Agricultural work vehicle equipped with single joystick for integrally controlling work machine and driving

Abstract

Provided is an agricultural work vehicle comprising: a joystick that receives a user command for controlling work using a work machine attached to an agricultural work vehicle and driving of the agricultural work vehicle; a mode shift switch operated by a user for shifting between a work mode and a driving mode, wherein the work mode is a mode for controlling work using the work machine to perform a predetermined work, and the driving mode is a mode for controlling the driving of the agricultural work vehicle; and a control unit that controls an actuator corresponding to the received user command on the basis of an activated mode between the work mode and the driving mode.

Description

Agricultural work vehicle equipped with a single joystick that provides integrated control of work equipment and driving.

[0001] The present disclosure relates to an agricultural work vehicle equipped with a single joystick for integrated control of work mechanism and driving.

[0002] Agricultural work vehicles are vehicles used for agricultural work, such as rice transplanters, combine harvesters, and tractors. For example, tractors can be equipped with various agricultural implements and perform the necessary agricultural work.

[0003] Most agricultural work vehicles are equipped with a driving joystick to control engine speed and gear shifting, and a working joystick to control implements. The driving joystick is often located on the driver's armrest, while the working joystick is often located on a separate console on the right side of the driver's seat. In this case, the distance between the two joysticks is too far, which can easily lead to operator fatigue and reduced work efficiency. Conversely, if the two joysticks are placed too close together, the driver may confuse them and operate them incorrectly.

[0004] The present disclosure provides a method for integrated control of the driving of work machines and agricultural work vehicles using a single joystick.

[0005] According to one aspect of the present disclosure, an agricultural work vehicle may include a joystick that receives a user command for controlling work using a work machine attached to the agricultural work vehicle and driving of the agricultural work vehicle, a mode switching switch that a user operates for switching between a work mode and a driving mode, wherein the work mode is a mode for controlling work using the work machine to perform a predetermined task, and the driving mode is a mode for controlling driving of the agricultural work vehicle, and a control unit that controls an actuator corresponding to the received user command based on an activated mode among the work mode and the driving mode.

[0006] In one embodiment, the agricultural work vehicle may further include an armrest controller installed in an armrest of a driver's seat, which receives a mode switching signal generated from the mode switching switch by the user's operation and transmits the mode switching signal to the control unit via CAN (Controller Area Network) communication.

[0007] In one embodiment, the joystick may include a lever that can be tilted in a plurality of directions, a plurality of switches positioned on a handle of the lever, and each of the plurality of directions and each of the plurality of switches may be assigned functions for controlling operation using the implement and driving of the agricultural work vehicle.

[0008] In one embodiment, the plurality of switches may include at least one of a toggle switch movable up and down from an original position, a first button and a second button that can be pushed by a user, and a 3-position switch that can be pushed by a user in any of the up, neutral, and down positions.

[0009] In one embodiment, when the work mode is activated, the control unit can, in response to a first user command of pushing the first button, move the agricultural work vehicle forward, in response to a second user command of pushing the second button, move the agricultural work vehicle backward, in response to a third user command of operating the toggle switch upward, move the third valve actuator of the loader attached to the agricultural work vehicle forward, and in response to a fourth user command of operating the toggle switch downward, move the third valve actuator of the loader attached to the agricultural work vehicle backward.

[0010] In one embodiment, when the driving mode is activated, the control unit can, in response to a fifth user command of pushing the first button, move the agricultural work vehicle forward, in response to a sixth user command of pushing the second button, move the agricultural work vehicle backward, in response to a seventh user command of operating the toggle switch upward, increase the engine speed of the agricultural work vehicle, and in response to an eighth user command of operating the toggle switch downward, decrease the engine speed of the agricultural work vehicle.

[0011] In one embodiment, the agricultural work vehicle may further include a Human-Machine Interface (HMI) that displays an activated mode among the work mode and the driving mode, and displays functions assigned to each of the plurality of directions of the joystick and each of the plurality of switches.

[0012] In one embodiment, the HMI can receive a user input for changing at least one of the functions assigned to each of the plurality of directions of the joystick and each of the plurality of switches, and the control unit can change the at least one function corresponding to the received user input among the functions assigned to each of the plurality of directions of the joystick and each of the plurality of switches.

[0013] In one embodiment, the mode change switch may include a display portion that indicates an activated mode among the work mode and the driving mode.

[0014] In one embodiment, the agricultural work vehicle may further include an instrument panel that displays an activated mode among the work mode and the driving mode and outputs information corresponding to the activated mode.

[0015] An agricultural work vehicle according to one embodiment can control the driving of a work machine and an agricultural work vehicle in an integrated manner using a single joystick, thereby securing space in the driver's seat and reducing the production cost of the agricultural work vehicle.

[0016] FIG. 1 is a block diagram illustrating components of an agricultural work vehicle according to one embodiment.

[0017] FIGS. 2A and 2B are perspective views of a joystick according to one embodiment.

[0018] FIG. 3 is a table illustrating examples of functions assigned to a joystick in a working mode and a driving mode according to one embodiment.

[0019] FIG. 4 is a drawing for explaining a method of customizing content displayed on an HMI and functions assigned to a joystick through the HMI according to one embodiment.

[0020] The terms used in this disclosure are selected from widely used, common terms, taking into account the functions of the disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. In certain cases, terms may be arbitrarily selected by the applicant, in which case their meanings will be described in detail in the relevant description. Therefore, the terms used in this disclosure should not be defined simply as names, but rather based on the meanings of the terms and the overall content of the disclosure.

[0021] Singular expressions may include plural expressions unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art described herein.

[0022] The term "and / or" in this disclosure includes any combination of a plurality of related described components or any one of a plurality of related described components.

[0023] Terms including ordinal numbers, such as "first" or "second," used in this disclosure may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

[0024] In this disclosure, the expression “at least one of a, b, or c” may refer to “a,” “b,” “c,” “a and b,” “a and c,” “b and c,” “all of a, b, and c,” or variations thereof.

[0025] When a part of the specification is said to "include" a component, this does not exclude other components, but rather implies the inclusion of other components, unless otherwise specifically stated. Furthermore, terms such as "part" and "module" used in the specification refer to a unit that processes at least one function or operation, which may be implemented in hardware, software, or a combination of hardware and software.

[0026] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the attached drawings so that those skilled in the art can easily practice the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts that are not related to the description are omitted to clearly explain the present disclosure, and similar parts are designated with similar reference numerals throughout the specification. In addition, the reference numerals used in each drawing are only for the purpose of describing each drawing, and different reference numerals used in different drawings do not indicate different elements.

[0027] FIG. 1 is a block diagram illustrating components of an agricultural work vehicle according to one embodiment.

[0028] Referring to FIG. 1, an agricultural work vehicle (100) may include a joystick (110), a mode change switch (120), an armrest controller (121), a control unit (130), an actuator (140), a human-machine interface (HMI) (150), and an instrument panel (160).

[0029] The joystick (110) can receive user commands for controlling work using a work implement attached to an agricultural work vehicle (100) and driving of the agricultural work vehicle (100). As described below, the user can switch between the work mode and the driving mode using the mode change switch (120), and the joystick (110) can receive user commands for controlling work using the work implement in the work mode and can receive user commands for controlling driving of the agricultural work vehicle (100) in the driving mode. The joystick (110) can be provided on an armrest of the driver's seat.

[0030] The joystick (110) may include a lever that can be tilted in multiple directions (e.g., forward, backward, left, and right). Functions for controlling work using the implement and driving of the agricultural work vehicle (100) may be assigned to each of the multiple directions. When a user tilts the lever in any one of the multiple directions, the joystick (110) may transmit a digital signal corresponding to the direction in which the lever is tilted to the control unit (130). At this time, the digital signal may be, but is not limited to, a CAN (Controller Area Network) signal.

[0031] The joystick (110) may further include a plurality of switches to which functions for controlling work using the implement and driving of the agricultural work vehicle (100) may be assigned. The plurality of switches may be provided on the handle (e.g., the upper portion) of the lever, but is not limited thereto. For example, the plurality of switches may include various types of switches, such as a toggle switch that can be moved in a specific direction (e.g., up and down) from an original position (e.g., center), a button switch that can be pushed by a user, and a 3-position switch that can be pushed by a user to any one of upward, neutral, and downward positions. When the switch is operated, the joystick (110) may transmit a corresponding digital signal to the control unit (130). At this time, the digital signal may be a CAN signal, but is not limited thereto.

[0032] The mode change switch (120) can be operated by the user to switch between the work mode and the driving mode. The mode change switch (120) may be a button switch that the user can push. The work mode is a mode for controlling work using a work tool attached to the agricultural work vehicle (100) to perform a predetermined task, and the driving mode is a mode for controlling the driving of the agricultural work vehicle (100). For example, the work tool may be any one of a loader, a grapple bucket, a pallet fork, a front backhoe, and a front lift arm, but is not limited thereto. The mode change switch (120) may be provided on an armrest of the driver's seat.

[0033] The mode change switch (120) may include a display unit that indicates the currently activated mode. The display unit may include, but is not limited to, a light emitting diode (LED). For example, the LED may be turned off when in the work mode, and the LED may be turned on when in the driving mode. By allowing the user to check the currently activated mode through the display unit, even when the driving and working equipment of the agricultural work vehicle (100) are controlled with only a single joystick (110), an accident in which the user confuses the currently activated mode and incorrectly operates the vehicle can be prevented.

[0034] When a user presses the mode change switch (120), the mode change switch (120) can transmit a corresponding digital signal to the control unit (130). At this time, the digital signal may be a CAN (Controller Area Network) signal, but is not limited thereto.

[0035] The armrest controller (121) can receive an operation signal from an electrical component (e.g., a speed lever, an automatic transmission button, etc.) installed in the armrest of the driver's seat and transmit the received operation signal to the control unit (130) via CAN communication. For example, the armrest controller (121) can receive a mode switching signal generated from the mode switching switch (120) by a user's operation and transmit the received mode switching signal to the control unit (130) via CAN communication. The armrest controller (121) can supply power to the display unit of the mode switching switch (120). The armrest controller (121) can be installed in the armrest of the driver's seat.

[0036] The control unit (130) can control the actuator (140) corresponding to the user command received through the joystick (110) based on the activated mode among the work mode and the driving mode. For example, when the work mode is activated and the lever of the joystick (110) is tilted forward, the control unit (130) can control the first actuator to perform a work-related function (e.g., lowering a loader boom, etc.) assigned to the front of the joystick (110), and when the driving mode is activated and the lever of the joystick (110) is tilted forward, the control unit (130) can control the second actuator to perform a driving-related function (e.g., upshifting a main gear, etc.) assigned to the front of the joystick (110). The control unit (130) can receive information about the control result (e.g., open / closed state of a valve, etc.) from the actuator (140).

[0037] The control unit (130) can control the HMI (150) to display the activated mode among the work mode and the driving mode, and the function assigned to the joystick (110). The control unit (130) can change the function assigned to the joystick (110) according to user input for customizing the joystick (110) received through the HMI (150).

[0038] The control unit (130) can control the instrument panel (160) to display the activated mode among the work mode and the driving mode and output information corresponding to the activated mode.

[0039] The control unit (130) may include a processor (131), a memory (132), and a communication unit (133).

[0040] The processor (131) can control the overall operations of the agricultural work vehicle (100) and the control unit (130). For example, the processor (131) can control operations performed by the control unit (130) to control the actuator (140) corresponding to a user command received through the joystick (110) based on the activated mode among the work mode and the driving mode by executing one or more commands or programs stored in the memory (132). There can be one or more processors (131).

[0041] The processor (131) may be configured as, for example, at least one of a CPU (Central Processing Unit), a microprocessor, an AP (Application Processor), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an ECU (Electronic Control Unit), a TCU (Transmission Control Unit), and a VCU (Vehicle Control Unit), but is not limited thereto.

[0042] The memory (132) can store one or more commands or programs that can be executed by the processor (131). The operations of the agricultural work vehicle (100) and the control unit (130) described in the present disclosure can be implemented by the processor (131) executing commands or programs stored in the memory (132).

[0043] The memory (132) may include at least one of, but is not limited to, flash memory, a hard disk, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and programmable read-only memory (PROM).

[0044] The communication unit (133) can perform data communication with other components under the control of the processor (131).

[0045] The communication interface (133) may be, for example, CAN (Controller Area Network), LIN (Local Interconnect Network), Ethernet, UART (Universal Asynchronous Receiver-Transmitter), SPI (Serial Peripheral Interface), I 2 Data communication between the control unit (130) and other components can be performed using at least one of data communication methods including C (Inter-Integrated Circuit), cellular communication (e.g., 3G, 4G, 5G, etc.), wired LAN, wireless LAN, Wi-Fi, Bluetooth, BLE (Bluetooth Low Energy), NFC (Near Field Communication), infrared communication (IrDA, Infrared Data Association), and RF communication.

[0046] The actuator (140) can perform a predetermined function by performing a physical operation under the control of the control unit (130). For example, the actuator (140) may be any one of, but is not limited to, an electronic solenoid valve for moving the agricultural work vehicle (100) forward and backward, a solenoid for a power shift valve for changing gears, an electronic throttle valve actuator for controlling engine speed, and an electronic hydraulic valve for raising and lowering a boom of a loader attached to the agricultural work vehicle (100). The agricultural work vehicle (140) may include one or more actuators (140).

[0047] The HMI (150) is a configuration for interaction between a user and an agricultural work vehicle (100), and may include an output interface that displays status information of the agricultural work vehicle (100) (e.g., speed of the agricultural work vehicle (100), engine speed, current gear ratio, operation of the PTO (Power Take-Off), etc.), and an input interface that receives user input from the user to change the status of the agricultural work vehicle (100) or execute additional functions (e.g., music playback, volume control, front and rear camera execution, etc.). For example, the HMI (150) may be a touch screen capable of receiving a touch input, but is not limited thereto.

[0048] The HMI (150) can display the activated mode among the work mode and the driving mode, and the function assigned to the joystick (110). The HMI (150) can receive user input for customizing the joystick (110). The operation of the HMI (150) will be described later with reference to FIG. 4.

[0049] The instrument panel (160) can display information related to the operation of the implement and agricultural work vehicle (100). For example, the instrument panel (160) can display, but is not limited to, whether the PTO is operating, the speed of the agricultural work vehicle (100), the engine speed, the current gear ratio, and whether the power shuttle is in forward, neutral, or reverse.

[0050] The instrument panel (160) can display the activated mode among the work mode and driving mode and output information corresponding to the activated mode. For example, the information corresponding to the activated mode may be an audible alarm, but is not limited thereto. For this purpose, the instrument panel (160) may include a speaker that reproduces a sound.

[0051] FIGS. 2A and 2B are perspective views of a joystick according to one embodiment.

[0052] Referring to FIG. 2A, the joystick (110) may include a lever (210) that can be tilted in multiple directions. While the following description illustrates examples in which the multiple directions include forward, backward, left, and right, the present disclosure is not limited thereto. Functions for controlling work using the implement and driving of the agricultural work vehicle (100) may be assigned to each of the forward, backward, left, and right directions. Examples of functions assigned to each direction of the lever (210) will be described below with reference to FIG. 3.

[0053] The joystick (110) may further include a plurality of switches to which functions for controlling the operation of the work implement and agricultural work vehicle (100) may be assigned to the handle of the lever (210). For example, the joystick (110) may include a toggle switch (220) that can be moved up and down from its original position, and may include a first button (230) and a second button (240) that can be pushed by the user. However, the switches that can be mounted on the joystick (110) are not limited thereto.

[0054] For example, as illustrated in FIG. 2B, the joystick (110) may include a three-position switch (250) that a user can push to any one of upward, neutral, and downward positions. The three-position switch (250) may be operated like a seesaw, and different functions may be assigned to the upward, neutral, and downward positions, respectively. For example, when the three-position switch (250) is operated upward, the control unit (130) may move the agricultural work vehicle (100) forward, when the three-position switch (250) is operated neutral, it may be in a neutral state with no function assigned, and when the three-position switch (250) is operated downward, the control unit (130) may move the agricultural work vehicle (100) backward.

[0055] In this way, the joystick (110) illustrated in FIG. 2a can be operated through a lever (210), a toggle switch (220), a first button (230), and a second button (240), and the joystick (110) illustrated in FIG. 2b can be operated through a lever (210), a toggle switch (220), and a 3-position switch (250).

[0056] FIG. 3 is a table illustrating examples of functions assigned to the joystick of FIG. 2a in the working mode and the driving mode according to one embodiment.

[0057] Referring to FIG. 3, different functions can be assigned to each operation of the joystick (110) in the working mode and the driving mode. The functions assigned to the joystick (110) can be stored in advance in the memory (132) of the control unit (130), and the control unit (130) can control the actuator (140) to perform the assigned functions based on the currently activated mode when the joystick (110) is operated.

[0058] When the work mode is activated, each operation of the joystick (110) can be assigned work-related functions.

[0059] For example, as illustrated in FIG. 3, when the work mode is activated, the control unit (130) may advance the loader boom actuator to lower the loader boom in response to a user command to operate the lever (210) forward, move the loader boom actuator backward to raise the loader boom in response to a user command to operate the lever (210) backward, move the loader bucket actuator backward to raise the loader bucket in response to a user command to operate the lever (210) left, and move the loader bucket actuator forward to lower the loader bucket in response to a user command to operate the lever (210) right.

[0060] When the work mode is activated, the control unit (130) can move the agricultural work vehicle (100) forward in response to a user command to operate the toggle switch (220) upward, and can move the agricultural work vehicle (100) backward in response to a user command to operate the toggle switch (220) downward. At this time, the control unit (130) can be configured to move the agricultural work vehicle (100) forward or backward in accordance with the operation of the toggle switch (220) only when the power shuttle lever of the agricultural work vehicle (100) is in the neutral position.

[0061] When the operation mode is activated, the control unit (130) can advance the loader third valve actuator in response to a user command of pushing the first button (230), and can move the loader third valve actuator backward in response to a user command of pushing the second button (240). Here, the loader third valve may refer to a hydraulic valve that controls additional functions in addition to controlling the elevation of the boom and bucket of the loader. For example, when the loader is equipped with a grapple bucket, the loader third valve may provide hydraulic pressure for the operation of opening or closing the grapple bucket's gripper. At this time, when the loader third valve actuator moves forward, the gripper may open, and when the loader sub-valve actuator moves backward, the gripper may retract.

[0062] When the driving mode is activated, driving-related functions can be assigned to each operation of the joystick (110).

[0063] For example, as illustrated in FIG. 3, when the driving mode is activated, the control unit (130) can upshift the main gear in response to a user command to operate the lever (210) forward, and can downshift the main gear in response to a user command to operate the lever (210) backward.

[0064] When the driving mode is activated, the control unit (130) can increase the engine speed of the agricultural work vehicle (100) in response to a user command to operate the toggle switch (220) upward, and can decrease the engine speed of the agricultural work vehicle (100) in response to a user command to operate the toggle switch (220) downward. At this time, the control unit (130) can be configured to move the agricultural work vehicle (100) forward or backward in accordance with the operation of the toggle switch (220) only when the power shuttle lever of the agricultural work vehicle (100) is in the neutral position.

[0065] When the driving mode is activated, the control unit (130) can move the agricultural work vehicle (100) forward in response to a user command of pushing the first button (230), and can move the agricultural work vehicle (100) backward in response to a user command of pushing the second button (240).

[0066] In the description of FIG. 3 above, an example in which the joystick (110) is implemented to include a toggle switch (220), a first button (230), and a second button (240) has been described, but as described above, the types of switches that can be mounted on the joystick (110) are not limited thereto, and even when other switches (e.g., a 3-position switch (250), etc.) are mounted, different functions can be assigned to each operation of the switch depending on the activated mode.

[0067] FIG. 4 is a drawing for explaining a method of customizing content displayed on an HMI and functions assigned to a joystick through the HMI according to one embodiment.

[0068] As described above, the HMI (150) can display the activated mode among the work mode and the driving mode, and the function assigned to the joystick (110).

[0069] As illustrated in FIG. 4, the HMI (150) can display the activated mode among the work mode and the driving mode, and the function assigned to the joystick (110) in the first area (410) of the display.

[0070] When the work mode is activated, the HMI (150) can display work-related functions assigned to the lever (210), the toggle switch (220), the first button (230), and the second button (240) of the joystick (110) along with an indication of “work mode.” Also, although not shown in FIG. 4, when the driving mode is activated, the HMI (150) can display driving-related functions assigned to the lever (210), the toggle switch (220), the first button (230), and the second button (240) of the joystick (110) along with an indication of “drive mode.”

[0071] The user can check the currently activated mode and the function assigned to the joystick (110) through the HMI (150), thereby preventing accidents of incorrect operation due to confusion about the currently activated mode.

[0072] The HMI (150) can receive user input for customizing the joystick (110). In an example where the HMI (150) is a touch screen, the HMI (150) can receive touch input for changing a function assigned to the joystick (110). However, the present disclosure is not limited thereto, and the agricultural work vehicle (100) may further include other means (e.g., a jog dial, etc.) for receiving user input for changing a function in an interface displayed on the HMI (150).

[0073] For example, as illustrated in FIG. 4, when the HMI (150) receives a first touch input (431) for changing a function assigned to the toggle switch (220), the HMI (150) may display an interface (422) for changing the function assigned to the toggle switch (220) in a second area (420) of the display. The interface (422) may display a function assigned to each operation (e.g., up or down) of the toggle switch (220), and the user may select the function of which operation to change through the second touch input (432). When the HMI (150) receives a second touch input (432) for selecting an operation (e.g., up) to change a function, the HMI (150) can display a list (424) of functions assignable to the selected operation, and when it receives a third touch input (433) for selecting a specific function (e.g., PTO speed increase), the HMI (150) can assign the function selected by the third touch input (433) to the operation selected by the second touch input (432).

[0074] The embodiments of the present disclosure described above may be implemented in the form of a recording medium containing computer-executable instructions, such as program modules, executed by a computer. Computer-readable media may include any volatile and nonvolatile media, removable and non-removable media that can be accessed by a computer. Furthermore, computer-readable media may include computer storage media and communication media. Computer storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Communication media may include computer-readable instructions, data structures, or other data in a modulated data signal, such as program modules.

[0075] The above description of the present disclosure is provided for illustrative purposes only, and those skilled in the art will readily appreciate that the present disclosure can be readily modified into other specific forms without altering the technical spirit or essential characteristics of the present disclosure. Therefore, the above descriptions should be understood as illustrative and not limiting. For example, components described in a single form may be implemented in a distributed manner, and similarly, components described in a distributed manner may be implemented in a combined manner.

[0076] The scope of the present disclosure is indicated by the claims set forth below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present disclosure.

Claims

1. In agricultural work vehicles (100), A joystick (110) for receiving user commands for controlling work using a work machine attached to the agricultural work vehicle (100) and driving of the agricultural work vehicle (100); A mode switching switch (120) operated by the user for switching between a work mode and a driving mode, wherein the work mode is a mode for controlling work using the work machine to perform a predetermined task, and the driving mode is a mode for controlling driving of the agricultural work vehicle (100); and An agricultural work vehicle, comprising a control unit (130) that controls an actuator (140) corresponding to the received user command based on an activated mode among the above work mode and the above driving mode.

2. In paragraph 1, An agricultural work vehicle further comprising an armrest controller (121) installed on the armrest of the driver's seat, which receives a mode switching signal generated from the mode switching switch (120) by the user's operation and transmits the mode switching signal to the control unit (130) via CAN (Controller Area Network) communication.

3. In paragraph 1, The above joystick (110) is, A lever (210) that can be tilted in multiple directions; and It includes a plurality of switches (220, 230, 240, 250) located on the handle of the above lever (210), An agricultural work vehicle, wherein functions for controlling work using the work machine and driving of the agricultural work vehicle (100) are assigned to each of the plurality of directions and each of the plurality of switches (220, 230, 240, 250).

4. In paragraph 3, An agricultural work vehicle, wherein the plurality of switches (220, 230, 240, 250) include at least one of a toggle switch (220) that can move up and down from an original position, a first button (230) and a second button (240) that can be pushed by a user, and a 3-position switch (250) that can be pushed by a user in any one of upward, neutral, and downward directions.

5. In paragraph 4, When the above control unit (130) activates the above operation mode, In response to a first user command of pushing the first button (230), the agricultural work vehicle (100) is moved forward, In response to a second user command to push the second button (240), the agricultural work vehicle (100) is moved backwards, In response to a third user command to operate the above toggle switch (220) upward, the third valve actuator of the loader attached to the agricultural work vehicle (100) is moved forward, An agricultural work vehicle that moves the third valve actuator of the loader attached to the agricultural work vehicle (100) backward in response to a fourth user command that operates the toggle switch (220) downward.

6. In paragraph 4, The above control unit (130) when the driving mode is activated, In response to the fifth user command of pushing the first button (230), the agricultural work vehicle (100) is moved forward, In response to the sixth user command of pushing the second button (240), the agricultural work vehicle (100) is moved backwards, In response to a seventh user command to operate the above toggle switch (220) upward, the engine speed of the agricultural work vehicle (100) is increased, An agricultural work vehicle that lowers the engine speed of the agricultural work vehicle (100) in response to an eighth user command that operates the toggle switch (220) downward.

7. In paragraph 3, An agricultural work vehicle further comprising an HMI (Human-Machine Interface) (150) that displays an activated mode among the above work mode and driving mode, and displays functions assigned to each of the plurality of directions of the joystick (110) and each of the plurality of switches (220, 230, 240, 250).

8. In paragraph 7, The HMI (150) receives a user input for changing at least one of the functions assigned to each of the plurality of directions of the joystick (110) and each of the plurality of switches (220, 230, 240, 250), An agricultural work vehicle in which the control unit (130) changes at least one function corresponding to the received user input among the functions assigned to each of the plurality of directions of the joystick (110) and each of the plurality of switches (220, 230, 240, 250).

9. In paragraph 1, An agricultural work vehicle, wherein the above mode change switch (120) includes a display unit that displays an activated mode among the above work mode and the above drive mode.

10. In paragraph 1, An agricultural work vehicle further comprising an instrument panel (160) that displays an activated mode among the above work modes and driving modes and outputs information corresponding to the activated mode.

Images