Work vehicle, control device, and method for controlling loader

Abstract

This work vehicle comprises: a loader with which it is possible to change the height position and the angle of an attachment at a distal end; and a control device for controlling an operation of the loader. The control device is provided with a memory for storing set values for each of a first height position and a first angle respectively indicating the height position and the angle of a target of the attachment when the work vehicle advances, and set values for each of a second height position and a second angle respectively indicating the height position and the angle of the target of the attachment when the work vehicle reverses. In response to a first user operation for causing the work vehicle to advance, first control for changing the height position and the angle of the attachment to the first height position and the first angle, respectively, is executed. In response to a second user operation for causing the work vehicle to reverse, second control for changing the height position and the angle of the attachment to the second height position and the second angle, respectively, is executed.

Description

Work vehicle, control device, and method for controlling a loader

[0001] The present disclosure relates to a work vehicle, a control device, and a method for controlling a loader.

[0002] Research and development is underway on smart agriculture, which utilizes ICT (Information and Communication Technology) and IoT (Internet of Things) as the next generation of agriculture. Research and development is also underway to automate and unmanned farm vehicles such as tractors used in farm fields. For example, farm vehicles that can run with automatic steering using positioning systems such as the Global Navigation Satellite System (GNSS), which enables precise positioning, have been put into practical use.

[0003] 2. Description of the Related Art An agricultural work vehicle such as a tractor is provided with a meter panel unit in front of the driver's seat that displays the driving speed, engine load state, and the state of each part of the work vehicle to inform the driver (operator).

[0004] Patent Document 1 describes a meter unit for a typical passenger vehicle.

[0005] JP 2012-32209 A

[0006] Display devices such as meter panels installed on agricultural machinery such as tractors are required to accurately notify operators of various information related to the vehicle while it is traveling or working. Furthermore, because such agricultural machinery performs various tasks outdoors, it is necessary to display more information than a typical passenger car. When agricultural machinery is used for smart agriculture, it becomes necessary to display even more information. However, the greater the amount of information displayed, the lower the visibility becomes, making it more difficult for the driver to obtain the necessary information.

[0007] Furthermore, the increasing demands placed on such meter panels and other display devices apply not only to agricultural machinery, but also to construction machinery used at construction sites. Hereinafter, mobile agricultural machinery and construction machinery will be collectively referred to as "work vehicles."

[0008] Various implements (work machines) can be connected to the front or rear of a work vehicle to perform a desired task. The implements include loaders such as front loaders. There is a need for a system that allows for easier adjustment of various settings related to the loader or the position or angle of the loader.

[0009] The present disclosure provides a system and a work vehicle that can solve these problems.

[0010] The present disclosure provides the solutions described in the following items.

[0011] [Item 1] A work vehicle comprising: a loader capable of changing the height position and angle of an attachment at the tip; and a control device that controls the operation of the loader, wherein the control device comprises a memory that stores set values ​​for a first height position and a first angle that indicate a target height position and angle, respectively, of the attachment when the work vehicle is moving forward, and set values ​​for a second height position and a second angle that indicate a target height position and angle, respectively, of the attachment when the work vehicle is moving backward, and executes a first control that changes the height position and angle of the attachment to the first height position and the first angle, respectively, in response to a first user operation that moves the work vehicle forward, and executes a second control that changes the height position and angle of the attachment to the second height position and the second angle, respectively, in response to a second user operation that moves the work vehicle backward.

[0012] [Item 2] The work vehicle according to item 1, further comprising a switch for switching between a first mode in which the first control and the second control are enabled and a second mode in which the first control and the second control are disabled, wherein the control device switches between the first mode and the second mode in response to a user operation of the switch, and in the first mode, executes the first control in response to the first user operation and executes the second control in response to the second user operation.

[0013] [Item 3] The work vehicle according to Item 2, wherein the memory stores set values ​​for a third height position and a third angle that indicate a target height position and angle, respectively, of the attachment in the second mode, and the control device changes the height position and angle of the attachment to the third height position and the third angle, respectively, in response to a user operating the switch to switch from the first mode to the second mode.

[0014] [Item 4] The work vehicle according to any one of items 1 to 3, further comprising a sensor that measures a load of the loader, wherein the control device executes the first control in response to a first user operation and executes the second control in response to the second user operation only when the load exceeds a threshold value.

[0015] [Item 5] The work vehicle according to Item 4, wherein the control device executes the first control in response to a first user operation and executes the second control in response to the second user operation only when a state in which the load exceeds a threshold continues for a predetermined time or more.

[0016] [Item 6] The work vehicle according to any one of Items 1 to 5, further comprising a display device that displays a setting screen for setting each of the first height position, the first angle, the second height position, and the second angle.

[0017] [Item 7] The work vehicle according to Item 6, wherein the display device is a meter panel unit including a digital display that displays the setting screen and one or more analog meters.

[0018] [Item 8] The work vehicle according to any one of Items 1 to 7, wherein the loader includes an actuator for changing a height position and an angle of the attachment, and the control device executes the first control and the second control by controlling the actuator.

[0019] [Item 9] A control device for controlling a loader in a work vehicle to which a loader capable of changing the height position and angle of an attachment at its tip is attached, the control device comprising: a memory that stores set values ​​for a first height position and a first angle that indicate a target height position and angle, respectively, of the attachment when the work vehicle is moving forward, and set values ​​for a second height position and a second angle that indicate a target height position and angle, respectively, of the attachment when the work vehicle is moving backward; and a control circuit that executes first control to change the height position and angle of the attachment to the first height position and the first angle, respectively, in response to a first user operation that moves the work vehicle forward, and executes second control to change the height position and angle of the attachment to the second height position and the second angle, respectively, in response to a second user operation that moves the work vehicle backward.

[0020] [Item 10] A method of controlling a loader that is mounted on a work vehicle and is capable of changing the height position and angle of an attachment at its tip, the method comprising: storing in a memory set values ​​for a first height position and a first angle that indicate a target height position and angle, respectively, of the attachment when the work vehicle is moving forward, and set values ​​for a second height position and a second angle that indicate a target height position and angle, respectively, of the attachment when the work vehicle is moving backward; executing a first control that changes the height position and angle of the attachment to the first height position and the first angle, respectively, in response to a first user operation that moves the work vehicle forward; and executing a second control that changes the height position and angle of the attachment to the second height position and the second angle, respectively, in response to a second user operation that moves the work vehicle backward.

[0021] According to the embodiments of the present disclosure, there are provided an information display system capable of displaying a variety of information required during work with good visibility, a work vehicle equipped with the information display system, and a display method for displaying images.

[0022] 1 is a side view schematically showing an example of a work vehicle according to an embodiment of the present disclosure; FIG. 2 is a diagram showing an example of a group of operation switches and an operation terminal provided inside a cabin of the work vehicle; FIG. 3 is a side view schematically showing another example of a work vehicle according to an embodiment of the present disclosure; FIG. 4 is a front view schematically showing a meter panel unit attached behind the steering wheel located in front of the driver's seat of the work vehicle according to an embodiment of the present disclosure; FIG. 5 is a front view showing an example of the arrangement of main components of the meter panel unit according to the present embodiment; FIG. 6 is a perspective view showing an example of the configuration of a wall surface portion of the meter panel unit according to the present embodiment; FIG. 7 is a perspective view showing an example of the configuration of a transparent cover of the meter panel unit according to the present embodiment; FIG. 8 is a front view showing an example of the arrangement of indicators of the meter panel unit according to the present embodiment; FIG. 9 is a front view showing an example of a state in which various information is displayed on the display element of the meter panel unit according to the present embodiment; FIG. 1 is a diagram showing an example in which a control device is built into a meter panel unit. FIG. 2 is a front view showing a schematic example in which an arc of the same color as the color of light emitted from the light emitting region of the arc-shaped indicator is displayed. FIG. 3 is a front view showing a schematic example in which an arc of the same color as the color of light emitted from the light emitting region of the arc-shaped indicator and other shapes including an arc of the same color are displayed. FIG. 4 is a diagram showing an example of a home screen. FIG. 5 is a diagram showing a schematic example of segmentation of a display region. FIG. 6 is a block diagram showing an example of a system for controlling the operation of a loader. FIG. 7 is a diagram for explaining the height and angle of an attachment at the tip of a loader. FIG. 8 is a flowchart showing an example of the operation of a control device. FIG. 9 is a flowchart showing an example of the operation of a control device. FIG. 10 is a diagram showing an example of a setting screen for setting three target values ​​for the height and angle of an attachment of the loader.

[0023] Hereinafter, a meter panel unit according to an embodiment of the present disclosure will be described with reference to the drawings. Note that parts that appear in multiple drawings with the same reference numerals indicate the same or equivalent parts.

[0024] The following embodiments are examples for embodying the technical idea of ​​the present invention, and the present invention is not limited to the following embodiments. Descriptions of the size, material, shape, relative arrangement, etc. of components are intended for illustration purposes only, and are not intended to limit the scope of the present invention. The size and positional relationship of the components shown in each drawing may be exaggerated to facilitate understanding.

[0025] 1A is a side view that schematically shows an example of a work vehicle 200 according to this embodiment. The illustrated work vehicle 200 is a tractor that tows an implement (replaceable work device) 300.

[0026] The work vehicle 200 shown in FIG. 1A includes a vehicle body 201, a prime mover (engine) 202, and a transmission 203. The vehicle body 201 is provided with a traveling device including wheels 204 with tires, and a cabin 205. The traveling device includes four wheels 204, axles that rotate the four wheels, and braking devices (brakes) that brake each axle. The wheels 204 in this example include a pair of front wheels 204F and a pair of rear wheels 204R. One or both of the front wheels 204F and the rear wheels 204R may be replaced with a plurality of wheels (crawlers) equipped with tracks rather than wheels with tires.

[0027] Inside the cabin 205, there are provided the meter panel unit 100 according to the embodiment of the present disclosure, a driver's seat 207, a steering wheel 220, and a group of switches for operation.

[0028] FIG. 1B is a diagram showing an example of an operation switch group 801 and an operation terminal 802 provided inside a cabin 205 of a work vehicle 200.

[0029] Inside the cabin, an operation switch group 801 including a plurality of switches that can be operated by the user is arranged. The operation switch group 801 includes, for example, a switch for selecting a gear position of the main transmission or the auxiliary transmission, a switch for switching between forward and reverse, and a switch for raising and lowering the implement.

[0030] The operation terminal 802 is a terminal through which a user performs operations related to the travel of the work vehicle 200 and the operation of the implements, and is also referred to as a virtual terminal (VT). The operation terminal 802 may include a touchscreen display and / or one or more buttons. The display may be, for example, a liquid crystal or organic light-emitting diode (OLED) display.

[0031] Referring again to FIG. 1A , the work vehicle 200 in FIG. 1A is equipped with multiple external sensors that sense the surroundings of the work vehicle 200. The external sensors may include various sensors, such as multiple cameras 270, multiple obstacle sensors 295, and multiple LiDAR sensors 290. The cameras 270 may be provided, for example, on the front, rear, left, and right sides of the work vehicle 200. The cameras 270 capture images of the environment surrounding the work vehicle 200 and generate image data. The images captured by the cameras 270 may be transmitted to a terminal device, for example, for remote monitoring. The cameras 270 are provided as needed, and the number of cameras 270 is arbitrary. The LiDAR sensor 290 is an example of an external sensor that outputs sensor data indicating the distribution of objects located in the surrounding environment of the work vehicle 200. In the example of FIG. 1A , two LiDAR sensors 290 are disposed at the front and rear of the cabin 205. The LiDAR sensor 290 may also be provided in other positions (for example, the lower front portion of the vehicle body 201). While the work vehicle 200 is traveling, each LiDAR sensor 290 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object in the surrounding environment, or the three-dimensional coordinate values ​​of each measurement point. The number of LiDAR sensors 290 is not limited to two, and may be one, three, or more. In the example of FIG. 1A , multiple obstacle sensors 295 are provided at the front and rear of the cabin 205. The obstacle sensors 295 may also be located in other locations. The obstacle sensors 295 may include, for example, a laser scanner or ultrasonic sonar. The LiDAR sensors 290 and the obstacle sensors 295 may be activated, for example, when the work vehicle 200 is traveling in autonomous driving mode. The LiDAR sensors 290 and the obstacle sensors 295 are provided as needed, and the number of each may be arbitrary. Only one of the LiDAR sensors 290 and the obstacle sensors 295 may be provided on the work vehicle 200. If they are not needed, such as when the work vehicle 200 does not have an autonomous driving function, the work vehicle 200 may not be equipped with the LiDAR sensor 290 and the obstacle sensor 295.

[0032] Work vehicle 200 further includes GNSS unit 260. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. GNSS unit 260 receives satellite signals (also referred to as GNSS signals) transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS unit 260 is provided on top of cabin 205, but may be provided in another location.

[0033] The prime mover 202 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 203 can change the propulsive force and travel speed of the work vehicle 200 by changing the speed. The transmission 203 can also switch the work vehicle 200 between forward and reverse travel.

[0034] A coupling device 208 is provided at the rear of the vehicle body 201. The coupling device 208 includes, for example, a three-point support device (also called a "three-point link" or "three-point hitch"), a PTO (Power Take Off) axle, a universal joint, and a communication cable. The coupling device 208 allows the implement 300 to be attached to and detached from the work vehicle 200. The coupling device 208 can raise and lower the three-point link using, for example, a hydraulic device, thereby changing the position or posture of the implement 300. Power can also be transmitted from the work vehicle 200 to the implement 300 via the universal joint. The work vehicle 200 can pull the implement 300 and cause the implement 300 to perform a predetermined task. The coupling device may be provided at the front of the vehicle body 201. In this case, the implement can be connected to the front of the work vehicle 200.

[0035] 1A is, for example, a sprayer that sprays a chemical onto crops, but the implement 300 is not limited to a sprayer. Any implement 300, such as a mower, a seeder, a spreader, a rake, a baler, a harvester, a plow, a harrow, or a rotary, can be connected to the work vehicle 200 and used.

[0036] In this way, the work vehicle 200 used in smart agriculture is equipped with various sensors and performs various tasks together with various implements 300. During the course of such tasks, it is necessary to provide the driver (user or operator) with various information regarding the driving and work status. For this reason, the information to be displayed on the meter panel unit 100 can vary in a variety of ways depending on the type and stage of the task.

[0037] The work vehicle 200 such as a tractor may be configured to travel by manual driving, automatic steering, or automatic driving.

[0038] Another example of an implement in this embodiment is a loader to which an attachment can be attached or detached. A variety of attachments can be attached to the tip of the loader depending on the type of work being performed. Examples of attachments include grabs such as a bale grab or a silage grab, forks such as a roll fork or a super pallet fork, or a bucket.

[0039] 1C is a side view that schematically shows an example of a work vehicle 200A in this embodiment. The work vehicle 200A shown in the figure is a tractor with a front loader (hereinafter simply referred to as "loader") 700 coupled to the front of the vehicle. A bucket 703 is attached as an attachment to the tip of the loader 700. Note that the loader in this embodiment is not limited to a front loader, and may be a loader coupled to the rear of the vehicle.

[0040] The loader 700 illustrated in FIG. 1C includes a support frame 701, a boom 702, a bucket 703, a bucket cylinder 704, and a boom cylinder 705. The loader 700 further includes a microcontroller 710 (see FIG. 11 ) that controls the operation of the loader. The support frame 701 is fixed to the frame of the vehicle body 201. The boom 702 has an arm-like structure and is rotatably supported on the support frame 701 so as to extend forward and upward from the vehicle. The bucket 703 is rotatably supported by the end of the boom 702. In this embodiment, the fulcrum (or rotation axis) that rotatably supports the boom 702 is called the "boom fulcrum," and the fulcrum (or rotation axis) that rotatably supports the bucket 703 is called the "bucket fulcrum."

[0041] The loader 700 in this embodiment is connected to the vehicle body 201 via a hydraulic coupler and a power connector. The loader 700 is equipped with a hydraulic system having hydraulic valves and operates under hydraulic control. Specifically, by hydraulically extending and contracting the boom cylinder 705, the boom 702 can be rotated around a rotation axis located at the boom fulcrum. This makes it possible to raise and lower the loader 700 (or the bucket 703). Furthermore, by hydraulically extending and contracting the bucket cylinder 704, the bucket 703 can be rotated around a rotation axis located at the bucket fulcrum. This makes it possible to perform scooping and dumping operations with the bucket 703.

[0042] A group of operation switches 801 (see FIG. 1B ) provided inside the cabin 205 may include an operation lever for performing the dumping operation and the scooping operation of the bucket 703. An operation joystick may be provided inside the cabin 205 for performing the dumping operation, the scooping operation, and the lifting and lowering operation of the bucket 703. The operation terminal 802 may also display a setting screen for the loader's hydraulic control valve, including a button display for adjusting the hydraulic flow rate. The operation lever, joystick, and operation terminal 802 are electrically connected to the loader's microcontroller. By operating the operation lever, joystick, and setting screen of the operation terminal 802, the user can perform desired work while operating the boom 702 and the bucket 703.

[0043] <Schematic Configuration of Meter Panel Unit> Fig. 1D is a front view schematically illustrating a meter panel unit 100 attached to a tractor, which is one type of work vehicle, in an embodiment of the present disclosure. In the illustrated example, the meter panel unit 100 is disposed in front of the driver's seat of the tractor. Specifically, the meter panel unit 100 is fitted into an opening in a meter cover 240 above a handle stay 230 that rotatably supports a steering wheel (handle) 220. In this example, the steering wheel 220 has a central hub (horn cover) 221, three spokes 222A, 222B, and 222C extending radially from the horn cover 221, and a rim 223 supported by the spokes 222A, 222B, and 222C. The meter panel unit 100 is disposed in a position visible to a driver seated in the driver's seat. In the example of FIG. 1D, various pieces of information displayed on the meter panel unit 100 can be seen through an opening between the spokes 222A and 222B.

[0044] The meter panel unit 100 is required to have excellent visibility. In particular, mobile work vehicles capable of automatic steering or automatic driving are required to display various information that is not displayed in ordinary passenger cars during the course of performing various agricultural tasks. For such meter panel units 100, it is desirable to enhance their visibility so that particularly important information among the various pieces of information is not overlooked. Furthermore, when the meter panel unit 100 is mounted on various types of work vehicles, it is desirable for it to have a structure that allows for easy installation. As described below, the meter panel unit 100 of this embodiment has excellent visibility and is easy to install.

[0045] The schematic configuration of the meter panel unit 100 will be described below with reference to FIGS. 2, 3, and 4. FIG. 2 is a front view showing an example of the arrangement of the main components of the meter panel unit 100 according to this embodiment. FIG. 3 is a perspective view showing an example of the configuration of a wall surface portion (described later) of the meter panel unit 100. FIG. 4 is a perspective view showing an example of the configuration of a transparent cover (described later) of the meter panel unit 100. For reference, these figures show mutually orthogonal X-, Y-, and Z-axes (right-handed coordinate system). In this specification, the positive direction of the Y-axis may be referred to as the upward direction and the negative direction as the downward direction, and the positive direction of the X-axis may be referred to as the rightward direction and the negative direction as the leftward direction. Furthermore, the positive direction of the Z-axis may be referred to as the front direction and the negative direction as the rearward direction.

[0046] The meter panel unit 100 shown in Fig. 2 includes a meter section 10 having a first analog meter 11, a second analog meter 12, and a display element 13 provided between the first and second analog meters 11, 12. In this specification, the display portion of the meter section 10 shown in Fig. 2 may also be referred to as the display surface side of the meter section 10.

[0047] The first analog meter 11 has an indicator needle 2A, and the second analog meter 12 has indicator needles 2B and 2C. The indicator needle 2A is rotatably supported around a rotation axis located near the center of the first analog meter 11. The indicator needle 2A indicates, for example, engine speed depending on the direction in which the tip of the indicator needle 2A points. Here, "engine speed" means the number of engine revolutions per unit time (for example, one minute). The indicator needles 2B and 2C are rotatably supported around two rotation axes located at different locations on the second analog meter 12. The indicator needle 2B indicates, for example, the remaining fuel level depending on the direction in which the tip of the indicator needle 2B points. The indicator needle 2C indicates, for example, the temperature (water temperature) of the engine coolant depending on the direction in which the tip of the indicator needle 2C points. The indicator needles 2A, 2B, and 2C are driven by a drive unit (movement) provided in the meter unit 10. The drive unit receives an electrical signal indicating a sensor output such as engine speed, remaining fuel, or water temperature, and converts the signal into mechanical motion that changes the direction of indicator needles 2A, 2B, and 2C. The drive unit for each of indicator needles 2A, 2B, and 2C has an actuator such as a stepping motor.

[0048] The display element 13 is a digital meter, not an analog meter. The display element 13 is, for example, an active matrix display such as a liquid crystal display panel or an OLED (organic light-emitting diode). In the following description, the display element 13 is assumed to be a liquid crystal display (LCD) as an example. The display element 13 has a large number of pixels arranged two-dimensionally in a display area, and light emitted from the large number of pixels creates a display visible to the human eye. In the display element 13 of this embodiment, each pixel includes RGB subpixels, allowing it to display color images. Unlike an analog meter, the display element 13 can display numbers, letters, figures, icons, symbols, still images, or moving images of any size at any position within the display area. Strictly speaking, the numbers, letters, figures, icons, and symbols are also part of the image (still image or moving image) displayed by the display element 13 in the display area. The display element 13 can also display an image that appears to resemble all or part of an analog meter with a pointer, for example. When the display element 13 displays an image of an "analog meter," it is possible to rotate the "pointer needle" in the image in any direction as part of a moving image by changing the image frame by frame. If the work vehicle is an electric vehicle driven by a battery, the displays of engine speed, remaining fuel, and water temperature can be replaced with displays of, for example, motor output, remaining battery power, and battery temperature, respectively.

[0049] The difference between the image of an "analog meter" displayed by a display device such as the display element 13 and the first analog meter 11 and second analog meter 12 is that the former is planar, while the latter is three-dimensional. Also, the former allows the shape, color, and size of the pointer and scale of the analog meter to be changed, while the latter makes it difficult to change these. Furthermore, the visibility of the former depends on the contrast of the image, so there is a possibility that visibility may be reduced in strong daytime outside light, whereas this possibility is relatively small for the latter. Taking these factors into consideration, in this embodiment, some of the information displayed on the meter unit 10, particularly information that is highly important and requires high visibility, is displayed using an analog meter with a three-dimensional structure.

[0050] When viewed from the front of the meter unit 10 on the display surface side, the outer shape of the meter unit 10 is a closed curve resembling an ellipse, but the outer shape of the meter unit 10 is not limited to this example. When viewed from the front of the meter unit 10, the outer shape of the meter unit 10 may be roughly rectangular, or may be a figure that combines straight lines and curves.

[0051] The meter panel unit 100 further includes a wall portion 20 fixed to the display surface side of the meter portion 10 and a transparent cover 30 facing the display surface of the meter portion 10 .

[0052] The wall surface portion 20 surrounds the entire first analog meter 11, the display element 13, and the second analog meter 12 along the periphery of the meter unit 10. The wall surface portion 20 may be formed from, for example, plastic (synthetic resin). The wall surface portion 20 protrudes vertically (in the positive direction of the Z axis) from the display surface of the meter unit 10. The wall surface portion 20 does not need to be perpendicular to the display surface of the meter unit 10, and may be inclined from the Z axis. The distance from the display surface of the meter unit 10 to the front edge of the wall surface portion 20 (also referred to as "height") is not constant along the periphery of the meter unit 10, but may vary depending on the position on the periphery.

[0053] As shown in Fig. 4, the transparent cover 30 has a front portion 30A including a concave surface 32 and a side portion 30B extending from the peripheral edge of the front portion 30A along the outside of the wall portion 20. The side portion 30B of the transparent cover 30 can cover the entire outside of the wall portion 20. The transparent cover 30 can be formed from, for example, a colorless, transparent plastic (e.g., acrylic) or glass. In this embodiment, the front portion 30A and the side portion 30B of the transparent cover 30 are an integrated part.

[0054] With the meter panel unit 100 attached to the work vehicle, it is preferable that the front portion 30A of the transparent cover 30 be tilted forward when the transparent cover 30 is viewed from the normal direction of the meter section 10. With the front portion 30A tilted forward in this manner, when an operator looks at the meter section 10 through the transparent cover 30, the operator's face and the background behind the operator are less likely to be reflected in the transparent cover 30.

[0055] Next, the indicator area of ​​the meter unit 10 will be described with reference to Fig. 5. In the example of Fig. 5, the meter unit 10 has an indicator area 14T provided above the display element 13 and indicator areas 14L and 14R provided below the display element 13. Various indicators are provided in each of the indicator areas 14T, 14L, and 14R. Each indicator displays predetermined information, such as a warning, when a light-emitting element, such as an LED (Light Emitting Diode) behind it, is lit.

[0056] In this embodiment, two indicator areas 14L and 14R, divided into left and right halves, are arranged at the bottom of the display element 13, but it is also possible to arrange one indicator area that combines the two indicator areas.

[0057] The indicator area 14T located above the display element 13 is less likely to be obstructed by the spokes 222A, 222B, and 222C of the steering wheel 220 than the other indicator areas 14L and 14R. For this reason, it is preferable that indicators indicating particularly important information (information with a high warning level) (e.g., indicators indicating the lighting status of lighting devices, direction indicators, warnings to the driver, etc.) be selected from among the many indicators and placed in the indicator area 14T. The "warning level" of the information displayed by the indicator may be specified, for example, in the work vehicle's instruction manual. For example, information such as an engine abnormality or malfunction, or whether the headlights are on or off, has a high warning level.

[0058] In this embodiment, each indicator arranged in the indicator area is composed of a light-transmitting area shaped to define a distinctive figure (including an icon and / or character) and a light-emitting element arranged behind it. The indicator can be turned on / off by turning on / off the light-emitting element behind it. For example, one or two light-emitting elements are arranged behind each indicator.

[0059] Next, a display example of the display element 13 will be described with reference to FIG. 6 . In the example of FIG. 6 , the display area of ​​the display element 13 is divided into several areas, as will be described later. Each area displays an "image" showing information such as a gear position, vehicle speed, various function performance indicators, and an hour meter. The image includes various pieces of information represented by letters, numbers, figures, icons, symbols, and the like. The various digital images may be displayed in different colors to improve visibility. Furthermore, when particularly attracting the operator's attention, at least one of the position, size, and color of the letters, numbers, figures, icons, and symbols may be changed to emphasize the display. When such an emphasized display is performed, a sound or voice may be emitted from an audio device such as a speaker.

[0060] <Communication Ring and Inside Plate> Next, the arc-shaped indicator (C-shaped communication ring) and inside plate will be described with reference to FIGS. 7 to 9. FIG.

[0061] The meter panel unit 100 of this embodiment includes a first arc-shaped indicator (communication ring) 40A arranged around the movable area 11X of the indicator needle 2A, and a second arc-shaped indicator 40B (see FIG. 10 ) arranged around the movable areas of the indicator needles 2B and 2C. In this disclosure, the term "arc" refers to a portion of a circle (circumference), but this circle is not limited to a "perfect circle" and may include a portion whose curvature changes gradually or locally, such as a portion of an ellipse.

[0062] The first arc-shaped indicator 40A and the second arc-shaped indicator 40B have a symmetrical structure, and are therefore collectively referred to as the arc-shaped indicator 40. For simplicity, the arc-shaped indicator 40 will be described below using the first arc-shaped indicator (communication ring) 40A as an example.

[0063] As shown in FIG. 7 , the meter panel unit 100 of this embodiment includes a facing plate 50 positioned outside the arc-shaped indicator 40. The facing plate 50 is formed from the same material (plastic) as the wall surface portion 20, and as shown in FIG. 3 , is an integrated component with the wall surface portion 20. When viewed from the front, the facing plate 50 has a generally arc-shaped shape. The height of the upper end 50T of the facing plate 50 (i.e., the distance from the display surface of the meter portion 10) varies continuously from the upper end 50A to the lower end 50B, reaching a maximum at the intermediate position. The facing plate 50 is a curved wall rising from the meter portion 10.

[0064] Fig. 8 is a front view showing the relative positions of the first analog meter 11, the arc-shaped indicator 40, and the faceplate 50. Fig. 9 is a front view mainly showing an example configuration of the arc-shaped indicator 40. None of the first analog meter 11, the arc-shaped indicator 40, or the faceplate 50 extends to the right (positive direction of the X-axis) of the E-E dashed line shown in Fig. 8. The display element 13 is disposed to the right (positive direction of the X-axis) of the E-E dashed line.

[0065] By adopting this configuration, it is possible to increase the length of the indicator needle 2A, i.e., the radius of the first analog meter 11, while suppressing an increase in the horizontal (X-axis) size of the first analog meter 11. The same applies to the second analog meter 12. Note that increasing the horizontal size of the meter unit 10 increases the likelihood that the spokes 222A, 222B of the steering wheel 220 will obstruct the visibility of the first and second analog meters 11, 12, as shown in FIG. 1D . For this reason, increasing the horizontal size of the meter unit 10 is not desirable. In this embodiment, the analog meter is accommodated within a shape bounded by the dashed line E-E and an arc, rather than a circle. This allows for an increase in the horizontal (X-axis) size of the display element 13 while improving the visibility of the first and second analog meters 11, 12, even in a meter unit 10 with a limited horizontal size. Furthermore, by dividing the boundary between the first and second analog meters 11, 12 and the display element 13 by a straight line, the display areas for analog information and digital information can be clearly separated, thereby improving the visibility of both the analog information and the digital information.

[0066] To achieve the above-described effect, it is preferable that the central angle of the "arc" of the arc-shaped indicator 40 (40A) arranged to surround the first analog meter 11 is greater than 180° and less than 270°. If the central angle of the "arc" is 180° or less, the visibility of the first analog meter 11 decreases, and if the central angle of the "arc" is 270° or more, the effect of reducing the size of the first analog meter 11 in the horizontal direction (X-axis direction) becomes insufficient. The same applies to the arc-shaped indicator 40 (40B) surrounding the second analog meter 12. From the standpoint of design, it is preferable that the left and right arc-shaped indicators 40A, 40B be arranged symmetrically with respect to a vertical line passing through the center of the display element 13.

[0067] The arc-shaped indicator 40 has at least one light-emitting area 42 arranged between the movable area 11X of the pointer 2A and the end cover 50. In the example shown in Fig. 9, multiple light-emitting areas 42 are provided. In this example, each light-emitting area 42 has a thin, curved shape that extends in an arc. The multiple light-emitting areas 42 are arranged to form a row of arcs to form the arc-shaped indicator 40. When there is one light-emitting area 42, the single light-emitting area 42 has an arc shape.

[0068] In the example shown in the figure, the first analog meter 11 has an arc-shaped scale 17 between the arc-shaped indicator 40 and the movable area 11X of the pointer 2A. The scale 17 is a three-dimensional scale that protrudes from the display surface and is formed integrally from plastic together with the wall surface portion 20 and the end cover plate 50. Note that the scale 17 does not necessarily have to have a three-dimensional shape, but a three-dimensional scale is desirable from the perspective of improving readability.

[0069] The multiple light-emitting areas 42 of the arc-shaped indicator 40 may each be formed from a light-emitting element (e.g., an LED or OLED), but in this embodiment, they are formed from multiple light-transmitting areas provided on the display surface of the meter unit 10 (i.e., the surface on the front side of the housing of the meter unit 10) and one or more light-emitting elements arranged behind them.

[0070] The plurality of light-emitting elements may include a plurality of LEDs emitting light of different colors. In this embodiment, the plurality of light-emitting elements include an LED emitting red light, an LED emitting green light, and an LED emitting blue light. By selectively activating these LEDs, the arc-shaped indicator 40 can provide information to the operator using light of various colors. For example, red light, green light, and blue light can be selectively emitted from all of the plurality of light-emitting regions 42 shown in FIG. 9 . Furthermore, by assigning a light-emitting element to each of the plurality of light-emitting regions 42 and emitting light independently from the plurality of light-emitting elements, the plurality of light-emitting regions 42 can emit light sequentially.

[0071] <Three-Dimensional Scale> Next, the three-dimensional scale 17 will be described. As shown in FIGS. 7 and 8, the three-dimensional scale 17 extends in an arc shape inside the arc-shaped indicator 40 so as to roughly form the letter C. Furthermore, as shown in FIGS. 3 and 7, the three-dimensional scale 17 has a plurality of notches 17A arranged at predetermined intervals. These notches 17A are portions where the width of the three-dimensional scale 17 is locally narrowed. The positions of the notches 17A are aligned with the positions of the scale indicated by the tip of the indicator needle 2A on the first analog meter 11. The presence of these three-dimensional notches 17A makes it easier for the operator to read the scale.

[0072] 7, the inside cover 50 has multiple protrusions 52 that protrude toward the movable area 11X of the indicator needle 2A. The multiple protrusions 52 are provided at the positions of the cutouts of the three-dimensional scale 17, in other words, at positions that align with the scale. As a result, the cutouts 17A of the three-dimensional scale 17 are recognized as an integrated figure with the protrusions 52, improving the visibility of the scale. Each of the multiple protrusions 52 straddles a space between the multiple light-emitting regions 42 in the arc-shaped indicator 40. Therefore, the arrangement of the multiple light-emitting regions 42 also aligns with the arrangement of the scale.

[0073] As can be seen in Figure 3, the multiple protrusions 52 connect the three-dimensional scale 17 and the end cover 50 as a bridge. The end cover 50 is also connected to the wall portion 20. In this embodiment, the wall portion 20, the end cover 50, and the three-dimensional scale 17 are integrally formed from resin. The multiple protrusions 52 extending from the end cover 50 define the boundaries of the multiple light-emitting regions 42 in the arc-shaped indicator 40.

[0074] Next, the second analog meter 12 and the second arc-shaped indicator 40B will be described with reference to Figure 10. The second arc-shaped indicator 40B is bilaterally symmetrical to the first arc-shaped indicator 40A, and has the same basic configuration. A facing plate (right facing plate) 50 is provided on the outside of the second arc-shaped indicator 40B. The left facing plate 50 is bilaterally symmetrical to the facing plate (left facing plate) 50 described above.

[0075] An arc-shaped protrusion 17X corresponding to the three-dimensional scale 17 is provided inside the second arc-shaped indicator 40B, but this arc-shaped protrusion 17X does not have a notch. Between the arc-shaped protrusion 17X and the right end panel 50, protrusions (bridges) 52 are arranged at equal intervals so as to define the multiple light-emitting areas 42 of the second arc-shaped indicator 40B.

[0076] The movable area 13X of the second indicator needle 2B and the third indicator needle 2C is located within the area surrounded by the second arc-shaped indicator 40B. The rotation angle range 2BM of the second indicator needle 2B and the rotation angle range 2CM of the third indicator needle 2C have external shapes that are similar or congruent to each other. In the example of FIG. 10 , the rotation angle range 2BM of the second indicator needle 2B and the rotation angle range 2CM of the third indicator needle 2C are vertically symmetrical, but this is not a limitation. The rotation angle range 2BM and the rotation angle range 2CM may have shapes and sizes that allow them to overlap each other when one is translated in the vertical direction, for example.

[0077] By adopting such a configuration, it is possible to intuitively read the scale from the movements of the second indicator needle 2B and the third indicator needle 2C, making it less likely that an error will occur in reading.

[0078] <Information Display System> An information display system 500 according to an embodiment of the present disclosure will now be described with reference to Figs. 11 to 14B. Fig. 11 is a block diagram schematically illustrating an example configuration of the information display system 500 according to an embodiment of the present disclosure. The information display system 500 includes the above-described meter panel unit 100 and a control device 400 that controls the meter panel unit 100. The control device 400 may include an electronic control unit (ECU) disposed in the work vehicle. The information display system 500 may further include an acoustic device such as a buzzer or a speaker.

[0079] The information display system 500 is communicatively connected to an ECU group 610, a sensor group 620, and a loader microcontroller 710 provided in the work vehicle via a bus B. The ECU group 610 may be collectively referred to as a "vehicle control device." In this specification, the various ECUs provided in the work vehicle are referred to as "vehicle ECUs," and the ECU in the control device 400 provided in the information display system 500 is referred to as a "meter ECU" to distinguish between the two. The various vehicle ECUs and the meter ECU can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). For example, one vehicle ECU of the ECU group 610 provided in the work vehicle receives signals from the other vehicle ECUs and sensor data output from each sensor included in the sensor group 620, and instructs the meter ECU to display a warning message (described below) or to turn on, off, or flash an indicator depending on the state of the work vehicle. The meter ECU receives instructions from the vehicle ECU and displays a warning message in the display area, or turns on, off, or blinks an indicator.

[0080] 11 , the illustration of wiring other than the wiring of bus B is simplified. However, for example, wiring may be present for directly transmitting signals from one or more sensors included in a sensor group 620 equipped in the work vehicle to the control device 400, or wiring may be present for connecting an input device (described later) to the control device 400. In addition, power supply wiring is present for supplying power from the battery to the meter panel unit 100, the control device 400, the ECU group 610 of the work vehicle, and the sensor group 620.

[0081] One example of the control device 400 in this embodiment is a computing device including at least one processor and at least one memory that stores a computer program (code) that defines a control process executed by the processor. Another example of the control device 400 is a computing device that includes a hardware accelerator, such as a field-programmable gate array (FPGA), an application-specific standard product (ASSP), or an application-specific integrated circuit (ASIC), configured to execute the control process.

[0082] In this embodiment, a "processor" refers to a hardware electronic circuit such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an ISP (Image Signal Processor), or an NPU (Neural Network Processing Unit). A "memory" refers to a hardware electronic circuit such as a ROM (Read Only Memory) or a RAM (Random Access Memory). Part of the memory may be a storage medium connected to the processor by wiring or a network. These hardware electronic circuits may be implemented by one or more integrated circuits (ICs) or large-scale integrated circuits (LSIs). Each functional unit or block and related components in the electronic circuit may be manufactured individually as a separate integrated circuit chip, or some or all of these functional units or blocks may be combined and manufactured as a single integrated circuit chip.

[0083] The program that defines the operation of the processor is designed to cause the processor to perform one or more functions, operations, steps, or processes in the embodiments of the present invention.

[0084] 12 is a block diagram showing an example of the hardware configuration of the control device 400. The control device 400 includes a processor 434, a ROM 435, a RAM 436, an external I / F 437, and a communication I / F 438. These components are connected to each other via a bus 439.

[0085] The ROM 435 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory. The ROM 435 stores a program that controls the operation of the processor. The ROM 435 does not have to be a single recording medium, but may be a collection of multiple recording media. Some of the collection of multiple recording media may be removable memories.

[0086] The RAM 436 provides a working area for temporarily loading the programs stored in the ROM 435 at boot time. The RAM 436 does not have to be a single recording medium, but may be a collection of multiple recording media.

[0087] The external I / F 437 is an interface for connecting the meter panel unit 100 to an external device. Examples of the external I / F 437 include a USB (Universal Serial Bus) interface and a digital or analog video interface.

[0088] The communication I / F 438 is an interface for communication between the control device 400 and other electronic components or ECUs. For example, the communication I / F 438 can perform wired communication in accordance with various protocols such as CAN or Ethernet (registered trademark). The communication I / F 438 may also perform wireless communication in accordance with the Bluetooth (registered trademark) standard and / or the Wi-Fi (registered trademark) standard. Both standards include wireless communication standards that use frequencies in the 2.4 GHz band.

[0089] The control device 400 may further include a storage device, which may be, for example, a semiconductor memory, a magnetic storage device, an optical storage device, or a combination thereof.

[0090] The ECU group 610 provided in the work vehicle includes, for example, an ECU for speed control, an ECU for steering control, and an ECU for implement control. If the work vehicle (e.g., a tractor) is configured to travel in an autonomous driving mode, the ECU group 610 may further include an ECU for autonomous driving control. The ECU for autonomous driving control performs calculations and controls to achieve autonomous driving based on data output from various sensors mounted on the vehicle body.

[0091] The sensor group 620 may include, for example, a temperature sensor, an illuminance sensor, a fuel sensor, a water temperature sensor, an oil level gauge, an engine rotation sensor, a vehicle speed sensor, a battery voltage sensor, a shuttle sensor, a hand accelerator sensor, an accelerator pedal sensor, a main shift lever sensor, an auxiliary shift lever sensor, a seat belt sensor, a PM sensor, an acceleration sensor, an angular velocity sensor, an IMU (Inertial Measurement Unit), a geomagnetic sensor, an imaging device, a LiDAR sensor, an ultrasonic sensor, an obstacle contact sensor, and a GNSS (Global Navigation Satellite System) receiver.

[0092] The control device 400 of the information display system 500 may be an integrated circuit device mounted on a board inside the meter panel unit 100, or may be an external integrated circuit device attached to the meter panel unit 100. Furthermore, some or all of the functions of the control device 400 may be implemented by one or more vehicle ECUs. Alternatively, some or all of the functions of the control device 400 may be implemented by one or more servers (computers) connected via a communication I / F 438 over a communication network. In this way, one or more vehicle ECUs and / or one or more servers may cooperate with the control device 400 to implement various functions required for the information display system 500. In this case, the vehicle ECUs and / or servers function as part of the information display system 500.

[0093] FIG. 13 is a block diagram showing an example in which the control device 400 is implemented inside the meter panel unit 100. In this example, the control device 400 includes two microcontroller units (MCUs). The two MCUs are a main MCU 420 and a display MCU 440. The main MCU 420 is a controller that controls the overall operation of the meter panel unit 100. The main MCU 420 may also be called a "main controller." The display MCU 440 is a controller that controls the rendering of the display element 13 (i.e., a digital display) such as an LCD. The display MCU 440 may also be called a "display controller" or an "LCU MCU."

[0094] The main MCU 420 includes components such as a CPU 424, a ROM 425, and a RAM 426. The main MCU 420 controls the hardware indicator group 140, the first analog meter 11, the second analog meter 12 (two analog meters 12A and 12B in this embodiment), and the display MCU 440. The hardware indicator group 140 includes the arc-shaped indicator 40 and a plurality of light-emitting elements, such as LEDs, located behind the indicator areas 14T, 14L, and 14R shown in FIG. 5. The ROM 425 is a non-volatile memory that stores software (programs and various data used in processing) executed by the CPU 424. The main MCU 420 controls the overall operation of the meter panel unit 100 by the CPU 424 executing the software. The main MCU 420 may include an interface for communicating with one or more vehicle ECUs connected to the meter panel unit 100 via an in-vehicle network such as a CAN. The main MCU 420 may also include an external interface that enables input and output of digital signals to and from devices directly connected to the meter panel unit 100. The main MCU 420 may further include an analog interface that receives analog signals such as the voltage of an external battery.

[0095] The display MCU 440 includes components such as a CPU 444, a GPU 443, a ROM 445, and a RAM 446. The ROM 445 is a non-volatile memory that stores software executed by the CPU 444 and the GPU 443. The display MCU 440 controls drawing on the display element 13 (i.e., the digital display) by the CPU 444 and the GPU 443 executing the software.

[0096] 13, a display MCU 440 specialized for image processing is provided separately from the main MCU 420. This is to realize relatively heavy-load drawing, such as color camera images or 3D display, on a display element 13 such as a relatively large (e.g., 10 inches or larger) and high-resolution LCU. Unlike the present embodiment, if the display element 13 is small or a monochrome liquid crystal display and does not require particularly high-level image processing, the display MCU 440 may not be provided, and one controller (i.e., the main MCU 420) may perform all control, including drawing.

[0097] <Information Display Using Arc-Shaped Indicator and Display Element> In the information display system 500 of this embodiment, the control device 400 is configured to display information using the arc-shaped indicator 40 before displaying various information on the display element 13 when the work vehicle is started. This allows for priority transmission of information that the operator should know first during start-up. Such information includes information indicating the status of the work vehicle (conditions classified as abnormal for driving or work). The control device 400 also operates to change the color of the emitted light depending on the content of the information. For example, if there are no abnormalities at start-up, the control device 400 may emit a blue light from the arc-shaped indicator 40. However, if a driving problem occurs, the control device 400 may emit a red light indicating an abnormality immediately after start-up. Examples of driving problems include abnormal battery voltage, abnormal engine oil pressure, abnormal engine overheating, and brake system abnormalities. The light color is not limited to blue or red and may also be green.

[0098] Furthermore, in this embodiment, the control device 400 is configured to display a curved image located on an extension of the arc on the display element 13. Fig. 14A is a front view schematically illustrating an example in which an arc 13A of the same color as the color of light emitted from the light-emitting region 42 of the arc-shaped indicator 40 is displayed. Fig. 14A shows, as an example, an arc 13A concentric with the arc of the arc-shaped indicator 40. Fig. 14B is a front view schematically illustrating an example in which an arc 13B of the same color as the color of light emitted from the light-emitting region 42 of the arc-shaped indicator 40 and another shaped object 13C including an arc of the same color are displayed. In the example shown in Fig. 14B, the other shaped object 13C is a straight line portion. The control device 400 causes the display element 13 to display the arc 13B concentric with the arc of the light-emitting region 42 and the straight line portion connecting to the arc 13B. The straight line portion extends parallel to the straight line (corresponding to the dashed line E-E shown in FIG. 14B ) that defines the boundary between the first analog meter 11 and the display element 14. By displaying the first analog meter 11 in this manner, the portion of the circle surrounding the first analog meter 11 cut off by the dashed line E-E is visually recognized by the operator as part of the first analog meter 11, making the first analog meter 11 appear larger. Furthermore, an image displayed as if it were part of the first analog meter 11 (hereinafter referred to as a "ring complement image") may be partially obscured by information such as numerical values ​​or characters displayed on the display element 13. Like the shape 13C, the arc 13B may include a straight line. Including a straight line in the portion displayed on the display element 13 allows for a sharp design.

[0099] 14A and 14B on the display element 13 in accordance with the light emitted from the light emitting region 42 of the arc-shaped indicator 40. The control device 400 can also display various images on the display element 13 in synchronization with the blinking of the light emitting region 42 of the arc-shaped indicator 40. By emphasizing or linking the display of the arc-shaped indicator 40 with the display of the display element 13 in this way, the display of the arc-shaped indicator 40 can be more easily conveyed to the operator.

[0100] <Example of Display and Operation of Display Element> After the meter panel unit 100 is started up, a home screen is displayed in the display area of ​​the display element 13. Fig. 15 is a diagram showing an example of the home screen. Starting from the home screen, the user can use an input device (described later) to change the content displayed in the display area and select various setting items.

[0101] In the example shown in FIG. 15 , an input device 170 that enables interactive operation by a user is connected to the meter panel unit 100 via a communication cable. The input device 170 has a selector switch 171, such as a jog dial, and an operation switch 172. The input device 170 can be connected to the meter panel unit 100 wirelessly or by wire. Any device that accepts user operations can be used as the input device 170. The input device 170 may be, for example, a rotary switch, a slide switch, a push button switch, a touch screen, a joystick, or a combination of two or more of these.

[0102] The display element 13 has a display area in which various images showing information related to the work vehicle are displayed. Information related to the work vehicle includes, for example, information related to the internal combustion engine (engine), vehicle body, PTO axle, hydraulic / three-point hitch, and electrical equipment equipped in the vehicle body. This information indicates the internal status of the vehicle system. Information related to the vehicle body includes, for example, information related to the vehicle's direction of travel, clutch, gear shift, brake, headland control, and cruise control. Furthermore, the display area of ​​the display element 13 can display various content, including, for example, camera images, a radio setting screen, and an audio setting screen.

[0103] <Segmentation of the Display Area> Next, segmentation of the display area will be described with reference to FIG. 16 . FIG. 16 is a diagram schematically illustrating an example of segmentation of the display area. The display area of ​​the display element 13 is divided into multiple blocks. In other words, the display area of ​​the display element 13 has multiple regions. In the example illustrated in FIG. 16 , the multiple regions include a primary region 131, a sub-region 132, and an LCD indicator region 133. In FIG. 16 , the primary region 131 is the region of the display area of ​​the display element 13 surrounded by a dotted line. The sub-region 132 is the region of the display area of ​​the display element 13 surrounded by a dashed line. The LCD indicator region 133 is the region of the display area of ​​the display element 13 surrounded by a dashed-dotted line. These three regions do not overlap each other. Note that the dashed lines, dotted lines, and dashed-dotted lines in FIG. 16 are drawn to partially overlap for ease of understanding.

[0104] The primary area 131 is an area for displaying an image in the foreground (or near side). In the example shown in FIG. 16 , the primary area 131 is a rectangular area (or a panel-shaped area). However, the outer shape of the primary area 131 may be, for example, an ellipse or a shape combining straight lines and curves. A primary image showing the more important information about the work vehicle (hereinafter referred to as "main information") is displayed in the primary area 131. The main information is information that the user should be aware of as a priority, and includes, for example, information showing the direction of travel of the work vehicle, the transmission status, and the vehicle speed (hereinafter referred to as "vehicle speed").

[0105] In this way, the main information indicated by the primary image displayed in the primary area 131 is displayed at the forefront of the display area. As shown in FIG. 15 , the primary image is displayed in front of the ring complement image. In this way, the primary image can properly convey the main information to the user without being obscured by other images or content. This improves the visibility of the main information, which is particularly important among various pieces of information, and reduces the likelihood of overlooking the main information.

[0106] In the example shown in Fig. 16 , the primary area 131 has a band-like shape extending in the horizontal direction. Multiple types of information related to the traveling state of the work vehicle are displayed in the primary area 131. The primary area 131 is divided into multiple areas. In the example shown in Fig. 16 , the primary area 131 is divided into a first area 131A, a second area 131B, a third area 131C, and a fourth area 131D that are aligned in the horizontal direction.

[0107] The first area 131A located at the left end displays the state of the shuttle lever of the work vehicle, i.e., the direction of travel. For example, the first area 131A displays information indicating whether the shuttle lever is in forward (F), neutral (N), or reverse (R) position.

[0108] The second area 131B, located second from the left, displays information about the transmission status, for example, the gear setting of the work vehicle. In the example of Fig. 16, the second area 131B displays the current settings of the main gear and auxiliary gear with the symbol "B3." "B" indicates the auxiliary gear setting stage, and "3" indicates the main gear setting stage. As shown in Fig. 16, the second area 131B may also display an icon 131B1 indicating that the automatic gear shift mode is active, and a gear shift stage range 131B2 in the automatic gear shift mode.

[0109] The third area 131C displays information about the vehicle speed. The control device 400 switches the display of the vehicle speed information between kilometers and miles in accordance with a command from the vehicle ECU, for example.

[0110] The fourth area 131D on the far right displays information other than the direction of travel, transmission status, and vehicle speed. In the example of FIG. 16 , the fourth area 131D displays the hour meter reading, i.e., the work vehicle's operating time to date. The fourth area 131D may display information other than the hour meter reading. For example, various information such as the upper limit setting for the engine speed or the target engine speed value stored in memory may be displayed in the fourth area 131D. The control device 400 may be configured to dynamically change the display in the fourth area 131D, for example, in accordance with commands from the vehicle ECU. The fourth area 131D, together with the area 132B described below, dynamically displays the travel and work performance of the work vehicle. For this reason, the fourth area 131D is sometimes referred to as the "dynamic performance monitor area."

[0111] Sub-areas 132 are located below primary area 131. Various contents are displayed in sub-areas 132. In the example shown in Fig. 16, sub-areas 132 are rectangular areas that are further divided into three types of areas. Sub-areas 132 include a performance monitor area 132A, a dynamic performance monitor area 132B, and two gauge areas 132C.

[0112] The performance monitor area 132A is the largest of the three areas included in the sub-area 132 and is located toward the upper side of the sub-area 132. The performance monitor area 132A is sometimes referred to as the "upper area" of the sub-area 132. The performance monitor area 132A mainly displays one or more items (hereinafter referred to as "selected items") selected by the user from various items indicating various types of functional performance information. Examples of items that can be selected by the user include engine speed, engine speed upper limit setting value, engine speed memory value, fuel consumption, fuel economy, travel distance, load factor, PTO shaft speed, slip ratio, diesel particulate filter (DPF) regeneration, and information regarding the working area.

[0113] The selection item screen may be composed of multiple pages that the user can page forward or backward by operating an input device. Figure 16 shows an example of multiple selection items displayed on one of the multiple pages. In the example shown in Figure 16, four selection items are displayed on one page. However, the number of selection items displayed on one page is not limited to four, and may be, for example, two, three, five or more.

[0114] The dynamic performance monitor area 132B is located toward the lower side of the sub-area 132. The dynamic performance monitor area 132B may be referred to as the "lower area" of the sub-area 132. Various items indicating the various types of functional performance information described above may be displayed in the dynamic performance monitor area 132B. The display of information displayed in the dynamic performance monitor area 132B may be controlled by the control device 400 (e.g., a meter ECU) that receives a command from the vehicle ECU, for example. The control device 400 may be configured to change the display of the dynamic performance monitor area 132B in response to a command from the vehicle ECU. As shown in FIG. 16 , for example, two items may be displayed in the dynamic performance monitor area 132B. However, the number of items is not limited to two. As shown in FIG. 15 , nothing may be displayed in the dynamic performance monitor area 132B.

[0115] The gauge areas 132C are located on the right and left sides of the sub-area 132. The performance monitor area 132A and the dynamic performance monitor area 132B are located between the two gauge areas 132C. Each of the right and left gauge areas 132C may display a gauge image including an icon and a scale. Examples of gauge images include information regarding the remaining diesel exhaust fluid (DEF), the amount of particulate matter (PM), and the remaining tire pressure.

[0116] The images displayed in the performance monitor area 132A and the dynamic performance monitor area 132B can be changed in response to user operations using an input device. For example, the area corresponding to the entire performance monitor area 132A and the dynamic performance monitor area 132B can display a camera image, an image for setting up the radio or audio, an image for controlling the front loader, an image for controlling the cylinder flow rate, an image for setting up the operation members, an image for controlling the steering assist, an image for controlling the automatic steering, an image for controlling the attachment, or a launcher image displaying a list of function items. By combining two or more areas in this way and using them as a single area, images and content can be displayed relatively large.

[0117] The LCD indicator area 133 is located above the primary area 131. In the example shown in FIG. 16 , the LCD indicator area 133 is a rectangular area, similar to the primary area 131 and the sub-area 132. The LCD indicator area 133 functions as an area for displaying information indicating the status of the work vehicle, warning information, maintenance-related information, and the like. For example, an indicator that lights up when a condition requiring the issuance of a warning, such as a brake warning or a low fuel warning, occurs and turns off when the condition is resolved may be displayed in the LCD indicator area 133. As another example, an indicator that lights up periodically to prompt the user to perform maintenance, such as DPF regeneration or engine oil change, may be displayed in the LCD indicator area 133. As a further example, an indicator requesting an increase or decrease in engine speed may be displayed in the LCD indicator area 133. Normally, no indicators are displayed in the LCD indicator area 133, and a black background is displayed. When a condition requiring the display of a warning or maintenance information occurs, an indicator corresponding to the warning or maintenance information is illuminated. A maximum of, for example, approximately 10 indicators may be displayed in the LCD indicator area 133. The indicator can be displayed with emphasis on a black background, making it easier for an operator or user to notice the occurrence of the LCD indicator.

[0118] The LCD indicator area 133 is located below the indicator area 14T shown in Fig. 5. The indicators arranged in the indicator area 14T are hardware indicators that are illuminated by light-emitting elements such as LEDs. In contrast, the indicators displayed in the LCD indicator area 133 are illuminated by a drawing process on the LCD. In this specification, the LED hardware indicators are referred to as "LED indicators" and the indicators displayed in the LCD indicator area 133 are referred to as "LCD indicators," and the two may be distinguished from one another.

[0119] 16 may also display an image (hereinafter sometimes referred to as a "pop-up image") containing a message to notify the user of the details of an abnormality or failure detected in the engine or electrical equipment, or a message to warn the user of the internal state of the vehicle system. Also, a pop-up image containing a message indicating maintenance information may be displayed in the sub-area 132.

[0120] <Controlling the Height and Angle of a Loader Attachment> Next, an example of a system and method for controlling the height position and angle of an attachment attached to the tip of a loader 700 in a configuration in which the loader 700 is attached to a work vehicle 200 as shown in Figure 1C will be described. In the following description, the height position of the attachment refers to the position of the attachment in the height direction (i.e., the vertical direction), and is also simply referred to as the "attachment height."

[0121] The work vehicle 200 shown in FIG. 1C is equipped with a loader 700 that is capable of changing the height position and angle of an attachment at the tip (e.g., a bucket 703, forks, grab, etc.). The work vehicle 200 further includes a control device that controls the operation of the loader 700. The control device may include, for example, a microcontroller 710 shown in FIG. 11. The control device may be one or more ECUs (vehicle ECUs) included in the ECU group 610. The control device may be a combination of the microcontroller 710 and one or more ECUs (vehicle ECUs) included in the ECU group 610. The control device may further include a controller in the meter panel unit 100. In this way, the control device does not have to be a single device, but may be a collection of multiple devices.

[0122] FIG. 17 is a block diagram showing an example of a system for controlling the operation of a loader 700. This system includes a vehicle ECU 612, a loader 700, and an instrument panel unit 100. In this example, the loader 700 includes a microcontroller 710 and one or more actuators 720. The loader 700 further includes a height sensor 730 that measures the height of the attachment, an angle sensor 740 that measures the angle of the attachment, and a load sensor 750 that measures the load of the attachment. FIG. 17 also shows a loader control lever 780 for operating the loader 700 and a pedal 790 that moves the work vehicle 200 forward or backward. The pedal 790 may be, for example, an HST (Hydro Static Transmission) pedal. The loader control lever 780 and the pedal 790 are included in the switch group 801 shown in FIG. 1B.

[0123] Actuator 720 includes a mechanism for changing the height position and angle of the attachment at the tip of loader 700. Actuator 720 may be, for example, a hydraulic actuator including boom cylinder 705 and bucket cylinder 704 shown in FIG. 1C and a hydraulic system for extending and retracting these cylinders. Actuator 720 may also be an electric actuator that drives one or more electric motors to change the height position and angle of the attachment.

[0124] The microcontroller 710 is configured or programmed to control the operation of the actuator 720. The microcontroller 710 can communicate with the vehicle ECU 612 via a bus such as a CAN bus. Note that the loader 700 does not necessarily have to include the microcontroller 710. In that case, the vehicle ECU 612 can be configured to directly control the actuator 720.

[0125] The vehicle ECU 612 includes one or more processors 613 (control circuits) and one or more memories 614. The memories 614 store computer programs to be executed by the processors 613. The processors 613 execute the computer programs, causing the vehicle ECU 612 to control the loader 700 and the meter panel unit 100.

[0126] 17, the vehicle ECU 612 issues a command to the microcontroller 710 of the loader 700 to adjust the height and / or angle of the attachment at the tip of the loader 700 to a desired value. In response to this command, the microcontroller 710 drives the actuator 720 to change the height and / or angle of the attachment to the desired value.

[0127] 17 , the vehicle ECU 612 also controls the display element 13 (digital display) of the meter panel unit 100 to display a setting screen related to the operation of the loader 700. The meter panel unit 100 has, for example, the configuration shown in FIG. 13 . The vehicle ECU 612 sends a command to the main MCU 420 in the meter panel unit 100, thereby causing the display element 13 to display desired information via the display MCU 440.

[0128] Here, the height and angle of the attachment attached to the tip of the loader 700 will be described with reference to FIG.

[0129] FIG. 18 is a diagram illustrating the height and angle of the attachment at the tip of the loader 700. In this example, a bucket 703 is attached as the attachment. As shown in FIG. 18, the boom 702 of the loader 700 can be raised and lowered within a lifting range from a lower limit height LP to an upper limit height HP under the control of a microcontroller 710. As shown in FIG. 18, the distance from the ground to the bucket fulcrum 709 is defined as the attachment height H. When the boom 702 is fully extended, the attachment height H coincides with the upper limit height HP. The attachment angle is the angle between the ground or a horizontal plane and the bottom surface 707 of the attachment. The attachment angle when the bottom surface 707 of the attachment is tilted downward with respect to the horizontal plane is sometimes called the "dump angle," and the attachment angle when the bottom surface 707 is tilted upward with respect to the horizontal plane is sometimes called the "rake angle." 18 , an example of a dump angle is indicated by angle α, and an example of a rake angle is indicated by angle β. The actuator 720 can change the height of the bucket 703 by extending and retracting the boom cylinder 705, and can change the angle of the bucket 703 by extending and retracting the bucket cylinder 704. This operation is performed by the user operating the operation lever 780.

[0130] Work using such a loader 700 is mainly classified into three types: "Ground," "Transport," and "Dump." Lever operations are performed hundreds to thousands of times a day, and the height and angle of the bucket 703 are repeatedly adjusted in response to these operations. For example, in the work of transporting earth and sand, the following operations may be repeatedly performed: scooping earth and sand with the bucket 703 while moving the work vehicle 200 forward, raising the bucket 703 and transporting the earth and sand while moving the work vehicle 200 backward, and then lowering the bucket 703 at a predetermined position (e.g., the bed of a truck) to drop the earth and sand. Such work requires fine adjustment of the position of the bucket 703 through precise lever operations. Such lever operations require a high level of skill and are not easy for less skilled workers. Furthermore, repeated lever operations place a great burden on the worker, and there is a need to reduce this burden. This issue may also arise when an attachment other than the bucket 703 (e.g., a fork or a grab) is used.

[0131] The present embodiment provides a new function for solving such problems. In the present embodiment, memory 614 of ECU 612 stores set values ​​for a first height position and a first angle, which respectively indicate a target height position and angle of the attachment when work vehicle 200 is moving forward, and set values ​​for a second height position and a second angle, which respectively indicate a target height position and angle of the attachment when work vehicle 200 is moving backward. ECU 612 executes first control to change the height position and angle of the attachment to the first height position and the first angle, respectively, in response to a first user operation to move work vehicle 200 forward. ECU 612 further executes second control to change the height position and angle of the attachment to a second height position and a second angle, respectively, in response to a second user operation to move work vehicle 200 backward.

[0132] According to the above operation, the height position and angle of the attachment are automatically adjusted to a pre-set first height position and first angle simply by the user performing an operation to move the work vehicle 200 forward. Also, the height position and angle of the attachment are automatically adjusted to a pre-set second height position and second angle simply by the user performing an operation to move the work vehicle 200 backward. This significantly reduces the burden on the user from operating the loader 700.

[0133] When the attachment is a bucket 703, the first height position and the first angle may be set to values ​​corresponding to the attitude of the bucket 703 immediately before a "scooping" operation is performed, for example. Specifically, the first height position and the first angle may be set to values ​​corresponding to an attitude in which the bucket 703 is close to the ground and the bottom surface of the bucket 703 is parallel to the ground or slightly downward (dump angle α>0). The second height position and the second angle may be set to values ​​corresponding to an attitude in which the bucket 703 is when a "carrying" operation is performed. Specifically, in order to carry an object such as soil and sand, the second height position and the second angle may be set to values ​​corresponding to an attitude in which the bucket 703 is higher than the first height position and slightly upward (scoop angle β>0) to prevent the object from falling. As a result, simply by moving work vehicle 200 forward, the height and angle of bucket 703 can be adjusted to values ​​corresponding to the posture immediately before scooping up the transported object, and after the transported object is inside bucket 703, bucket 703 can be scooped up simply by moving work vehicle 200 backward. Because the user does not need to adjust the height and angle of bucket 703, the workload is greatly reduced. This allows for high-precision work to be performed regardless of the worker's level of skill.

[0134] Work vehicle 200 may further include a switch for switching between a first mode in which the first control and the second control are enabled and a second mode in which the first control and the second control are disabled. The switch may be included in switch group 801 shown in FIG. 1B . The switch may be provided on operation lever 780. ECU 612 may have a function for switching between the first mode and the second mode in response to a user's operation of the switch. In this case, ECU 612 executes the first control in response to a first user operation and the second control in response to a second user operation in the first mode. In the second mode, ECU 612 does not execute the first control or the second control, and adjusts the height and angle of the attachment in response to a user's operation of operation lever 780, as in the conventional case.

[0135] Vehicle ECU 612 may store in memory 614 setting values ​​for a third height position and a third angle, which respectively indicate a target height position and angle of the attachment in the second mode. In this case, ECU 612 changes the height position and angle of the attachment to the third height position and the third angle, respectively, in response to a user's operation of a switch to switch from the first mode to the second mode. The third height position and the third angle may be set to a height and angle appropriate for when work vehicle 200 is traveling without performing work. Specifically, the third height position and the third angle may be set to a height and angle at which the attachment does not contact the ground and at which a large portion of loader 700 does not appear in the field of view of camera 270. This allows the user to set the first mode when working and the second mode when traveling, and the height and angle of the attachment can be automatically adjusted to values ​​that do not interfere with traveling when switching from the first mode to the second mode.

[0136] As shown in FIG. 17 , work vehicle 200 includes a load sensor 750 that measures the load of loader 700. Load sensor 750 is configured to measure the load applied to the attachment. ECU 612 may execute a first control in response to a first user operation only when the load measured by load sensor 750 exceeds a threshold value. Similarly, ECU 612 may execute a second control in response to a second user operation only when the load measured by load sensor 750 exceeds a threshold value. In other words, ECU 612 may change the height position and angle of the attachment to a first height position and a first angle, respectively, only when the user performs a forward operation and the load exceeds the threshold value. Furthermore, ECU 612 may change the height position and angle of the attachment to a second height position and a second angle, respectively, only when the user performs a reverse operation and the load exceeds the threshold value. This makes it possible to avoid unnecessary operations such as automatically changing the height and angle of the attachment even when no load is being carried on the attachment.

[0137] ECU 612 may execute the first control in response to a first user operation only if the load has exceeded the threshold for a predetermined time or more. Similarly, ECU 612 may execute the second control in response to a second user operation only if the load has exceeded the threshold for a predetermined time or more. The predetermined time may be set to, for example, about 2 to 3 seconds.

[0138] The loader 700 is equipped with an actuator 720 (e.g., a hydraulic actuator) for changing the height position and angle of the attachment. The ECU 612 and the microcontroller 710 (hereinafter, collectively referred to as the "control device") are configured or programmed to control the actuator 720 to execute the first control and the second control described above.

[0139] Note that there are cases where the system automatically performs forward and reverse operations instead of user operation using an operating tool such as the operating lever 780. For example, if the work vehicle 200 is configured to automatically travel and perform work using the loader 700, the automatic driving control system of the work vehicle 200 performs forward, reverse, and steering operations. In this case, the control device may change the height position and angle of the attachment to a preset height position and angle in response to the automatic selection operation by the system.

[0140] Work vehicle 200 is equipped with meter panel unit 100 as a display device that displays a setting screen for setting each of the first height position, the first angle, the second height position, and the second angle. Instead of meter panel unit 100, for example, another display device such as operation terminal 802 shown in FIG. 1B or a mobile terminal used by a user may be used. The user can set each of the first height position, the first angle, the second height position, and the second angle by operating an input device on the displayed setting screen.

[0141] 19A and 19B are flowcharts showing an example of the operation of the control device (ECU 612 and microcontroller 710 in this embodiment). In this example, as shown in FIG. 1C , obstacle detection is performed using two cameras 270 (front camera and rear camera) that capture two images of the front and rear of work vehicle 200. Obstacle detection based on images captured by camera 270 may be performed by ECU 612, the display MCU 440 of meter panel unit 100 (see FIG. 13 ), or another image processing device. Note that obstacle detection may also be performed by obstacle sensor 295 or LiDAR sensor 290 other than camera 270. These obstacle detection functions are provided as needed and may be omitted if unnecessary.

[0142] In step S110, the control device determines whether the current mode is the work mode (first mode) or the travel mode (second mode). The user can switch between the work mode and the travel mode by operating a mode selector switch provided on the operation lever 780 or another operating tool. If the work mode is selected, a signal indicating the work mode is sent from the mode selector switch to the control device. When the control device detects the signal indicating the work mode, the process proceeds to step S120, where the work mode is activated. If the travel mode is selected, a signal indicating the travel mode is sent from the mode selector switch to the control device. When the control device detects the signal indicating the travel mode, the process proceeds to step S200, where the travel mode is activated.

[0143] Next, the control device determines whether a forward or reverse operation is being performed based on a signal from the forward / reverse pedal 790. This determination may also use a signal output from a sensor that detects whether the transmission is in a forward or reverse state. Furthermore, the control device detects the load of the loader 700 based on a signal from the load sensor 750 and compares the load with a threshold value. The control device determines whether a predetermined time has elapsed since the load exceeded the threshold value. The predetermined time may be set to, for example, 1 second or more and 5 seconds or less. In one example, the predetermined time may be set to 2 seconds or more and 3 seconds or less. If a forward operation is being performed and the predetermined time has elapsed since the load exceeded the threshold value, the process proceeds to step S130. If a reverse operation is being performed and the predetermined time has elapsed since the load exceeded the threshold value, the process proceeds to step S140.

[0144] In step S130, the control device starts moving work vehicle 200 forward. At this time, the control device adjusts the height and angle of the attachment of loader 700 to the first set values ​​(the first height position and first angle described above) that have been set in advance. This automatically adjusts the height and angle of the attachment to values ​​appropriate for scooping transported material such as earth and sand. At this time, the control device displays the image captured by the front camera on meter panel unit 100.

[0145] In step S140, the control device starts reverse movement of work vehicle 200. At this time, the control device adjusts the height and angle of the attachment of loader 700 to pre-set second set values ​​(the second height position and second angle described above). This automatically adjusts the height and angle of the attachment to values ​​suitable for transporting an object such as earth and sand. At this time, the control device displays the image captured by the rear camera on meter panel unit 100. The operation of step S140 can be executed, for example, after the operation of step S130 has been performed, making it possible for the attachment to transport an object, and after the user has operated reverse movement.

[0146] While the vehicle is moving forward or backward, the control device executes a process to detect obstacles. For example, a specific obstacle (e.g., a person or a vehicle) can be detected by executing a predetermined obstacle detection algorithm based on images acquired by the front camera or rear camera. The obstacle detection process is not limited to being executed by the control device, but may also be executed by another image processing device. If an obstacle is detected, the process proceeds to step S150, where the control device stops the operation of the work vehicle 200. After the operation is stopped, the operation is resumed by manual operation by the user. If no obstacle is detected, the process proceeds to step S160, where the vehicle continues traveling. Thereafter, if the work is completed or the work vehicle 200 has arrived at the destination, the process returns to step S110, and the mode selection operation is executed again.

[0147] When the control device detects a signal indicating that the current mode is the travel mode, the process proceeds to step S200. In step S200, the control device activates the travel mode and adjusts the height and angle of the loader attachment to the third set values ​​(the third height position and third angle described above). This automatically adjusts the height and angle of the attachment to values ​​suitable for normal travel.

[0148] In the travel mode, as shown in Figure 19B, the control device determines whether a forward or reverse operation is being performed based on a signal from the forward / reverse pedal 790. If a forward operation is detected, the process proceeds to step S230. If a reverse operation is detected, the process proceeds to step S240. If neither operation is being performed, the work vehicle 200 remains stopped.

[0149] In step S230, the control device starts moving work vehicle 200 forward. At this time, the control device causes meter panel unit 100 to display an image captured by the front camera.

[0150] In step S140, the control device starts reverse movement of the work vehicle 200. At this time, the control device causes the meter panel unit 100 to display an image captured by the rear camera.

[0151] Even in the traveling mode, the control device executes obstacle detection processing based on the image from the front camera or rear camera. If an obstacle is detected, the process proceeds to step S250, where the control device stops the operation of the work vehicle 200. After operation has stopped, operation can be resumed by manual operation by the user. If an obstacle is not detected, the process proceeds to step S260, where traveling continues. After step S260, the process proceeds to step S170.

[0152] 19A and 19B, the user can also manually adjust the height and angle of the loader attachment by operating the operating lever 780. If the user wishes to fine-tune the height and angle of the attachment after the automatic adjustments in steps S150, S160, and S200 have been performed, the user can adjust the height and angle to the desired level by operating the operating lever 780.

[0153] In the examples shown in FIGS. 19A and 19B , images captured by the front camera and rear camera are displayed, and obstacle detection processing is performed based on those images. The display function and obstacle detection function are not necessarily provided. In the example of FIG. 19A , automatic loader adjustment is performed when a forward or reverse operation is performed and the loader load exceeds a threshold value for a predetermined period of time or longer. However, the determination based on the loader load may be omitted. The determination based on the loader load may be performed only when the loader is moving forward or backward. For example, when moving forward, automatic adjustment of the loader height and angle may be performed immediately in response to a forward operation, and when moving backward, automatic adjustment of the loader height and angle may be performed when a load is detected for a predetermined period of time or longer in addition to a reverse operation.

[0154] The operation of this embodiment allows the user to switch between work mode and travel mode. In work mode, simply by operating the vehicle forward, the height and angle of the loader attachment can be automatically adjusted to a preset first height position and first angle. In work mode, simply by operating the vehicle backward, the height and angle of the loader attachment can be automatically adjusted to a preset second height position and second angle. Furthermore, simply by operating the vehicle to switch to travel mode, the height and angle of the loader attachment can be automatically adjusted to a preset third height position and third angle. These automatic adjustment functions reduce the workload and enable even less skilled workers to easily perform tasks such as transporting.

[0155] Next, an example of a setting screen for setting the first height position, first angle, second height position, second angle, third height position, and third angle will be described. In the following description, these values ​​will be referred to as "target values."

[0156] 20 is a diagram showing an example of a graphical user interface (GUI) on a setting screen displayed on the display element 13 (digital display) of the meter panel unit 100. Fig. 20 shows an example of a setting screen for setting three target values ​​for the height and angle of the attachment of the loader 700.

[0157] The display screen shown in FIG. 20 is displayed by a user performing a predetermined operation using the input device 170 on the home screen (see FIG. 15 ) that is displayed after startup of the meter panel unit 100. This setting screen is displayed below the primary area 131 that displays information such as the gear position and vehicle speed. The setting screen shown in FIG. 20 includes an area 175 for selecting which of three sets of target height and angle values ​​to set, an area 180 for setting a target value for the attachment height (Boom height), and an area 190 for setting a target value for the attachment angle (Bucket angle). Area 175 includes three selectable areas distinguished by the letters A, B, and C. Area A is associated with a first height position and a first angle and includes a mark 176 of a first color (e.g., yellow). Area B is associated with a second height position and a second angle and includes a mark 177 of a second color (e.g., blue). Area C is associated with a third height position and a third angle, and includes a mark 178 of a third color (e.g., orange). The user can set target values ​​for height and angle corresponding to the selected area by operating the input device 170 to select one area from areas A, B, and C. Figure 20 shows, as an example, a state in which area A is selected.

[0158] The area 180 includes an arc-shaped gauge 184 for setting the target attachment height. The arc-shaped gauge 184 displays the range from the lower limit to the upper limit of the attachment height in a darker color. This range is separately set by the user. The set range of the maximum attachment height corresponding to the boom's range of motion is displayed in a darker color. In this example, the target height is indicated by a mark 185 and the value "50%" displayed on the arc-shaped gauge 184. The user can change the height value by operating the input device 170. In response to this operation, the mark 185 moves up and down along the arc-shaped gauge 184. In this example, the arc-shaped gauge 184 represents changes in the attachment height. This allows the movement of the mark 185 to match the actual movement of the attachment, making it easier for the user to grasp the attachment's position. A mark 186 is displayed to the left of the gauge 184, indicating whether the currently set target height position (A, B, or C) is A, B, or C. This mark 186 is displayed in the same color as the mark 176. A mark 187 on the arc-shaped gauge 184 indicates the current value of the attachment height.

[0159] Area 190 includes an arc-shaped gauge 194 for setting the target angle of the attachment. The arc-shaped gauge 194 indicates the range from the lower limit to the upper limit of the attachment angle in a darker color. This range is the angle range separately set by the user. The set angle range within the movable range of the attachment angle is indicated in a darker color. In this example, the target angle is indicated by a mark 195 and the numerical value "-70%" displayed on the arc-shaped gauge 194. The user can change the numerical value of the angle by operating the input device 170. In response to this operation, mark 195 moves up and down along the arc-shaped gauge 194. A mark 196 indicating whether the currently set target angle is A, B, or C is displayed to the left of the gauge 194. This mark 196 is displayed in the same color as marks 176 and 186. A mark 197 on the arc-shaped gauge 194 indicates the current angle value.

[0160] If the user selects area B or C in area 175, a setting screen with a similar layout is displayed, allowing the user to set another set of height and angle. The sets of target values ​​for areas A, B, and C correspond to the first set value in step S150, the second set value in step S160, and the third set value in step S200, respectively, shown in FIG. 19A.

[0161] Using this setting screen, the user can set three sets of target height positions and target angles. After completing the settings, the operations shown in Figures 19A and 19B can be performed.

[0162] In the above example, three sets of target height positions and target angles are set, but only two sets (for example, the first set value referenced in step S150 and the second set value referenced in S160) may be set. Furthermore, when an attachment that does not require angle adjustment, such as a fork, is attached to the loader 700, all sets of target angles may be set to 0%. Alternatively, a GUI may be employed that does not allow the setting of target angles on the setting screen corresponding to such an attachment, and allows only two or three sets of target height positions to be set.

[0163] 19A and 19B and the GUI layout shown in FIG. 20 are merely examples and can be modified as appropriate. For example, user operations can be performed using various operating tools, not limited to the above-described operating lever 780 and pedal 790. The operating tool can include at least one of a lever, a switch, a switch for operating a display device that displays a setting screen for user operations, or a switch display displayed on the display device (e.g., a switch display on a touch screen).

[0164] In the above-described example, various display screens are displayed on the display element 13 of the meter panel unit 100, but the present disclosure is not limited to this. The display screens may be displayed on the display of an operation terminal 802 such as a virtual terminal (VT) shown in FIG. 1B or a mobile terminal used by a user. In this way, the VT or the mobile terminal used by a user may also be included in the information display system.

[0165] The information display system or control system in the above embodiments can also be retrofitted to a work vehicle that does not have those functions. Such a system can be manufactured and sold independently of the work vehicle. The computer program used in such a system can also be manufactured and sold independently of the work vehicle. The computer program can be provided, for example, by being stored on a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunications line (e.g., the Internet).

[0166] The technology of the present disclosure is widely applicable to various types of work vehicles used in, for example, smart agriculture.

[0167] 100: meter panel unit, 500: information display system, 700: loader, 703: bucket, 710: microcontroller, 720: actuator, 730: height sensor, 740: angle sensor, 750: load sensor, 780: operation lever

Claims

1. A work vehicle comprising a loader capable of changing the height position and angle of a tip attachment, and a control device for controlling the operation of the loader, wherein the control device includes a memory storing setting values of a first height position and a first angle respectively indicating the target height position and angle of the attachment when the work vehicle moves forward, and setting values of a second height position and a second angle respectively indicating the target height position and angle of the attachment when the work vehicle moves backward, and in response to a first user operation for moving the work vehicle forward, executes a first control for changing the height position and angle of the attachment to the first height position and the first angle respectively, and in response to a second user operation for moving the work vehicle backward, executes a second control for changing the height position and angle of the attachment to the second height position and the second angle respectively.

2. The work vehicle according to claim 1, further comprising a switch for switching between a first mode in which the first control and the second control are enabled and a second mode in which the first control and the second control are disabled, wherein the control device switches between the first mode and the second mode in response to an operation of the switch by the user, and in the first mode, executes the first control in response to the first user operation and executes the second control in response to the second user operation.

3. The memory stores setting values of a third height position and a third angle respectively indicating the target height position and angle of the attachment in the second mode, and the control device changes the height position and angle of the attachment to the third height position and the third angle respectively in response to an operation of the switch by the user for switching from the first mode to the second mode. The work vehicle according to claim 2.

4. The work vehicle according to any one of claims 1 to 3, further comprising a sensor for measuring the load of the loader, and the control device executes the first control in response to the first user operation and executes the second control in response to the second user operation only when the load exceeds a threshold value.

5. The control device according to claim 4, wherein the first control is executed in response to the first user operation and the second control is executed in response to the second user operation only when a state in which the load exceeds a threshold value continues for a predetermined time or longer.

6. The work vehicle according to any one of claims 1 to 3, further comprising a display device that displays a setting screen for setting each of the first height position, the first angle, the second height position, and the second angle.

7. The work vehicle according to claim 6, wherein the display device is a meter panel unit including a digital display that displays the setting screen and one or more analog meters.

8. The loader according to any one of claims 1 to 3, wherein the loader is provided with an actuator for changing the height position and the angle of the attachment, and the control device executes the first control and the second control by controlling the actuator.

9. A control device for controlling a loader in a work vehicle to which a loader capable of changing the height position and the angle of a tip attachment is attached, the control device including: a memory that stores setting values of a first height position and a first angle respectively indicating the target height position and the target angle of the attachment when the work vehicle moves forward, and setting values of a second height position and a second angle respectively indicating the target height position and the target angle of the attachment when the work vehicle moves backward; and a control circuit that executes a first control for changing the height position and the angle of the attachment to the first height position and the first angle respectively in response to a first user operation for moving the work vehicle forward, and executes a second control for changing the height position and the angle of the attachment to the second height position and the second angle respectively in response to a second user operation for moving the work vehicle backward.

10. A method for controlling a loader attached to a work vehicle capable of changing the height position and angle of a tip attachment, the method comprising: storing in a memory set values of a first height position and a first angle respectively indicating a target height position and angle of the attachment when the work vehicle moves forward, and set values of a second height position and a second angle respectively indicating a target height position and angle of the attachment when the work vehicle moves backward; executing first control for changing the height position and angle of the attachment to the first height position and the first angle respectively in response to a first user operation for moving the work vehicle forward; and executing second control for changing the height position and angle of the attachment to the second height position and the second angle respectively in response to a second user operation for moving the work vehicle backward.

Images