification control unit is configured to, when executing control over each of the buzzer and the display unit, cause the buzzer to output the buzzing sound and simultaneously cause the display unit to display the notification information regarding the automatic steering.

13. A farm work vehicle capable of automatic steering along a target route, a first speaker that outputs audio guidance; a display unit capable of displaying notification information; a steering control device configured to be able to change between a non-control state in which the automatic steering is not performed and an automatic control state in which the automatic steering is performed, and which executes the automatic steering along the target route when in the automatic control state; an alert control unit capable of controlling each of the first speaker and the display unit based on an alert signal from the steering control device, The notification control unit is configured to, when executing control over each of the first speaker and the display unit, cause the first speaker to output the voice guidance regarding the automatic steering and simultaneously cause the display unit to display the notification information regarding the automatic steering.

Images