Work vehicles

Abstract

To enable a traveling direction of a vehicle body to be simply arranged.SOLUTION: A work vehicle comprises: a vehicle body which can travel; a steering wheel which steers the vehicle body; a control device which can control travel of the vehicle body through either manual steering with the steering wheel or automatic steering with the steering wheel operated so that the vehicle body travels along a planned travel line parallel to a preset travel reference line; and a display device which displays a guidance screen for setting the travel reference line before the control device starts control of the travel of the vehicle body through the automatic steering. The guidance screen includes: a message display section for displaying a message urging an operator to set starting and end points of the travel reference line; an icon display section for displaying a starting point icon indicating the starting point and an end point icon indicating the end point; and an operation display section for displaying operation when setting the starting and end points.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Conventionally, Patent Document 1 is known as an agricultural work machine. The agricultural work machine of Patent Document 1 includes a traveling body capable of switching between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line set parallel to a reference traveling line, and a switching switch capable of switching between manual traveling and automatic traveling. Further, the agricultural work machine sets the starting point of the reference traveling line after pressing the right instruction button during traveling along the furrow, and sets the end point of the reference traveling line by pressing the left instruction button during traveling. That is, the reference traveling line is set before automatic steering.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the agricultural work machine of Patent Document 1, before automatic steering, the reference traveling line is set by operating the right instruction button, the left instruction button, etc., and during the setting of the reference traveling line, the body is aligned using the index line drawn on the field surface by the marker device and the center mascot, and then automatic steering along the set traveling line is started. The driver needs to grasp matters related to traveling such as steering of the body in the setting before the start of automatic steering. If the driver cannot grasp the matters related to traveling, it is difficult to set the reference traveling line, travel during the setting of the reference traveling line, and align the body.

[0005] Therefore, in view of the above problems, the present invention aims to provide a work vehicle that can easily adjust the direction of travel of the vehicle body. [Means for solving the problem]

[0006] The technical means of the present invention for solving this technical problem is characterized by the following points. The work vehicle comprises a drivable body, a steering wheel for steering the body, a control device capable of controlling the movement of the body by either manual steering using the steering wheel or automatic steering which steers the steering wheel so that the body moves along a planned driving line parallel to a preset driving reference line, and a display device that displays a guidance screen for setting the driving reference line before the control device starts controlling the movement of the body by automatic steering, the guidance screen is 、 The aforementioned Driving standard line An operation display unit that shows the operation for setting the start and end points, An icon display section that shows the set settings status with icons, Includes Furthermore, the icon display unit displays an icon indicating the set starting point when the driver sets the starting point of the driving reference line by operating a switch, and displays an icon indicating the set ending point when the driver sets the ending point of the driving reference line by operating a switch, and the driving reference line is set when the driver operates a switch according to the guidance screen. .

[0007] before The operation display unit is in the width direction of the guidance screen. On the other hand Displayed at the edge The icon display unit is displayed at the other end of the width direction of the guidance screen. It is. The guidance screen includes a central display unit that displays a starting point icon indicating the starting point of the driving reference line and an ending point icon indicating the ending point of the driving reference line, and the icon display unit is arranged separately from the central display unit. . [Effects of the Invention]

[0008] According to the present invention, the direction of travel of the vehicle body can be easily adjusted. [Brief explanation of the drawing]

[0009] [Figure 1] This is a diagram showing the configuration and control block diagram of the tractor. [Figure 2] This is an explanatory diagram illustrating automatic steering. [Figure 3A] This is an explanatory diagram illustrating the correction amount in a push switch. [Figure 3B] This is an explanatory diagram illustrating the correction amount in a slide switch. [Figure 4A] It is a diagram showing a first correction unit and a second correction unit in a push switch. [Figure 4B] It is a diagram showing a first correction unit and a second correction unit in a slide switch. [Figure 5A] It shows the state when the calculated vehicle body position shifts to the right during straight driving in automatic steering. [Figure 5B] It shows the state when the calculated vehicle body position shifts to the left during straight driving in automatic steering. [Figure 6A] It is a diagram showing a driving screen M1. [Figure 6B] It is a diagram showing a driving screen M2. [Figure 7A] It is a diagram showing the driving screen M2 when the travel reference line is not set. [Figure 7B] It is a diagram showing the driving screen M2 after setting the starting point of the travel reference line. [Figure 7C] It is a diagram showing the driving screen M2 after setting the end point of the travel reference line. [Figure 8] It is a diagram showing the travel of a tractor when adjusting the travel conditions. [Figure 9A] It is a diagram showing a guidance screen M3 displaying a command to steer the vehicle body to the right. [Figure 9B] It is a diagram showing a guidance screen M3 displaying a command to steer the vehicle body to the left. [Figure 9C] It is a diagram showing a guidance screen M3 displaying a command to keep the vehicle body straight. [Figure 9D] It is a diagram showing the guidance screen M3 when the straight travel distance of the vehicle body is below a predetermined value. [Figure 10A] It is a diagram showing the driving screen M2 during automatic steering. [Figure 10B] It is a diagram showing the driving screen M2 when setting the correction amount on the left side of the vehicle body during automatic steering. [Figure 10C] It is a diagram showing the driving screen M2 when setting the correction amount on the right side of the vehicle body during automatic steering. [Figure 11] It is a diagram showing a modified example of a correction display unit. [Figure 12A] This is a diagram showing the guidance screen M4 before enabling the settings mode. [Figure 12B] This figure shows the guidance screen M4 when setting the starting point of the driving reference line. [Figure 12C] This figure shows the guidance screen M4 when setting the endpoint of the driving reference line. [Figure 13] This is a diagram showing the screen during the warm-up. [Figure 14A] This figure shows the guidance screen M4 immediately after the conditions for automatic steering are met. [Figure 14B] This figure shows the guidance screen M4 when the correction amount for the left side of the vehicle is set during automatic steering. [Figure 14C] This figure shows the guidance screen M4 when the correction amount for the right side of the vehicle is set during automatic steering. [Figure 15A] This figure shows the guidance screen M4 that appears when the vehicle speed exceeds a predetermined level during automatic steering. [Figure 15B] This figure shows the guidance screen M4 when the vehicle speed becomes zero during automatic steering. [Figure 16A] This figure shows a modified version of the guidance screen M3. [Figure 16B] This figure shows the guidance screen M3 after Figure 16A. [Figure 17] This is an explanatory diagram illustrating automatic steering. [Figure 18] This is a view of the cover in front of the driver's seat, as seen from the driver's side. [Figure 19] This figure shows a control block diagram in a modified example of a work vehicle equipped with a steering switch. [Figure 20] This is an overall view of the tractor. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the present invention will be described based on the drawings. <Overview of work vehicles> Figure 20 is a side view showing one embodiment of the work vehicle 1, and Figure 20 is a top view showing one embodiment of the work vehicle 1. In this embodiment, the work vehicle 1 is a tractor. However, the work vehicle 1 is not limited to a tractor, and may be agricultural machinery (agricultural vehicle) such as a combine harvester or transplanter, or construction machinery (construction vehicle) such as a loader.

[0011] In the following explanation, the front of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 (direction of arrow A1 in Figure 20) will be referred to as the front, the rear of the driver (direction of arrow A2 in Figure 20) as the rear, the left side of the driver (direction of arrow B1 in Figure 20) as the left, and the right side of the driver (direction of arrow B2 in Figure 20) as the right. Furthermore, the horizontal direction (direction of arrow B3 in Figure 20), which is perpendicular to the front-to-back direction of the work vehicle 1, will be referred to as the vehicle width direction.

[0012] As shown in Figure 20, the tractor 1 comprises a body 3, a prime mover 4, and a transmission 5. The body 3 has a running gear 7 and is capable of moving. The running gear 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of the tire type or the crawler type. Similarly, the rear wheels 7R may also be of the tire type or the crawler type. The prime mover 4 is a diesel engine, an electric motor, etc., and in this embodiment it is a diesel engine. The transmission 5 can switch the propulsion force of the running gear 7 by changing the gear, and can also switch the running gear 7 between forward and reverse. The vehicle body 3 is provided with a driver's seat 10.

[0013] Furthermore, a coupling section 8, consisting of a three-point linkage mechanism, is provided at the rear of the vehicle body 3. Working devices can be attached to and detached from the coupling section 8. By connecting the working devices to the coupling section 8, the vehicle body 3 can tow the working devices. The working devices include tilling devices for cultivating, fertilizer spreaders for spreading fertilizer, pesticide sprayers for spraying pesticides, harvesting devices for harvesting, mowing devices for cutting pasture grass, etc., spreading devices for spreading pasture grass, etc., hay collecting devices for collecting pasture grass, etc., and shaping devices for shaping pasture grass, etc.

[0014] As shown in Figure 1, the transmission 5 comprises a main shaft (drive shaft) 5a, a main transmission unit 5b, a sub-transmission unit 5c, a shuttle unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. The drive shaft 5a is rotatably supported in the housing case (transmission case) of the transmission 5, and power from the crankshaft of the engine 4 is transmitted to the drive shaft 5a. The main transmission unit 5b has multiple gears and a shifter that changes the connection of these gears. The main transmission unit 5b changes the rotation input from the drive shaft 5a and outputs it (changes speed) by appropriately changing the connection (meshing) of the multiple gears with the shifter.

[0015] The sub-transmission unit 5c, like the main transmission unit 5b, has multiple gears and a shifter that changes the connections between these gears. The sub-transmission unit 5c changes the rotation input from the main transmission unit 5b and outputs it (changes the speed) by appropriately changing the connections (meshing) of the multiple gears with the shifter. The shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13. Power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching unit 13 is composed of, for example, a hydraulic clutch, and the rotation direction of the shuttle shaft 12, i.e., the forward and reverse of the tractor 1, is switched by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R is connected after the rear wheels 7R are attached. The axle 21R is supported so that it can rotate freely.

[0016] The PTO power transmission unit 5e includes a PTO drive shaft 14 and a PTO clutch 15. The PTO drive shaft 14 is rotatably supported and capable of receiving power from the drive shaft 5a. The PTO drive shaft 14 is connected to the PTO shaft 16 via gears or the like. The PTO clutch 15 is, for example, a hydraulic clutch, and by engaging and disengaging the hydraulic clutch, it switches between a state in which power from the drive shaft 5a is transmitted to the PTO drive shaft 14 and a state in which power from the drive shaft 5a is not transmitted to the PTO drive shaft 14.

[0017] The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch are capable of receiving power from the drive shaft 5a, for example, power from the shuttle shaft 12 is transmitted via gears and a transmission shaft. Power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front differential device 20F, and the front differential device 20R rotatably supports the front axle 21F to which the front wheels 7F are attached.

[0018] The first clutch 17 and the second clutch 18 are composed of hydraulic clutches, etc. An oil passage is connected to the first clutch 17, and this oil passage is connected to a first operating valve 25 to which hydraulic fluid discharged from a hydraulic pump is supplied. The first clutch 17 switches between an engaged state and an engaged state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and this oil passage is connected to a second operating valve 26. The second clutch 18 switches between an engaged state and an engaged state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves, and they switch between an engaged state and an engaged state by energizing or demagnetizing the solenoid of the solenoid valve.

[0019] When the first clutch 17 is disengaged and the second clutch 18 is engaged, power from the shuttle shaft 12 is transmitted to the front wheel 7F via the second clutch 18. This results in four-wheel drive (4WD) with both the front and rear wheels driven by power, and the rotational speeds of the front and rear wheels are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is engaged and the second clutch 18 is disengaged, it becomes four-wheel drive, and the rotational speed of the front wheels is faster than that of the rear wheels (4WD increased speed state). Furthermore, when both the first clutch 17 and the second clutch 18 are engaged, power from the shuttle shaft 12 is not transmitted to the front wheel 7F, resulting in two-wheel drive (2WD) with only the rear wheels driven by power. <Overview of the position detection device> Tractor 1 is equipped with a position detection device 40. The position detection device 40 is a device that detects its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. That is, the position detection device 40 receives received signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite and detects the position (e.g., latitude and longitude) based on the received signals. The position detection device 40 consists of a receiving device 41 and an inertial measurement unit (IMU) 42. The system has the following features. The receiving device 41 is a device that has an antenna and the like to receive signals transmitted from positioning satellites, and is mounted on the vehicle body 3 separately from the inertial measuring device 42. In this embodiment, the receiving device 41 is mounted on a locating device provided on the vehicle body 3. Note that the mounting location of the receiving device 41 is not limited to this embodiment.

[0020] The inertial measuring device 42 includes an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, and the like. It is installed below the vehicle body 3, for example, the driver's seat 10, and the inertial measuring device 42 can detect the roll angle, pitch angle, yaw angle, etc., of the vehicle body 3. <Overview of steering systems, manual steering, and automatic steering> As shown in Figure 1, the tractor 1 is equipped with a steering device 11. The steering device 11 is used for driving This device is capable of both manual steering, where the vehicle body 3 is steered by the operator, and automatic steering, where the vehicle body 3 is steered automatically without the operator's input.

[0021] The steering system 11 includes a steering handle (steering wheel) 30 and a steering shaft (rotating axis) 31 that rotatably supports the steering handle 30. The steering system 11 also includes an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulics or the like. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic fluid discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is a three-position switching valve that can be switched by the movement of a spool, for example, and switches in accordance with the steering direction (rotation direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheel 7F.

[0022] Therefore, when the driver grips the steering wheel 30 and operates it in one direction or the other, the switching position and opening degree of the control valve 34 are switched in accordance with the direction of rotation of the steering wheel 30, and the steering cylinder 35 extends or retracts to the left or right in accordance with the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheels 7F. In other words, the vehicle body 3 can change its direction of travel to the left or right by manually steering the steering wheel 30.

[0023] Next, I will explain automatic steering. As shown in Figure 2, when performing automatic steering, first, a driving reference line L1 is set before performing automatic steering. After setting the driving reference line L1, automatic steering can be performed by setting a planned driving line L2 that is parallel to the driving reference line L1. In automatic steering, the tractor 1 (vehicle body 3) is automatically steered in the direction of travel so that the vehicle position measured by the position detection device 40 matches the planned driving line L2.

[0024] Specifically, before automatic steering is performed, the tractor 1 (vehicle body 3) is moved to a predetermined position in the field (S1), and when the driver operates the steering switch 52 provided on the tractor 1 at the predetermined position (S2), the vehicle position measured by the position detection device 40 is set to the starting point P10 of the driving reference line L1 (S3). Then, when the tractor 1 (vehicle body 3) is moved from the starting point P10 of the driving reference line L1 (S4), and when the driver operates the steering switch 52 at the predetermined position (S5), the vehicle position measured by the position detection device 40 is set to the ending point P11 of the driving reference line L1 (S6). Therefore, the straight line connecting the starting point P10 and the ending point P11 is set as the driving reference line L1.

[0025] After setting the reference driving line L1 (after S6), for example, if the tractor 1 (vehicle body 3) is moved to a location different from where the reference driving line L1 was set (S7), and the driver operates the steering switch 52 (S8), a planned driving line L2, which is a straight line parallel to the reference driving line L1, is set (S9). After setting the planned driving line L2, automatic steering is started, and the direction of travel of the tractor 1 (vehicle body 3) is changed to follow the planned driving line L2. For example, if the current vehicle position is to the left of the planned driving line L2, the front wheels 7F are steered to the right, and if the current vehicle position is to the right of the planned driving line L2, the front wheels 7F are steered to the left. During automatic steering, the driving speed (vehicle speed) of the tractor 1 (vehicle body 3) can be changed by the driver manually changing the amount of operation of the accelerator member (accelerator pedal, accelerator lever) provided on the tractor 1, or by changing the gear of the transmission.

[0026] Furthermore, after automatic steering has started, if the driver operates the steering selector switch 52 at any point, Automatic steering can be terminated. That is, the endpoint of the planned driving line L2 can be set by terminating automatic steering by operating the steering switch 52. In other words, the length from the start to the end of the planned driving line L2 can be set to be longer or shorter than the driving reference line L1. To put it another way, the planned driving line L2 is not associated with the length of the driving reference line L1, and the vehicle can be driven while automatically steering for a longer distance than the length of the driving reference line L1 by using the planned driving line L2.

[0027] As shown in Figure 1, the steering system 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that performs automatic steering of the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle body position) detected by the position detection device 40. The automatic steering mechanism 37 comprises a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, etc., can be controlled based on the vehicle body position. The gear mechanism 37 includes a gear provided on the steering shaft 31 and rotating together with the steering shaft 31, and a gear provided on the rotation axis of the steering motor 38 and rotating together with the rotation axis. When the rotation axis of the steering motor 38 rotates, the steering shaft 31 automatically rotates (moves) via the gear mechanism 37, and the steering direction of the front wheels 7F can be changed so that the vehicle body position matches the planned travel line L2. <Overview of the display device> As shown in Figures 1 and 20, the tractor 1 is equipped with a display device 45. The display device 45 is a device capable of displaying various information about the tractor 1, and is capable of displaying at least the driving information of the tractor 1. The display device 45 is located in front of the driver's seat 10. <Overview of setting switches and steering selector switches> As shown in Figure 1, the tractor 1 is equipped with a setting switch 51. The setting switch 51 is a switch that switches to a setting mode in which at least the settings before the start of automatic steering are made. The setting mode is a mode in which various settings related to automatic steering are made before the start of automatic steering, for example, a mode in which the start and end points of the driving reference line L1 are set.

[0028] The setting switch 51 can be switched ON or OFF. When ON, it outputs a signal indicating that the setting mode is active, and when OFF, it outputs a signal indicating that the setting mode is inactive. Additionally, when the setting switch 51 is ON, it outputs a signal to the display device 45 indicating that the setting mode is active, and when OFF, it outputs a signal to the display device 45 indicating that the setting mode is inactive.

[0029] Tractor 1 is equipped with a steering selector switch 52. The steering selector switch 52 is a switch that switches the start or end of automatic steering. Specifically, the steering selector switch 52 can be switched up, down, forward, and backward from the neutral position. When the setting mode is active and the switch is set downward from the neutral position, it outputs the start of automatic steering. When the setting mode is active and the switch is set upward from the neutral position, it outputs the end of automatic steering. Furthermore, when the steering selector switch 52 is set backward from the neutral position and the setting mode is active, it outputs that the current vehicle position is set to the starting point P10 of the driving reference line L1. When the steering selector switch 52 is set forward from the neutral position and the setting mode is active, it outputs that the current vehicle position is set to the end point P11 of the driving reference line L1. <Overview of the correction switch> Tractor 1 is equipped with a correction switch 53. The correction switch 53 is a switch that corrects the vehicle position (latitude, longitude) measured by the position detection device 40. In other words, the correction switch 53 is a switch that corrects the vehicle position (referred to as the calculated vehicle position) calculated from the received signal (position of the positioning satellite, transmission time, correction information, etc.) and the measurement information (acceleration, angular velocity) measured by the inertial measurement device 42.

[0030] The compensation switch 53 consists of either a push switch that can be pressed or a slide switch that can be slid. The following describes the cases where the compensation switch 53 is a push switch and a slide switch, respectively. If the correction switch 53 is a push switch, the correction amount is set based on the number of times the push switch is operated. The correction amount is determined by correction amount = number of operations × correction amount per operation. For example, as shown in Figure 3A, the correction amount increases by several centimeters or tens of centimeters each time the push switch is operated. The number of times the push switch is operated is input to the first control device 60A, and the first control device 60A sets (calculates) the correction amount based on the number of operations.

[0031] Furthermore, if the correction switch 53 is a slide switch, the correction amount is set based on the amount of operation (displacement) of the slide switch. For example, the correction amount is determined by correction amount = displacement from a predetermined position. For example, as shown in Figure 3B, the correction amount increases by several centimeters or tens of centimeters for every 5 mm increase in the displacement of the slide switch. The amount of operation (displacement) of the slide switch is input to the first control device 60A, and the first control device 60A sets (calculates) the correction amount based on the displacement. Note that the method of increasing the correction amount and the rate of increase are not limited to the values ​​described above.

[0032] More specifically, as shown in Figures 4A and 4B, the correction switch 53 has a first correction unit 53A and a second correction unit 53B. The first correction unit 53A is the part that commands the correction of the vehicle body position corresponding to one side in the width direction of the vehicle body 3, i.e., the left side. The second correction unit 53B is the part that commands the correction of the vehicle body position corresponding to the other side in the width direction of the vehicle body 3, i.e., the right side.

[0033] As shown in Figure 4A, when the correction switch 53 is a push switch, the first correction unit 53A and the second correction unit 53B are ON or OFF switches that automatically return to their original position each time an operation is performed. The switches constituting the first correction unit 53A and the switches constituting the second correction unit 53B are integrated. However, the switches constituting the first correction unit 53A and the switches constituting the second correction unit 53B may be spaced apart from each other. As shown in Figure 3A, each time the first correction unit 53A is pressed, the correction amount corresponding to the left side of the vehicle body 3 (left correction amount) increases. Also, each time the second correction unit 53B is pressed, the correction amount corresponding to the right side of the vehicle body 3 (right correction amount) increases.

[0034] As shown in Figure 4B, when the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B include a knob 55 that moves left or right along the longitudinal direction of the elongated hole. When the correction switch 53 is a slide switch, the first correction unit 53A and the second correction unit 53B are spaced apart from each other in the width direction. As shown in Figure 3B, when the knob 55 is gradually displaced to the left from a predetermined reference position, the left correction amount increases according to the amount of displacement. Also, when the knob 55 is gradually displaced to the right from a predetermined reference position, the right correction amount increases according to the amount of displacement. In addition, as shown in Figure 4B, when it is a slide switch, the first correction unit 53A and the second correction unit 53B may be formed as an integrated unit, the reference position of the knob 55 may be set to the center, the left correction amount may be set when it is moved to the left from the reference position, and the right correction amount may be set when the knob 55 is moved to the right from the intermediate position.

[0035] Next, we will explain the relationship between the correction amount (left correction amount, right correction amount) from the correction switch 53, the planned route L2, and the behavior (travel trajectory) of the tractor 1 (vehicle body 3). Figure 5A shows the state when the calculated vehicle position W1 shifts to the right while the vehicle is moving straight during automatic steering. As shown in Figure 5A, when automatic steering is started, if the actual position of the tractor 1 (vehicle body 3) (actual position W2) and the calculated vehicle position W1 coincide, and the actual position W2 coincides with the planned route L2, the tractor 1 will travel along the planned route L2. In other words, in section P1 where there is no error in the positioning of the position detection device 40 and the vehicle position detected by the position detection device 40 (calculated vehicle position W1) is the same as the actual position W2, the tractor 1 will travel along the planned route L2. Note that if there is no error in the positioning of the position detection device 40 and no correction is performed, the calculated vehicle position W1 and the corrected vehicle position (corrected vehicle position) W3, corrected by the correction amount, will be the same value. The corrected vehicle position W3 is given by Corrected Vehicle Position W3 = Calculated Vehicle Position W1 - Correction Amount.

[0036] Here, near position P20, even though the actual position W2 is not deviating from the planned route L2, various factors cause an error in the positioning of the position detection device 40, causing the vehicle position W1 detected by the position detection device 40 to shift to the right relative to the planned route L2 (actual position W2), and assuming that the amount of deviation W4 is maintained, the tractor 1 will determine that there is a deviation between the calculated vehicle position W1 and the planned route L2, and will steer the tractor 1 to the left to eliminate the amount of deviation W4 between the calculated vehicle position W1 and the planned route L2. As a result, the actual position W2 of the tractor 1 will shift to the planned route L2 due to the left steering. Subsequently, suppose the driver notices that the tractor 1 is deviating from the planned route L2, and at position P21 steers the second correction unit 53B to increase the right correction amount from zero. A rightward correction amount is applied to the calculated vehicle body position W1, and the corrected vehicle body position (corrected vehicle body position) W3 can be made approximately the same as the actual position W2. In other words, by setting the rightward correction amount by the second correction unit 53B, the vehicle body position of the position detection device 40 can be corrected in a direction that eliminates the amount of deviation W4 that occurred near position P20. Furthermore, as shown in position P21 in Figure 5A, if the actual position W2 of the tractor 1 is to the left of the planned route L2 after the vehicle body position correction, the tractor 1 is steered to the right, and the actual position W2 of the tractor 1 can be made to match the planned route L2.

[0037] Figure 5B shows the state when the calculated vehicle position W1 shifts to the left while the vehicle is moving straight during automatic steering. As shown in Figure 5B, when automatic steering is started, if the actual position W2 and the calculated vehicle position W1 coincide, and the actual position W2 coincides with the planned route L2, then, similar to Figure 5A, the tractor 1 will travel along the planned route L2. That is, similar to Figure 5A, in the section P2 where there is no error in the positioning of the position detection device 40, the tractor 1 will travel along the planned route L2. Also, similar to Figure 5A, the calculated vehicle position W1 and the corrected vehicle position W3 are the same value.

[0038] Here, at position P22, due to various influences, an error occurs in the positioning of the position detection device 40, causing the vehicle position W1 detected by the position detection device 40 to shift to the left relative to the actual position W2, and assuming that the amount of shift W5 is maintained, the tractor 1 will steer to the right to eliminate the amount of shift W5 between the calculated vehicle position W1 and the planned route L2. Subsequently, suppose the driver notices that the tractor 1 has deviated from the planned route L2, and the driver steers the first correction unit 53A at position P23 to increase the left correction amount from zero. In this case, the left correction amount is added to the calculated vehicle position W1, and the corrected vehicle position (corrected vehicle position) W3 can be made approximately the same as the actual position W2. In other words, by setting the left correction amount with the first correction unit 53A, the vehicle position of the position detection device 40 can be corrected in a direction that eliminates the amount of shift W5 that occurred near position P22. Furthermore, as shown at position P23 in Figure 5B, if, after correcting the vehicle position, the actual position W2 of tractor 1 is to the right of the planned route L2, tractor 1 will be steered to the left, bringing its actual position W2 to match the planned route L2. <Placement of setting switch, steering selector switch, and correction switch> Next, we will explain the setting switch 51, the calibration switch 53, and the screen switching switch 54.

[0039] As shown in Figure 18, the outer circumference of the steering shaft 31 is the steering post 180 The outer circumference of the steering post 180 is covered by a cover 177. The cover 177 is located in front of the driver's seat 10. The cover 177 includes a panel cover 178 and a column cover 179. The panel cover 178 supports the display device 45. The upper plate portion 178a of the panel cover 178 is provided with a support portion 178e that supports the display device 45. The support portion 178e supports the display device 45 in front of the steering shaft 31 and below the steering wheel 30. The upper plate portion 178a also has a mounting surface 178f to which a setting switch 51, a correction switch 53, and a screen switching switch 54 are attached. The mounting surface 178f is located behind the support portion 178e and below the steering wheel 30. The support portion 178e and the mounting surface 178f are continuous, with the support portion 178e located at the front of the upper plate portion 178a and the mounting surface 178f located at the rear of the upper plate portion 178a. The setting switch 51, correction switch 53, and screen switching switch 54 are mounted on the mounting surface 178f. As a result, the setting switch 51, the calibration switch 53, and the screen switching switch 54 are arranged around the steering shaft 31.

[0040] A shuttle lever 181 protrudes from the left plate portion 178b of the panel cover 178. The shuttle lever 181 is a component used to switch the direction of travel of the vehicle body 3. More specifically, by operating (swinging) the shuttle lever 181 forward, the forward / reverse switching unit 13 outputs forward power to the running gear 7, and the direction of travel of the vehicle body 3 is switched to the forward direction. Conversely, by operating (swinging) the shuttle lever 181 backward, the forward / reverse switching unit 13 outputs reverse power to the running gear 7, and the direction of travel of the vehicle body 3 is switched to the reverse direction. When the shuttle lever 181 is in the neutral position, no power is output to the running gear 7.

[0041] The column cover 179 is located below the steering wheel 30 and covers the upper part of the steering shaft 31. The column cover 179 is formed in a roughly rectangular tubular shape and protrudes upward from the mounting surface 178f of the panel cover 178. In other words, the mounting surface 178f is provided around the column cover 179. Therefore, the setting switch 51, the calibration switch 53, and the screen switching switch 54, which are mounted on the mounting surface 178f, are located around the column cover 179.

[0042] Next, the placement of the setting switch 51, steering selector switch 52, correction switch 53, and screen selector switch 54 will be described in detail. As shown in Figure 18, the setting switch 51, steering selector switch 52, correction switch 53, and screen selector switch 54 are arranged around the steering shaft 31. The setting switch 51 is located on one side (left) of the steering shaft 31. The steering selector switch 52 is located on one side (left) of the steering shaft 31. In this embodiment, the steering selector switch 52 consists of a pivotable lever. The steering selector switch 52 is pivotable with a base end provided on the steering shaft 31 side as the pivot point. The base end of the steering selector switch 52 is located inside the column cover 179. The steering selector switch 52 protrudes from one side (left) of the column cover 179.

[0043] The correction switch 53 is located on the other side (right side) of the steering shaft 31. More specifically, the correction switch 53 is located to the right and rear (diagonally to the right rear) of the steering shaft 31. In relation to the column cover 179, the correction switch 53 is located to the right and rear (diagonally to the right rear) of the column cover 179. In relation to the mounting surface 178f of the panel cover 178, the correction switch 53 is located at the right rear of the mounting surface 178f. By positioning the correction switch 53 at the rear of the inclined mounting surface 178f, a longer distance is ensured between the correction switch 53 and the steering wheel 30. This makes it possible to more reliably prevent unintended operation of the correction switch 53 or steering of the steering wheel 30.

[0044] The screen switching switch 54 is located on the other side (right side) of the steering shaft 31. More specifically, the screen switching switch 54 is located to the right and in front (diagonally to the front right) of the steering shaft 31. In relation to the column cover 179, the screen switching switch 54 is located to the right and in front (diagonally to the front right) of the column cover 179. In relation to the mounting surface 178f of the panel cover 178, the screen switching switch 54 is located on the front right side of the mounting surface 178f. Furthermore, the screen switching switch 54 is located in front of the correction switch 53.

[0045] As described above, the setting switch 51, steering selector switch 52, correction switch 53, and screen selector switch 54 are arranged around the steering shaft 31. In other words, the setting switch 51, steering selector switch 52, correction switch 53, and screen selector switch 54 are concentrated around the steering shaft 31. Therefore, the driver can easily see the location of each switch. In addition, the driver can operate each switch without changing their posture while seated in the driver's seat 10. This improves operability and prevents accidental operation. Furthermore, the harnesses (wiring) routed from each switch can be shortened.

[0046] Furthermore, the arrangement of the switches described above may be reversed, with the left and right sides swapped. In other words, one side may be on the left and the other on the right, or one side may be on the right and the other on the left. Specifically, for example, the setting switch 51 and the steering selector switch 52 may be placed on the right side of the steering shaft 31, and the correction switch 53 may be placed on the left side of the steering shaft 31. <Outline of the control device> As shown in Figure 1, the tractor 1 is equipped with multiple control devices 60. These multiple control devices 60 are devices that control the travel system, the work system, calculate the vehicle position, etc. of the tractor 1. The multiple control devices 60 are the first control device 60A, the second control device 60B, and the third control device 60C.

[0047] The first control device 60A receives the received signal (received information) received by the receiving device 41 and the measured information (acceleration, angular velocity, etc.) measured by the inertial measuring device 42, and determines the vehicle position based on the received information and the measured information. For example, if the correction amount by the correction switch 53 is zero, that is, if no correction of the vehicle position by the correction switch 53 is commanded, the first control device 60A does not perform any correction on the calculated vehicle position W1 calculated from the received information and the measured information, and determines the calculated vehicle position W1 to be the vehicle position used during automatic steering. On the other hand, if a correction of the vehicle position by the correction switch 53 is commanded, the first control device 60A sets the correction amount for the vehicle position based on either the number of times the correction switch 53 is operated or the amount of operation (displacement) of the correction switch 53, and determines the corrected vehicle position W3, obtained by correcting the calculated vehicle position W1 with the correction amount, to be the vehicle position used during automatic steering.

[0048] The first control device 60A sets a control signal based on the vehicle position (calculated vehicle position W1, corrected vehicle position W3) and the planned travel line L2, and outputs the control signal to the second control device 60B. Based on the control signal output from the first control device 60A, the second control device 60B controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle 3 travels along the planned travel line L2.

[0049] As shown in Figure 17, if the deviation between the vehicle position and the planned travel line L2 is less than a threshold, the second control device 60B maintains the rotation angle of the steering motor 38's rotation axis. If the deviation between the vehicle position and the planned travel line L2 is greater than or equal to a threshold, and the tractor 1 is positioned to the left of the planned travel line L2, the second control device 60B rotates the rotation axis of the steering motor 38 so that the steering direction of the tractor 1 is to the right. If the deviation between the vehicle position and the planned travel line L2 is greater than or equal to a threshold, and the tractor 1 is positioned to the right of the planned travel line L2, the second control device 60B rotates the rotation axis of the steering motor 38 so that the steering direction of the tractor 1 is to the left. In the above-described embodiment, the steering angle of the steering device 11 was changed based on the deviation between the vehicle body position and the planned travel line L2. However, if the direction of the planned travel line L2 and the direction of travel (vehicle body direction) F1 of the tractor 1 (vehicle body 3) are different, that is, if the angle θ of the vehicle body direction F1 with respect to the planned travel line L2 is greater than or equal to a threshold, the second control device 60B may set the steering angle so that the angle θ is zero (vehicle body direction F1 coincides with the direction of the planned travel line L2). Furthermore, the second control device 60B may set the final steering angle in automatic steering based on the steering angle obtained based on the deviation (position deviation) and the steering angle obtained based on the direction (direction deviation θ). The setting of the steering angle in automatic steering in the above-described embodiment is just an example and is not limited to this.

[0050] The third control device 60C raises and lowers the coupling section 8 in response to the operation of an operating member provided around the driver's seat 10. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Furthermore, the control of the driving system, the control of the work system, and the calculation of the vehicle body position described above are not limited. <Display device details> Settings related to the operation of the vehicle body 3 can be made using the display device 45.

[0051] The details of the display device 45 will be described below. As shown in Figure 1, the display device 45 can acquire various information detected by the detection device 47 via an in-vehicle network or the like. The detection device 47 includes an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, a prime mover speed sensor, a steering angle sensor, an oil temperature sensor, an axle rotation sensor, etc. For example, the display device 45 can display driving information such as the remaining fuel amount detected by the fuel sensor, the water temperature value detected by the water temperature sensor, and the prime mover speed detected by the prime mover speed sensor.

[0052] Furthermore, the display device 45 can acquire information from various switches, such as the setting switch 51, the steering selector switch 52, and the correction switch 53. The display device 45 can acquire information on whether the setting switch 51 is ON or OFF, information on the start and end of automatic steering from the steering selector switch 52, and information on the commands for the starting point P10 and ending point P11 of the driving reference line L1 from the steering selector switch 52.

[0053] As shown in Figure 18, the display device 45 includes a display unit 46 that displays various information. The display unit 46 includes a fixed display unit 46A that displays warnings, etc., and a variable display unit 46B that can change the information displayed. The fixed display unit 46A has a panel on which warnings, etc., are displayed, and an illumination unit such as an LED that illuminates the symbols on the panel with a light source. The variable display unit 46B is composed of a panel such as an organic EL or liquid crystal and displays various information related to the operation (driving) of the tractor 1. <About the M1 driver screen> Figure 6A shows the operating screen M1 of the tractor 1. The operating screen M1 is the screen displayed on the variable display unit 46B when the setting switch 51 is OFF, that is, when the setting mode is disabled.

[0054] The display device 45, i.e., the operating screen M1, has an operating display unit 61 that shows operating information. The operating display unit 61 includes a rotation display unit 62 that displays the rotation speed of the prime mover 4 (prime mover rotation speed) as operating information. The rotation display unit 62 includes a level display unit 63. Section 63 is a part that displays the engine speed in steps. For example, the level display section 63 includes a scale section 65 and an indicator section 80. The scale section 65 has, for example, a first line 65A and a plurality of second lines 65B assigned at predetermined intervals along the first line 65A. The scale section 65 also has a third line 65C spaced at a predetermined interval from the first line 65A. The first line 65A and the third line 65C are formed, for example, in a semicircular shape, with one end (for example, the left side) representing the minimum value and the other end (for example, the right side) representing the maximum value.

[0055] The indicator section 80 is a bar whose length changes according to the magnitude of the engine speed. For example, the indicator section 80 is located between the first line 65A and the third line 65C. When the engine speed is at its minimum value of zero, it is located on one end (left side) of the first line 65A and the third line 65C and is the shortest in length. When the engine speed is at its maximum value, it extends from one end (left side) of the first line 65A and the third line 65C to the other end (right side) of the first line 65A and the third line 65C and is the longest in length. The rotation display section 62 includes a numerical display section 64. The numerical display section 64 displays the engine speed in numbers. For example, the rotation display section 62 is located inside the semicircle of the first line 65A and the third line 65C.

[0056] Therefore, according to the operation display unit 61, the prime mover speed, such as engine speed, can be displayed in stages by the level display unit 63 and also displayed numerically by the speed display unit 62. The driving screen M1 has an icon display section 67 that displays multiple icon sections 66. The icon display section 67 is the part that displays various information using the icon sections 66. Specifically, it displays settings related to driving, such as automatic steering, for example, the setting status set in setting mode, using the icon sections 66. The icon display section 67 is located in a different position from the driving display section 61, for example, it is located at the top of the driving screen M1.

[0057] The multiple icon sections 66 are the first icon section 66A, the second icon section 66B, the third icon section 66C, the fourth icon section 66D, the fifth icon section 66E, the sixth icon section 66F, the seventh icon section 66G, and the eighth icon section 66H. Note that the operation screen M1 does not need to have all of the multiple icon sections 66 (66A, 66B, 66C, 66D, 66E, 66F, 66G, 66H), and is not limited to the embodiments described above.

[0058] The first icon section 66A is displayed when a warning occurs. The second icon section 66B is displayed when the starting point P10 of the driving reference line L1 is set. The third icon section 66C is displayed when the ending point P11 of the driving reference line L1 is set. The fourth icon section 66D is displayed when the conditions for automatic steering are met. For example, the fourth icon section 66D is displayed when the setting mode is enabled, the setting of the driving reference line L1 is complete, and the planned driving line L2 can be set.

[0059] The fifth icon section 66E is displayed when the coupling section 8 is in the raised or lowered position. The sixth icon section 66F is displayed when the 4WD speed is increased. The seventh icon section 66G changes color, etc., according to the reception sensitivity of the receiving signal of the receiving device 41. The display of the eighth icon section 66H changes according to the conditions for automatic steering. If automatic steering is not possible for any reason, for example, if the setting mode is invalid, the receiving sensitivity of the receiving device 41 is low and the vehicle position cannot be detected, or if the driving reference line L1 has not been set, the eighth icon section 66H will turn gray to indicate that automatic steering is not possible. Conversely, if automatic steering becomes possible for any reason, for example, if the setting mode is enabled, the receiving sensitivity of the receiving device 41 is above a predetermined level and the vehicle position can be detected, and the driving reference line L1 has been set, the eighth icon section 66H will turn green to indicate that automatic steering is possible. The display format of the eighth icon section 66H is as described above. Not limited to display format. <About the M2 driver screen> Figure 6B shows the operating screen M2 of tractor 1. The operating screen M2 is the screen displayed on the variable display unit 46B when the setting switch 51 is ON, that is, when the setting mode is enabled. Like the operating screen M1, the operating screen M2 also includes an operating display unit 61 and an icon display unit 67. In other words, the operating screen M2 is a screen that can display the same information as the operating screen M1, at least regarding operating information. The operating display unit 61 and the icon display unit 67 are the same as those on the operating screen M1, so their explanation is omitted.

[0060] When the setting mode changes from disabled to enabled, the display device 45 changes the display state of the operation display unit 61 on the operation screen M2 to a different display format from the display state of the operation display unit 61 on the operation screen M1. In other words, when the setting mode is enabled, the display device 45 makes the display state of the operation display unit 61 when it is enabled different from the display format of the operation display unit 61 when it is disabled. The display device 45 uses a different color (coloring) to indicate the operation display unit 61 on the operation screen M2 than it does on the operation screen M1. Specifically, the display device 45 uses the same color for the scale section 65 of the level display unit 63 on the operation screen M2, i.e., the same color for the first line 65A, the second line 65B, and the third line 65C as on the operation screen M1, but uses a different color for the indicator section 80 on the operation screen M2 than on the operation screen M1. In other words, when the setting mode is enabled, the color of the indicator section 80 becomes different from the color of the indicator section 80 when the setting mode is disabled.

[0061] Furthermore, the display device 45 sets the color of the numerical display unit 64 on the operation screen M2, that is, the color of the numbers indicating the prime mover speed, to a different color than that on the operation screen M1. In other words, when the setting mode is enabled, the color of the numerical display unit 64 will be different from the color of the numerical display unit 64 when the setting mode is disabled. In the driving screen M2, the system is in setting mode, allowing for settings to be made before automatic steering begins. Figures 7A to 7C show the screen transitions of the driving screen M2 when setting the starting point P10 and ending point P11 of the driving reference line L1 as part of the settings before automatic steering begins. As shown in Figure 7A, if the driving reference line L1 has not been set, the second icon section 66B and the third icon section 66C are not displayed on the driving screen M2. When the driver sets the starting point P10 of the driving reference line L1 by operating the steering switch 52, the second icon section 66B is displayed on the driving screen M2, as shown in Figure 7B. Also, when the driver sets the ending point P11 of the driving reference line L1 by operating the steering switch 52, the third icon section 66C is displayed on the driving screen M2, as shown in Figure 7C.

[0062] Therefore, by operating the steering switch 52 while driving the tractor 1 with the driving screen M2 displayed, the starting point P10 and ending point P11 of the driving reference line L1 can be set. In addition, by checking whether the second icon section 66B and the third icon section 66C are displayed on the driving screen M2, the driver can confirm whether the driving reference line L1 has been set on the driving screen M2. <About the guidance screen M3> Now, after setting the driving reference line L1, it is necessary to meet the conditions for automatic steering in order to perform automatic steering. For example, as shown in Figure 8, if the direction (direction of travel) of the tractor 1 is not parallel to the driving reference line L1 after turning, it is difficult to steer the tractor 1 along the planned driving line L2 which is parallel to the driving reference line L1, and in such cases, it is determined that the conditions for automatic steering are not met. Thus, if the conditions for automatic steering are not met after setting the driving reference line L1 using the driving screen M2, the display device 45 switches the screen displayed on the variable display unit 46B from the driving screen M2 to the guidance screen M3, as shown in Figures 9A to 9D.

[0063] The guidance screen M3 is a screen that displays commands (content) related to the driving of the vehicle body 3. In other words, the guidance screen M3 is a screen on which settings related to driving can be made. For example, the guidance screen M3 is a screen that displays commands (content) for setting driving conditions such as automatic steering. For example, as shown in Figures 9A and 9B, the guidance screen M3 is a screen that instructs a change in the direction of the vehicle body 3 at least before the start of automatic steering. For example, as shown in Figure 9A, it is a screen that instructs the vehicle body 3 to turn to the right, or as shown in Figure 9B, it is a screen that instructs the vehicle body 3 to turn to the left. The instruction to turn the vehicle body 3 to the right or to the left is determined by the current direction of travel of the vehicle body 3. The direction of travel of the vehicle body 3 can be detected by the position detection device 40.

[0064] As shown in Figure 8, if the direction of travel of the vehicle body 3 is oblique to the right with respect to the direction of the extension of the reference line L1 (longitudinal direction), the guidance screen M3 instructs the vehicle body 3 to turn to the left. Also, as shown in Figure 8, if the direction of travel of the vehicle body 3 is oblique to the left with respect to the longitudinal direction of the reference line L1, the guidance screen M3 instructs the vehicle body 3 to turn to the right.

[0065] The guidance screen M3 includes a message display unit 70. The message display unit 70 is the part that explains the steering of the vehicle body 3 in text (message). In other words, the message display unit 70 is the part that indicates the steering direction of the vehicle body 3 in text as a driving command (content). As shown in Figure 9A, the message display unit 70 displays text indicating that the vehicle body 3 should be turned to the right if it is necessary to turn the vehicle body 3 to the right. As shown in Figure 9B, the message display unit 70 displays text indicating that the vehicle body 3 should be turned to the left if it is necessary to turn the vehicle body 3 to the left.

[0066] Furthermore, as shown in Figure 9C, the message display unit 70 displays text indicating that the vehicle 3 should proceed straight ahead if the direction of travel of the vehicle 3 is to be maintained. As shown in Figure 9D, if the vehicle 3 needs to proceed straight ahead for a predetermined distance, and the straight-ahead distance does not reach the predetermined distance, the message display unit 70 displays a message indicating that the straight-ahead distance has not reached the predetermined distance. In addition, in Figure 9D, the message display unit 70 may also display a message indicating that the vehicle 3 should proceed straight ahead for a predetermined distance.

[0067] The guidance screen M3 includes a steering instruction unit 69. The steering instruction unit 69 is the part that indicates the steering direction of the vehicle body 3. As shown in Figure 9A, when the direction of travel of the vehicle body 3 needs to be turned to the right, the steering instruction unit 69 displays an arrow indicating that the direction of travel of the vehicle body 3 should be turned to the right. As shown in Figure 9B, when the direction of travel of the vehicle body 3 needs to be turned to the left, the steering instruction unit 69 displays an arrow indicating that the direction of travel of the vehicle body 3 should be turned to the left. As shown in Figure 9C, when the direction of travel of the vehicle body 3 should be maintained, a pair of arrows facing each other are displayed to indicate that the vehicle body 3 should move straight.

[0068] Furthermore, the guidance screen M3 includes an operation display unit 61 and a steering wheel display unit 68. That is, the guidance screen M3 displays the operation display unit 61 and the steering wheel display unit 68 on the same screen (same screen). Specifically, in the guidance screen M3, the operation display unit 61 and the steering wheel display unit 68 are displayed in the section (range) MA1 where the explanation is changed. The operation display unit 61 in the guidance screen M3 is a section that displays operation information, similar to the operation screens M1 and M2, and displays at least a part of the operation information shown in the operation screens M1 and M2. In this embodiment, the operation display unit 61 in the guidance screen M3 includes a numerical display unit 64 that shows the prime mover speed numerically, and displays the engine speed, etc. Note that the operation display unit 61 in the guidance screen M3 may also include the rotation display unit 62 shown in the operation screens M1 and M2. Alternatively, the operation display unit 61 in the guidance screen M3 may include both the numerical display unit 64 and the rotation display unit 62 shown in the operation screens M1 and M2.

[0069] The steering wheel display section 68 is the part that shows the steering wheel 30 using a graphic or other representation. The driving display section 61 is displayed on one or the other side of the steering wheel display section 68. The steering wheel display section 68 and the steering instruction section 69 are displayed separately. However, the steering wheel display section 68 and the steering instruction section 69 may be displayed overlapping. The steering wheel indicator unit 68 has a circular gripping portion 68A that the driver grasps on the steering wheel 30, and a connecting portion 68B that connects the gripping portion 68A. The steering direction of the steering wheel indicator unit 68 is changed according to the steering direction indication of the vehicle body 3.

[0070] For example, if the steering wheel display unit 68 and the message display unit 70 are displayed on the same screen, i.e., the guidance screen M3, the steering direction of the steering wheel display unit 68 will be changed according to the steering direction indicated by the message display unit 70. Alternatively, if the steering wheel display unit 68 and the steering instruction unit 69 are displayed on the same screen, i.e., the guidance screen M3, the steering direction of the steering wheel display unit 68 will be changed according to the steering direction indicated by the steering instruction unit 69. Alternatively, if the steering wheel display unit 68, the message display unit 70, and the steering instruction unit 69 are displayed on the same screen, the guidance screen M3, the steering direction of the steering wheel display unit 68 will be changed according to the steering direction indicated by the message display unit 70 and the steering instruction unit 69.

[0071] As shown in Figure 9A, the steering wheel indicator 68 indicates that the steering direction is to the right when it is necessary to turn the vehicle body 3 to the right by rotating the gripping part 68A and the connecting part 68B to the right around the center of the gripping part 68A. As shown in Figure 9B, the steering wheel indicator 68 indicates that the steering direction is to the left when it is necessary to turn the vehicle body 3 to the left by rotating the gripping part 68A and the connecting part 68B to the left around the center of the gripping part 68. As shown in Figure 9C, when the direction of travel of the vehicle body 3 is maintained, the steering direction is straight by not rotating the gripping part 68A and the connecting part 68B.

[0072] Figures 16A and 16B show modified examples of the guidance screen M3. The guidance screen M3 includes a plurality of condition display units that indicate driving conditions. The plurality of condition display units are a first condition display unit 101 that indicates a first condition and a second condition display unit 102 that indicates a second condition. In this embodiment, a condition display unit that indicates two conditions is described as an example, but the number of condition display units is not limited to the embodiment.

[0073] The first condition display unit 101 displays, for example, "Please make it parallel to the reference line," indicating that the direction of travel of the tractor 1 (vehicle body 3) should be parallel to the reference driving line L1 as a condition for automatic steering. The second condition display unit 102 displays, for example, "Please drive straight for 3m," indicating that the tractor 1 (vehicle body 3) should travel a predetermined distance in a straight line as a condition for automatic steering. On the guidance screen M3, among the multiple condition display units, the condition display unit where the driving condition is met (condition met display unit) changes its display format from the condition display unit where the driving condition is not met (condition not met display unit). For example, as shown in Figure 16B, in automatic steering, if the direction of travel of the tractor 1 (vehicle body 3) is parallel to the reference driving line L1 and the straight-line distance is less than the predetermined distance, the color of the first condition display unit 101 is colored to a low-saturation color (for example, white, gray, etc.), and the color of the second condition display unit 102 is colored to a high-saturation color. In detail, the display device 45 sets the saturation of the characters in the condition fulfillment display section to be lower than the saturation of the characters in the condition failure display section. This allows the driver to easily understand which items meet the driving conditions and which do not.

[0074] As described above, guidance screen M3 displays commands (content) for preparing the driving conditions of tractor 1 (vehicle body 3). Therefore, by looking at the commands shown on guidance screen M3, the driver can prepare tractor 1 (vehicle body 3) for driving conditions while steering and driving. Since driving information is displayed on guidance screen M3, the driving conditions If it is necessary to drive tractor 1 to prepare the area, the tractor 1 can be driven while viewing its driving information, and the tractor 1 can be brought into a state that conforms to the driving conditions. Furthermore, since both the steering wheel display unit 68 and the driving display unit 61 are displayed on the guidance screen M3, for example, tractor 1 can be driven while understanding both the driving information and the steering direction of the steering wheel 30.

[0075] As shown in Figure 8, when the direction of travel of the tractor 1 (vehicle body 3) becomes approximately parallel to the driving reference line L1 and the conditions for automatic steering are met, the display device 45 returns the screen displayed on the variable display unit 46B from the guidance screen M3 to the driving screen M2. At this point, when the driver operates the steering switch 52 and automatic steering is started, automatic steering can be performed while driving information is displayed on the driving screen M2, as shown in Figure 10A. When the correction switch 53 is operated while automatic steering is in progress, the display device 45 displays the correction amount of the vehicle position on the driving screen M2. As shown in Figures 10B and 10C, the driving display unit 61 on the driving screen M2 includes a correction display unit 71. The correction display unit 71 is the part that displays the correction amount of the vehicle position as driving information. That is, the display device 45 displays the correction display unit 71 when the setting mode is enabled.

[0076] As shown in Figures 10B and 10C, the numbers displayed on the correction display unit 71 indicate the number of times the correction switch 53 has been operated, and the correction display unit 71 displays the number of operations as the correction amount. As described above, since the correction amount corresponds to the number of operations, the driver can grasp the correction amount in stages by looking at the number of operations. Specifically, the correction display unit 71 includes a first correction display unit 72 and a second correction display unit 73. The first correction display unit 72 is the part that displays the correction amount (left correction amount) for the vehicle body position on one side in the width direction of the vehicle body 3, i.e., the left side. The second correction display unit 73 is the part that displays the correction amount (right correction amount) for the vehicle body position on the other side in the width direction of the vehicle body 3, i.e., the right side. When the correction switch 53 is operated, either the first correction display unit 72 or the second correction display unit 73 is displayed on the driving screen M2.

[0077] As shown in Figure 10B, the first correction display unit 72 is displayed to the left of the level display unit 63 when the first correction unit 53A is operated during automatic steering. As shown in Figure 10C, the second correction display unit 73 is displayed to the right of the level display unit 63 when the second correction unit 53B is operated during automatic steering. That is, the first correction display unit 72 is displayed on the left side corresponding to the first correction unit 53A, and the second correction display unit 73 is displayed on the right side corresponding to the second correction unit 53B.

[0078] The first correction display unit 72 includes an arrow section 74A and a numerical value section 75A. The arrow section 74A indicates the corrected direction, i.e., one side (left side) in the width direction of the vehicle body 3. The numerical value section 75A indicates the number of operations performed on the first correction unit 53A, and the value counts up as the number of operations increases. The second correction display unit 73 includes an arrow section 74B and a numerical value section 75B. The arrow section 74B indicates the corrected direction, i.e., the other side (right side) in the width direction of the vehicle body 3. The numerical value section 75B indicates the number of operations performed on the second correction unit 53B, and the value counts up as the number of operations increases.

[0079] In the above-described embodiment, the correction display unit 71 indicated the magnitude of the correction amount in stages by displaying the number of operations as the correction amount. However, as an alternative to this, as shown in Figure 11, the length of the arrow sections 74A and 74B may be changed based on the correction amount of the vehicle body position, or multiple levels (indicator sections) 76 may be provided in the arrow sections 74A and 74B and the level 76 may be changed according to the correction amount. In the indicator section 76, for example, the number of displays increases as the number of operations of the correction switch 53 increases, or the number of displays increases as the steering amount of the correction switch 53 increases. Furthermore, the correction display unit 71 does not indicate the correction amount itself. You can also represent this with numbers.

[0080] When the display device 45 is showing one of the driving screens M2 shown in Figures 10A to 10C, and the steering switch 52 is operated and automatic steering ends, the display device 45 displays a message on the driving screen M2 indicating that automatic steering has ended, and returns to either the driving screen M2 shown in Figure 9C or the driving screen M1 shown in Figure 6A. As described above, the correction display unit 71 is displayed on the driving screen M2, so the driver can easily understand the amount of correction made by the correction switch 53 and the direction of the correction by looking at the correction display unit 71 during automatic steering. <About Guidance Screen M4> In the embodiment described above, when the setting switch 51 is turned from OFF to ON while the driving screen M1 is displayed on the display device 45, a guidance screen M3 is displayed which displays commands related to the driving of the vehicle body 3 via the driving screen M2. However, when the screen switching switch 54 is operated while the driving screen M1 is displayed, or when the screen switching switch 54 is operated while the driving screen M2 is displayed, it is possible to display a guidance screen M4 as shown in Figures 12A to 12C. The guidance screen M4 is a screen for making settings related to driving, and for example, it is a screen that displays the setting of the driving reference line L1 and commands (contents) for adjusting the driving conditions of the vehicle body 3. In other words, the guidance screen M4 is a screen that can display navigation for adjusting the driving conditions.

[0081] As shown in Figures 12A to 12C, the guidance screen M4 includes a message display unit 77, an operation display unit 61, and a steering wheel display unit 68. In other words, the guidance screen M3 also displays the operation display unit 61 and the steering wheel display unit 68 on the same screen (identical screen). The message display unit 77 is a part that displays various commands in text. As shown in Figure 12A, when the setting mode is set to disabled, the message display unit 77 displays a message indicating that the setting switch 51 should be turned ON, for example, "Please set to GS mode." As shown in Figure 12B, when the setting mode is set to enabled, the message display unit 77 displays a message indicating that the starting point P10 of the driving reference line L1 should be set, for example, "Please register the starting point." Also, as shown in Figure 12C, the message display unit 77 displays a message indicating that the ending point P11 of the driving reference line L1 should be set, for example, "Please register the ending point."

[0082] The operation display unit 61 on the guidance screen M4, like the operation screens M1 and M2, is a part that displays operation information, and displays at least a part of the operation information shown on the operation screens M1 and M2. On the guidance screen M4, the operation display unit 61 is displayed in the part (range) MA2 where the explanation is changed. In this embodiment, the operation display unit 61 on the guidance screen M4 includes a numerical display unit 64 that shows the prime mover speed numerically, and displays the engine speed, etc. The operation display unit 61 on the guidance screen M4 may also include the rotation display unit 62 shown on the operation screens M1 and M2. Alternatively, the operation display unit 61 on the guidance screen M4 may include both the numerical display unit 64 and the rotation display unit 62 shown on the operation screens M1 and M2.

[0083] The steering wheel display unit 68 on the guidance screen M4 also has a gripping portion 68A and a connecting portion 68B. Furthermore, the steering wheel display unit 68 on the guidance screen M4 represents a switching display unit 78 that graphically shows the steering switch 52. As shown in Figure 12B, the switching display unit 78 indicates the operating position when setting the starting point P10 of the driving reference line L1, and the tip of the switching display unit 78 is located below the gripping portion 68A from the neutral position. As shown in Figure 12C, the switching display unit 78 indicates the operating position when setting the ending point P11 of the driving reference line L1, and the tip of the switching display unit 78 is located above the gripping portion 68A from the neutral position. Additionally, when setting the starting point P10 and ending point P11 of the driving reference line L1, the guidance screen M4 displays the operating direction of the steering switch 52 corresponding to the switching display unit 78 as an arrow. As shown in 79. Additionally, on the guidance screen M4, a second icon section 66B indicating the starting point P10 of the driving reference line L1 and a third icon section 66C indicating the ending point P11 of the driving reference line L1 are displayed in a different position from the icon display section 67, i.e., in the center in the width direction.

[0084] If the position detection device 40 requires warm-up when the screen switching switch 54 is operated, the display device 45 will display a warm-up screen as shown in Figure 13. Once the warm-up is complete, the display device 45 will switch to the guidance screen M4 shown in Figure 12A. As described above, the guidance screen M4 allows the driver to set the driving reference line L1 with explanations. In other words, although the driving reference line L1 can also be set on the driving screen M2, the display device 45 displays the guidance screen M4 separately from the driving screen M2, so the driver can set the driving reference line L1 using the guidance screen M4 without knowing the settings for automatic steering.

[0085] Furthermore, after the driving reference line L1, etc., is set by a driving command on the guidance screen M4, if the driver switches to the driving screens M1 and M2 through operations such as screen switching, the second icon section 66B and the third icon section 66C will indicate that the starting point P10 and ending point P11 of the driving reference line L1 have been set on the driving screens M1 and M2. Furthermore, as shown in Figures 12A to 12C, if the conditions for automatic steering are not met after setting the driving reference line L1 on the guidance screen M4, the display device 45 switches the screen displayed on the variable display unit 46B from guidance screen M4 to guidance screen M3, as shown in Figures 9A to 9D. After the display device 45 switches the screen displayed on the variable display unit 46B from guidance screen M4 to guidance screen M3, if the conditions for automatic steering are met, the display device 45 displays guidance screen M4 again, as shown in Figure 14A.

[0086] As shown in Figure 14A, when the driving reference line L1 is set and the conditions for automatic steering are met, the guidance screen M4 displays the second icon section 66B and the third icon section 66C, as well as the fourth icon section 66D. Furthermore, when automatic steering has not been started, the message display section 77 on the guidance screen M4 displays a message indicating that automatic steering can be started using the steering selector switch 52, for example, "Please turn on the GS function." Also, when automatic steering has not been started, the guidance screen M4 displays an arrow section 83. The arrow section 83 is located near the steering wheel display section 68 and the selector display section 78 and indicates the direction of operation for the steering selector switch 52 to instruct the start of automatic steering. As shown in Figure 14A, when the conditions for automatic steering are met but automatic steering has not been started, the message display section 77 and the arrow section 83 on the guidance screen M4 become indicator displays indicating that automatic steering can be started using the steering selector switch 52. The display methods of the message display unit 77 and the arrow unit 83 are not limited to the embodiments described above. Although both the message display unit 77 and the arrow unit 83 have been shown as instruction display units, the instruction display unit may be either the message display unit 77 or the arrow unit 83.

[0087] When the driver operates the steering selector switch 52 to initiate automatic steering, the display state of the guidance screen M4 changes to the state shown in Figures 14B and 14C. As shown in Figures 14B and 14C, the driving display unit 61 and the steering wheel display unit 68 are still displayed on the guidance screen M4 even after automatic steering has been initiated. As shown in Figures 14B and 14C, after automatic steering begins, a message display unit 82 is displayed on the guidance screen M4 in addition to the message display unit 77. The message display unit 82 displays a message indicating that automatic steering can be stopped (ended) by operating the steering selector switch 52, for example, "Operate the lever upwards to stop the function." After automatic steering begins, an arrow unit 81 is displayed on the guidance screen M4. The arrow unit 81 is located near the steering display unit 68 and the selector display unit 78 and indicates the steering selector switch 52 to signal the end of automatic steering. This indicates the direction of operation.

[0088] Furthermore, when the correction switch 53 is operated while automatic steering is in operation, the display device 45 displays the vehicle position correction amount, i.e., the correction display unit 71, on the guidance screen M4. The correction display unit 71 displayed on the guidance screen M4 is the same as the correction display unit 71 displayed on the driving screen M2, and displays the number of operations as the correction amount. The correction display unit 71 displayed on the guidance screen M4 also includes a first correction display unit 72 and a second correction display unit 73. As shown in Figure 14B, the first correction display unit 72 on the guidance screen M4 is displayed to the left of the message display unit 82 when the first correction unit 53A is operated during automatic steering. As shown in Figure 14C, the second correction display unit 73 is displayed to the right of the message display unit 82 when the second correction unit 53B is operated during automatic steering. Note that the first correction display section 72 of the guidance screen M4 includes an arrow section 74A and a numerical value section 75A, and the second correction display section 73 of the guidance screen M4 includes an arrow section 74B and a numerical value section 75B, but since it is the same as the driving screen M2, the explanation is omitted.

[0089] When the display device 45 is showing either the guidance screen M4 shown in Figure 14B or Figure 14C, and the steering switch 52 is operated to end automatic steering, the display device 45 displays a message indicating that automatic steering has ended on the guidance screen M4 and returns to either the guidance screen M4 shown in Figure 14A or the driving screen M1 shown in Figure 6A. As described above, the display device 45 can display conditions for maintaining automatic steering and other driving conditions after the conditions for automatic steering and other driving conditions have been met. Specifically, the display device 45 displays a guidance screen M4 for maintaining automatic steering while automatic steering is in progress. When automatic steering is being performed while the guidance screen M4 shown in Figures 14B and 14C is displayed, if the vehicle speed of the tractor 1 (vehicle body 3) exceeds a predetermined speed, the guidance screen M4 shown in Figures 14B and 14C switches to the guidance screen M4 shown in Figure 15A. The message display unit 77 of the guidance screen M4 in Figure 15A displays the state of the tractor 1 during automatic steering, that is, that the vehicle speed is excessive. The message display unit 82 of the guidance screen M4 displays a message indicating that the vehicle speed should be reduced as a condition for maintaining automatic steering, and displays "The speed is excessive. Please reduce your speed." The driving display unit 61 of the guidance screen M4 also includes a vehicle speed display unit 90. The vehicle speed display unit 90 displays the current vehicle speed, that is, the vehicle speed during automatic steering, as a number. When the driver reduces the vehicle speed of the tractor 1 (vehicle body 3) to below the vehicle speed determined by automatic steering by operating the accelerator, etc., the guidance screen M4 switches back to the guidance screen M4 shown in Figures 14B and 14C.

[0090] Furthermore, when automatic steering is being performed while the guidance screen M4 shown in Figures 14B and 14C is displayed, if the vehicle speed of tractor 1 (vehicle body 3) becomes zero, the guidance screen M4 shown in Figures 14B and 14C switches to the guidance screen M4 shown in Figure 15B. The message display unit 77 of the guidance screen M4 in Figure 15B displays the status of tractor 1 during automatic steering, i.e., that the vehicle speed is zero. The message display unit 82 of the guidance screen M4 also displays a message indicating that the vehicle speed must be greater than zero as a condition for maintaining automatic steering, and displays "The vehicle is stopped. Please restore speed." When the driver increases the vehicle speed of tractor 1 (vehicle body 3) to greater than zero by operating the accelerator, etc., the guidance screen M4 switches back to the guidance screen M4 shown in Figures 14B and 14C.

[0091] In the embodiment described above, Figures 15A and 15B were shown as screens indicating the conditions for maintaining automatic steering while the guidance screen M4 displayed after the start of automatic steering was being shown. However, when automatic steering is being performed while the driving screen M2 shown in Figures 10A to 10C is displayed, if the vehicle speed exceeds a predetermined speed or becomes zero, the screen displayed on the variable display unit 46B may be switched from the driving screen M2 to the guidance screen M4 in Figure 15A or the guidance screen M4 in Figure 15B. After switching to the guidance screen M4 and the guidance screen M4 in Figure 15B, if the conditions for maintaining automatic steering are met, the system switches from the guidance screen M4 to the driving screen M2.

[0092] The work vehicle 1 comprises a drivable body 3, a steering handle 30 for steering the body 3 by rotation, a position detection device 40 mounted on the body 3 that detects the position of the body 3 based on signals from positioning satellites, a correction switch 53 for commanding correction of the position of the body 3 detected by the position detection device 40, a corrected body position which is the position of the body 3 corrected by the operation of the correction switch 53, and an automatic steering mechanism 37 that automatically steers the body 3 based on the planned travel line L2. With this configuration, even if the position of the body 3 detected by the position detection device 40 (calculated body position W1) deviates from the actual position W2 of the work vehicle 1 (body 3) such as a tractor 1 due to various influences, the position of the body 3 (body position) can be corrected by the correction switch 53 after the automatic steering starts, allowing the body 3 to travel along the planned travel line L2. In other words, since the calculated body position W1 can be corrected by the correction switch 53, the influence of the detection accuracy of the position detection device 40 can be reduced.

[0093] The correction switch 53 includes a first correction unit 53A that commands the correction of the position of one side of the vehicle body 3 in the width direction, and a second correction unit 53 that commands the correction of the position of the other side of the vehicle body 3 in the width direction. With this, even if the calculated vehicle body position W1 is shifted to one side or the other, the first correction unit 53A and the second correction unit 53B can easily correct the calculated vehicle body position W1 in the direction of the shift.

[0094] A correction switch 53 is connected to a control device 60 that controls the automatic steering mechanism 37. The control device 60 sets the amount of correction for the position of the vehicle body 3 based on the number of times the correction switch 53 is operated. This allows the driver to change the amount of correction simply by increasing or decreasing the number of times the correction switch 53 is operated. The control device 60 sets the correction amount for the position of the vehicle body 3 based on the amount operated on the correction switch 53. This allows the driver to change the correction amount simply by adjusting the amount operated on the correction switch 53.

[0095] The work vehicle 1 is equipped with a steering switch 52 that switches between automatic steering and manual steering. This makes it easy to switch between automatic steering, which drives the vehicle body 3 along the planned route L2, and manual steering, which allows the driver to drive the vehicle body 3 using the steering wheel 30. Furthermore, the work vehicle 1 includes a steering wheel 30, a vehicle body 3 capable of driving either by manual steering using the steering wheel 30 or by automatic steering of the steering wheel 30 based on the planned driving line, a setting switch 51 for enabling or disabling a setting mode that performs at least the settings before starting automatic steering, and a driving display unit 61 that displays driving information when the vehicle body 3 is driving, and a display device 45 that changes the display state of the driving display unit 61 to a different display state from when the setting mode is disabled when the setting mode is switched to enabled. With this, in a vehicle body 3 that can perform both manual and automatic steering, the driver can easily understand whether or not the vehicle is in a state where it can easily perform the settings before automatic steering simply by looking at the driving display unit 61.

[0096] The work vehicle 1 is equipped with a prime mover 4, and the operation display unit 61 includes a rotation display unit 62 that displays the rotation speed of the prime mover as operating information. The display device 45 changes the color of the rotation display unit 62 when in setting mode to a different color than when the setting mode is disabled. This allows the driver to indicate whether the setting mode is enabled or disabled by the difference in color of the prime mover rotation speed, which the driver pays particular attention to when operating the vehicle. In other words, the driver can be quickly made aware that the setting mode is enabled.

[0097] The rotation display unit 62 includes a level display unit 63 that displays the engine speed in stages and a numerical display unit 64 that displays the engine speed numerically. This allows the driver to easily determine whether the setting mode is enabled or disabled by looking at at least the level display unit 63 and the engine speed display. The work vehicle 1 is equipped with a position detection device 40 mounted on the vehicle body 3 that detects the position of the vehicle body 3 based on signals from positioning satellites, and a correction switch 53 that corrects the position of the vehicle body 3 detected by the position detection device 40. The driving display unit 61 includes a correction display unit 71 that displays the amount of correction of the position of the vehicle body 3 by the correction switch 53 as driving information, and the display device 45 displays the correction display unit 71 when in setting mode. With this, the driver can simultaneously grasp the driving information displayed on the driving display unit 61 and the correction amount displayed on the correction display unit 71, making it easier to grasp the status of automatic steering.

[0098] The correction display unit 71 displays the number of times the correction switch 53 has been operated as the correction amount. This allows the driver to easily understand how much the calculated vehicle position W1 has been corrected simply by looking at the number of times the correction switch 53 has been operated displayed on the correction display unit 71. The correction display unit 71 also displays the magnitude of the correction amount in steps. This allows the driver to easily understand how much the calculated vehicle position W1 has been corrected simply by looking at the steps of the magnitude of the correction amount displayed on the correction display unit 71.

[0099] The correction display unit 71 includes a first correction display unit 72 that displays the correction amount for the position of one side of the vehicle body 3 in the width direction, and a second correction display unit 73 that displays the correction amount for the position of the other side of the vehicle body 3 in the width direction. With this, the driver can easily understand the extent of the calculated correction amount W1 for one or the other side of the vehicle body 3 in the width direction simply by looking at either the first correction display unit 72 or the second correction display unit 73.

[0100] The work vehicle 1 is equipped with a display device 45, which has a steering wheel display unit 68 that shows the steering wheel 30 and a driving display unit 61 that displays driving information when the vehicle body 3 is in motion, and displays the steering wheel display unit 68 and the driving display unit 61 on the same screen. As a result, since the steering wheel display unit 68 and the driving display unit 61 are displayed on the same screen, the driver can simultaneously grasp the status of the steering wheel 30 and driving information when performing either automatic steering or manual steering. In other words, the driver can easily grasp the steering of the steering wheel. For example, by looking at the driving display unit and the steering wheel display unit displayed on the same screen, the driver can operate the vehicle while grasping both the driving information and the steering of the steering wheel when driving with either manual or automatic steering.

[0101] The steering wheel display unit 68 and the driving display unit 61 are displayed on a guidance screen that instructs the driver to change the direction of the vehicle body 3 at least before the automatic steering starts. As a result, if it is necessary to change the direction of the vehicle body 3 before the automatic steering starts, the driver can steer the steering wheel 30 while looking at the steering wheel display unit 68, and at the same time, judge the driving information from the driving display unit 61 when steering the steering wheel 30.

[0102] The display device 45 has a steering indicator 69 that is displayed on the same screen and indicates the steering direction of the vehicle body 3. With this, the driver can view the steering wheel display unit 68 and the steering indicator unit 69 on the same screen at the same time, and can easily understand from the steering wheel display unit 68 that it is necessary to steer the steering wheel 30 and which direction the steering wheel 30 should be steered.

[0103] The display device 45 has a message display unit 70 that displays messages explaining the steering of the vehicle body 3 on the same screen. According to this, the driver will see the steering wheel display unit 68 The message display unit 70 and the steering wheel display unit 68 can be viewed simultaneously on the same screen, and it is easy to understand that steering the steering wheel 30 is necessary from the steering wheel display unit 68, as well as the steering instructions on the message display unit 70.

[0104] The steering direction displayed on the steering wheel indicator unit 68 changes according to the steering direction indication. As a result, the driver can understand the steering direction of the steering wheel 30 simply by looking at the steering wheel indicator unit 68. The work vehicle 1 is equipped with a setting switch 51 that switches to a setting mode in which at least the settings before starting automatic steering are made. In setting mode, the steering wheel display unit 68 and the driving display unit 61 are displayed on the same screen. This makes it easy to make the settings before starting automatic steering while looking at the steering wheel display unit 68 and the driving display unit 61.

[0105] The display device 45 is equipped with a steering switch 52 for switching the start or end of automatic steering in the setting mode, and the display device 45 has an indicator display unit that indicates whether automatic steering can be started by the steering switch 52. As a result, the driver can understand whether or not automatic steering is possible simply by looking at the indicator display unit shown on the display device 45, and if automatic steering is possible, the driver can easily switch the start of automatic steering using the steering switch 52.

[0106] The work vehicle 1 comprises a drivable vehicle body 3, a steering wheel 30 for steering the vehicle body 3, and a display device 45 capable of displaying a driving screen that shows driving information when the vehicle body 3 is in motion, and a guidance screen that shows commands related to the driving of the vehicle body 3. The display device 45 displays at least a portion of the driving information displayed on the driving screen on the guidance screen. As a result, when the driver makes settings related to the driving of the vehicle body 3 while looking at the guidance screen, the driving information is displayed on the guidance screen, making it easy to make settings related to driving. In other words, the driver can easily drive even while looking at the guidance screen.

[0107] The work vehicle 1 is equipped with a prime mover 4, and the display device 45 displays the prime mover's rotation speed as driving information on the guidance screen. As a result, since the rotation speed of the prime mover, which is important for the operation of the work vehicle 1, is displayed on the guidance screen, the driver can operate the work vehicle 1 while watching the prime mover's rotation speed on the guidance screen. The work vehicle 1 is equipped with a driver's seat 10, and the display device 45 is located in front of the driver's seat 10 and in a position corresponding to the steering wheel 30. This allows the driver to view the guidance screen displayed on the display device 45 while sitting in the driver's seat 10 and to drive while understanding the information on the guidance screen.

[0108] The display device 45 displays message display units 70 and 77 that show commands (contents) in text, and an operation display unit 61 that shows operation information, on the guidance screen. This allows the operator to perform operations corresponding to the message display units 70 and 77 while viewing both the information in the message display units 70 and 77 and the operation information displayed in the operation display unit 61. The work vehicle 1 comprises a drivable body 3, a steering wheel 30 for steering the body 3, and a display device 45 capable of displaying a guidance screen that shows commands for adjusting the driving conditions of at least the body 3. With this configuration, when it is necessary to adjust the driving conditions of the work vehicle 1 before driving, the driver can easily adjust the driving conditions simply by looking at the guidance screen.

[0109] The display device 45 displays a guidance screen before the start of automatic steering, and also displays a steering instruction unit 69 on the guidance screen that indicates the steering direction of the vehicle body 3 corresponding to the driving conditions. This means that if it is necessary to prepare the driving conditions before starting automatic steering, the driver can perform the steering maneuvers to prepare the driving conditions for automatic steering simply by looking at the steering instruction unit 69 displayed on the guidance screen. It is possible.

[0110] The display device 45 displays a guidance screen before the automatic steering starts, and also displays a steering wheel display unit 68 on the guidance screen that shows the steering wheel 30 facing the steering direction of the vehicle body 3 corresponding to the driving conditions. As a result, if it is necessary to prepare the driving conditions before the automatic steering starts, the driver can easily understand that they can prepare the driving conditions for automatic steering by simply looking at the steering wheel display unit 68 on the guidance screen and steering the steering wheel 30 in the steering direction indicated by the steering wheel display unit 68, making it easier to prepare the driving conditions for automatic steering.

[0111] The work vehicle 1 is equipped with a steering switch 52 that switches between manual steering and automatic steering, and the display device 45 displays a command on the guidance screen to switch the steering switch 52 to automatic steering when the driving conditions are met. As a result, the driver can easily understand that the vehicle is ready for automatic steering when the command to switch the steering switch 52 to automatic steering is displayed.

[0112] The display device 45 displays the conditions necessary to maintain the vehicle's movement once the vehicle's driving conditions have been met and driving has begun. This allows the conditions necessary to maintain driving to be met even after the vehicle's movement has started. The display device 45 displays the conditions for maintaining automatic steering as conditions for maintaining driving after automatic steering has started. According to this, even after automatic steering of the vehicle body 3 has started, the conditions for maintaining automatic steering can be met.

[0113] The display device 45 displays driving information of the vehicle 3 on the guidance screen during automatic steering. This allows the driver to understand the driving situation during automatic steering through the guidance screen. The work vehicle 1 includes a position detection device 40 mounted on the vehicle body 3 that detects the position of the vehicle body 3 based on signals from positioning satellites, a correction switch 53 that commands correction of the position of the vehicle body 3 detected by the position detection device 40, and an automatic steering mechanism 37 that automatically steers the vehicle body 3 based on the corrected vehicle body position, which is the position of the vehicle body 3 corrected by the operation of the correction switch 53, and the planned travel line L1. The display device 45 displays the amount of correction of the position of the vehicle body 3 by the correction switch 53 on the guidance screen. This allows automatic steering to be performed even while the guidance screen is displayed. <About the steering switch> In the embodiment described above, when the vehicle body 3 is automatically steered based on the corrected vehicle body position obtained by correcting the calculated vehicle body position detected by the position detection device 40 and the planned travel line, the steering of the vehicle body 3 can be changed by the correction switch 53 that corrects the calculated vehicle body position. That is, the correction switch 53 functions as a steering switch that steers the vehicle body 3 separately from the steering wheel 30. In other words, the work vehicle 1 is equipped with a steering switch. The explanation of the steering switch can be omitted by simply replacing the correction switch 53 in the embodiment described above with the steering switch 53. The explanation of the steering switch can be omitted by simply replacing the first correction unit 53A with the first steering unit and the second correction unit 53B with the second steering unit.

[0114] In other words, the work vehicle 1 comprises a drivable body 3, a steering handle 30 for steering the body 3 by rotation, and a steering switch for steering the body 3 separately from the steering handle 30. Therefore, the driver can steer the work vehicle 1 simply by operating the steering switch, without having to operate the steering handle 30. Furthermore, the steering switch is a switch that allows the vehicle body 3 to be steered by pressing or sliding. This allows the driver to easily steer the vehicle body 3 by pressing or sliding the steering switch.

[0115] The steering switches are located around the steering wheel 30. This allows the driver to quickly switch from steering using the steering wheel 30 to steering using the steering switches. In other words, the driver can easily switch between steering using the steering wheel 30 and steering using the steering switches while driving the work vehicle 1. The work vehicle 1 is equipped with a steering shaft 31 that rotatably supports the steering wheel 30, and the steering switches are located around the steering wheel 30. This allows the driver to quickly switch from steering using the steering wheel 30 to steering using the steering switches.

[0116] The steering switch includes a first steering unit for steering the vehicle body 3 in one direction and a second steering unit for steering the vehicle body 3 in the other direction. Therefore, the driver can steer the vehicle body 3 in one direction by operating the first steering unit by pressing or sliding it, and can steer the vehicle body 3 in the other direction by operating the second steering unit by pressing or sliding it. The work vehicle 1 is equipped with a position detection device 40 mounted on the vehicle body 3 that detects the position of the vehicle body 3 based on signals from positioning satellites, and an automatic steering mechanism 37 that automatically steers the vehicle body 3 based on the position of the vehicle body 3 detected by the position detection device 40. The steering switch commands a correction of the position of the vehicle body 3 detected by the position detection device 40 when pressed or slid, and the automatic steering mechanism automatically steers the vehicle body 3 based on the corrected vehicle body position, which is the position of the vehicle body 3 corrected by the pressing or sliding operation of the steering switch, and the planned route. With this, when automatic steering is being performed by the automatic steering mechanism, the steering direction during automatic steering can be easily changed by operating the steering switch.

[0117] Figure 19 shows a control block diagram in a modified example of a work vehicle equipped with a steering switch. Note that the same configuration as described above in Figure 19 will not be repeated in the description. Tractor 1 is equipped with a steering switch 153. The steering switch 153 consists of either a push switch that can be pressed or a slide switch that can be slid. The following describes the cases where the steering switch 153 is a push switch and a slide switch, respectively.

[0118] If the steering switch 153 is a push switch, the steering amount is set based on the number of times the push switch is operated. The steering amount is determined by: steering amount = number of operations × steering amount per operation. If the steering switch 153 is a slide switch, the steering amount is set based on the amount of operation (displacement) of the slide switch. For example, the steering amount is determined by: steering amount = displacement from a predetermined position. Note that the method of increasing the steering amount and the rate of increase described above are not limited to the values ​​described above.

[0119] The steering switch 153 has a first steering section 153A and a second steering section 153B. The first steering section 153A is the part that sets the steering on one side in the width direction of the vehicle body 3, i.e., the left side. The second steering section 153B is the part that sets the steering on the other side in the width direction of the vehicle body 3, i.e., the right side. If the steering switch 153 is a push switch, the first steering unit 153A and the second steering unit 153B are ON or OFF switches that automatically return to their original position each time they are operated. The switches constituting the first steering unit 153A and the switches constituting the second steering unit 153B are integrated. However, the switches constituting the first steering unit 153A and the switches constituting the second steering unit 153B may be spaced apart from each other. Each time the first steering unit 153A is pressed, the steering amount corresponding to the left side of the vehicle body 3 (left steering amount) increases. Similarly, each time the second steering unit 153B is pressed, the steering amount corresponding to the right side of the vehicle body 3 (right steering amount) increases.

[0120] If the steering switch 153 is a slide switch, the first steering unit 153A and the second steering unit Part 153B includes a knob that moves to the left or right along the longitudinal direction of the elongated hole. When the steering switch 153 is a slide switch, the first steering part 153A and the second steering part 153B are spaced apart from each other in the width direction. When the knob is gradually displaced to the left from a predetermined reference position, the amount of left steering increases according to the amount of displacement. Also, when the knob is gradually displaced to the right from a predetermined reference position, the amount of right steering increases according to the amount of displacement. In the case of a slide switch, the first steering part 153A and the second steering part 153B may be formed as a single unit, the reference position of the knob may be set to the center, and the amount of left steering may be set when the knob is moved to the left from the reference position, and the amount of right steering may be set when the knob is moved to the right from the intermediate position.

[0121] In the tractor 1, the steering mechanism 137 is a mechanism that rotates (rotates) the steering shaft 31 based on the steering input of the steering switch 153. The steering mechanism 137 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 and the gear mechanism 39 are the same as in the embodiment described above. The system includes a fourth control device 60D. The fourth control device 60D controls the steering motor 38 based on the operation of the steering switch 153. When the first steering unit 153A is operated, the fourth control device 60D sets the amount of rotation (rotation angle) of the steering shaft 31 in accordance with the amount of left steering set by the first steering unit 153A, and rotates the rotation axis of the steering motor 38 so that the steering direction of the tractor 1 is to the left. When the second steering unit 153B is operated, the fourth control device 60D sets the amount of rotation (rotation angle) of the steering shaft 31 in accordance with the amount of right steering set by the second steering unit 153B, and rotates the rotation axis of the steering motor 38 so that the steering direction of the tractor 1 is to the right. In this way, the tractor 1 can be steered to the left or to the right by operating the steering switch 153. In the modified example described above, the steering motor 38 was rotated by the steering mechanism 137. However, instead, the control valve 34 may be configured as a control valve with a solenoid valve that can set the amount of spool movement, and the fourth control device 60D may steer the tractor 1 by controlling the switching position and opening degree of the control valve 34 according to the amount of left or right steering.

[0122] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended. [Explanation of Symbols]

[0123] 1. Work vehicles 3. Vehicle Body 30 Steering Wheel 37 Automatic steering mechanism 40 Position detection device 45 Display device 46 Display section 53. Correction switch 68 Handle display section 69 Steering control unit L2 Scheduled Driving Line M3, M4, M5 Guidance Screen

Claims

1. A vehicle body that can be driven, A steering wheel for steering the vehicle body, A control device capable of controlling the movement of the vehicle body by either manual steering using the steering wheel, or automatic steering in which the steering wheel is steered so that the vehicle body moves along a predetermined driving line parallel to a set driving reference line, Before the control device starts controlling the vehicle's movement by automatic steering, a display device that displays a guidance screen for setting the driving reference line, Equipped with, The guidance screen includes an operation display unit that shows the operation for setting the start and end points of the driving reference line, and an icon display unit that displays the set setting status with icons. The aforementioned icon display unit displays an icon indicating the set starting point when the driver sets the starting point of the driving reference line by operating a switch, and displays an icon indicating the set ending point when the driver sets the ending point of the driving reference line by operating a switch, and the driving reference line is set by the driver operating a switch according to the guidance screen in the work vehicle.

2. The work vehicle according to claim 1, wherein the operation display unit is displayed at one end in the width direction of the guidance screen, and the icon display unit is displayed at the other end in the width direction of the guidance screen.

3. The guidance screen includes a central display unit that displays a starting point icon indicating the starting point of the driving reference line and an ending point icon indicating the ending point of the driving reference line, The work vehicle according to claim 1 or 2, wherein the icon display unit is arranged separately from the central display unit.

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