CN115517040A

CN115517040A - Working vehicle

Info

Publication number: CN115517040A
Application number: CN202210717122.7A
Authority: CN
Inventors: 北冈治正; 新福勇一; 有田英司; 平田哲
Original assignee: Yanmar Holdings Co Ltd
Current assignee: Yanmar Holdings Co Ltd
Priority date: 2021-06-24
Filing date: 2022-06-23
Publication date: 2022-12-27
Also published as: KR20230000425A

Abstract

The invention provides a working vehicle which is difficult to make the sight of a driver move up and down greatly. The work vehicle (100) has an automatic travel mode for traveling along a predetermined travel route (SG). The work vehicle is provided with: the vehicle-mounted steering device comprises a traveling device (102), a driver seat (4), a steering operation part (6), a gear shift operation member (82) and an operation terminal (12). The traveling device travels. The driver sits on a driver seat (4). A steering operation unit (6) changes the direction in which the travel device travels by operation of the driver. The shift operation member (82) switches the traveling direction of the traveling device (102) between forward and reverse by the operation of the driver. The operation terminal (12) receives an operation by a driver. The operation terminal (12) receives an operation for instructing the start of the automatic travel mode, is disposed so as to match the height of the upper portion of the shift operation member (82), and the gripping member (46) is disposed in the vicinity of the operation terminal (12).

Description

Working vehicle

Technical Field

The present invention relates to a work vehicle.

Background

A work vehicle having an automatic travel mode is known (for example, see patent document 1). The automatic travel mode is a mode in which the work vehicle travels along a predetermined travel route. Patent document 1 discloses a rice transplanter having an automatic travel mode.

The rice transplanter disclosed in patent document 1 includes a wireless communication terminal. A user of the rice transplanter performs setting related to automatic travel using a wireless communication terminal. The rice transplanter automatically travels based on the setting. In the rice transplanter disclosed in patent document 1, the wireless communication terminal is disposed to match the height of the upper part of the steering handle.

Further, some work vehicles having an automatic travel mode stop automatic travel when a driver operates a steering operation unit (e.g., a steering handle) during automatic travel. The driver of such a work vehicle moves his hand away from the steering operation unit during automatic travel. However, when the driver is in a state where the driver is not gripping anything while moving (during automatic travel) with his hand away from the steering operation portion, the posture of the driver becomes unstable. Therefore, in order to stabilize the posture of the driver, the driver usually holds the arm portions on the elbow rests disposed on both sides of the driver seat and grips the elbow rests with the hands.

Patent document 1: japanese patent laid-open No. 2020-122997

However, when a configuration in which the wireless communication terminal (operation terminal) is disposed in accordance with the height of the upper portion of the steering handle (steering operation portion) is applied to a work vehicle provided with a shift operation tool, the wireless communication terminal (operation terminal) is disposed at a position not in accordance with the height of the upper portion of the shift operation tool. As a result, the driver's sight line greatly moves up and down at the start of automatic traveling.

Specifically, in a work vehicle provided with a shift operation tool, when a driver operates an operation terminal to instruct the start of an automatic travel mode, the driver operates the shift operation tool to start travel (automatic travel) of the work vehicle. Therefore, the shift operating member needs to be operated after the operation terminal is operated. Thus, in the work vehicle in which the operation terminal is disposed at a position not corresponding to the height of the upper portion of the shift operation member, the line of sight of the driver largely moves up and down at the start of automatic traveling.

In addition, in a configuration in which the wireless communication terminal is disposed in the vicinity of the steering handle as in the rice transplanter of patent document 1, when the arm is placed on the elbow rest and the elbow rest is grasped by the hand, the distance from the hand to the operation terminal becomes long, so that it is difficult for the driver to operate the operation terminal.

Disclosure of Invention

The present invention has been made in view of the above-described problems, and an object thereof is to provide a work vehicle in which it is difficult to greatly move the line of sight of the driver up and down, and to provide a work vehicle in which the operability of the operation terminal can be improved.

In the present invention, the work vehicle has an automatic travel mode in which the work vehicle travels along a predetermined travel route. The work vehicle includes a travel device, a driver seat, a steering operation unit, a shift operation unit, and an operation terminal. The traveling device performs traveling. The driver sits on the driver seat. The steering operation unit changes a direction in which the traveling device travels by an operation of the driver. The shift operation member switches the traveling direction of the traveling device between forward and reverse directions by the operation of the driver. The operation terminal receives an operation of the driver. The operation terminal receives an operation instructing the start of the automatic travel mode. The operation terminal is disposed to correspond to a height of an upper portion of the shift operation member.

In the work vehicle, a gripping member is disposed in the vicinity of the operation terminal and gripped by the driver. The operation terminal receives an operation instructing the start of the automatic travel mode.

According to the work vehicle of the present invention, it is difficult to greatly move the line of sight of the driver up and down.

In addition, the operability of the operation terminal can be improved.

Drawings

Fig. 1 is a left side view of a work vehicle according to an embodiment of the present invention.

Fig. 2 is a plan view showing the periphery of the driver seat.

Fig. 3 is a perspective view showing the periphery of the armrest.

Fig. 4 is a diagram showing the periphery of the operation terminal viewed from the rear.

Fig. 5 is an enlarged view showing the periphery of the operation terminal as viewed from the rear.

Fig. 6 is an enlarged view showing the periphery of the operation terminal as viewed from the front.

Fig. 7 is a block diagram showing a configuration of a work vehicle according to an embodiment of the present invention.

Fig. 8 is a view showing an example of a field.

Fig. 9 is a diagram showing a first screen displayed on the operation terminal.

Fig. 10 is a diagram showing a second screen displayed on the operation terminal.

Fig. 11 is a diagram showing a third screen displayed on the operation terminal.

Fig. 12 is a diagram showing a fourth screen displayed on the operation terminal.

Description of the reference numerals

2 … cab; 4 … driver seat; 6 … a steering handle (steering operation portion); 8 … side panels; 12 … operation terminal; 14 … display device; 22 … frame; 28 … struts; 30 … rearview mirror; 42 … right elbow rest; 46 … armrests (gripping members); 46a … curved portion; 81 … switch; 82 … a main shift lever (shift operating member); 100 … work vehicle; 102 …;121 … touch display; 121a … display section; 121b … touch sensor; b1 … start button; b2 … stop button; b3 … mode switch button; SG … travel path.

Detailed Description

An embodiment of a work vehicle according to the present invention will be described below with reference to the drawings (fig. 1 to 12). The present invention is not limited to the following embodiments, and can be implemented in various forms without departing from the scope of the invention. Note that description of overlapping portions may be omitted as appropriate. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and description thereof will not be repeated.

First, the work vehicle 100 according to the present embodiment will be described with reference to fig. 1. Fig. 1 is a left side view of a work vehicle 100 of the present embodiment. Work vehicle 100 has a manual travel mode and an automatic travel mode. The manual travel mode is a mode in which the driver of the work vehicle 100 manually operates the work vehicle 100. The automatic travel mode is a mode in which work vehicle 100 travels along a predetermined travel route SG. In the present embodiment, the work vehicle 100 is a self-threshing type combine harvester.

In the present specification, for the sake of easy understanding, the front-back direction, the left-right direction, and the up-down direction are sometimes described. Here, the front-rear direction, the left-right direction, and the up-down direction are directions viewed by a driver seated in the driver seat 4 (see fig. 2). However, the front-rear direction, the left-right direction, and the up-down direction are defined for convenience of explanation only, and the directions of the work vehicle according to the present invention during use and during assembly are not intended to be limited by the definitions of these directions.

As shown in fig. 1, a work vehicle 100 of the present embodiment includes a travel machine body 101, a travel device 102, and a harvesting device 200. The traveling device 102 is disposed below the traveling machine body 101 and supports the traveling machine body 101. The harvesting device 200 is disposed in front of the traveling machine body 101.

Traveling machine body 101 (work vehicle 100) includes an engine (not shown). The engine is, for example, a diesel engine. The engine converts thermal energy obtained by burning fuel into kinetic energy (power).

Traveling device 102 travels work vehicle 100. Specifically, the running device 102 runs based on power (kinetic energy) generated in the engine. The traveling device 102 includes, for example, a pair of left and right traveling crawler devices. The pair of left and right crawler belts run the work vehicle 100 in the front-rear direction. In addition, the pair of left and right traveling crawler devices turns the work vehicle 100 in the left-right direction.

The harvesting device 200 is driven based on power (kinetic energy) generated in the engine. The harvesting device 200 harvests the unharvested grain stalks of the field H. In the present embodiment, the harvesting apparatus 200 includes a harvesting frame 201, a cutter 202, a straw raising device 203, a straw conveying device 204, and a crop divider 205.

The harvesting frame 201 is mounted on the front portion of the traveling machine body 101 in such a manner as to be able to ascend and descend. The cutter device 202 is disposed below the harvesting frame 201. The cutter device 202 harvests the unharvested grain stalks of the field H. Specifically, the cutter device 202 has a cutter. The cutter device 202 reciprocates the cutter so as to cut the root portion of the unhulled straw in the field H.

The grain-stalk pulling device 203 is disposed in front of the harvesting frame 201, and pulls up the unharvested grain stalks of the field H. The cutter 202 cuts off the root part of the unhurried straw pulled up by the straw pulling-up device 203. The straw conveyor 204 conveys the harvested straw, which is harvested by the cutter unit 202, to the thresher 300.

The grain dividing body 205 is disposed in front of the grain-stalk pulling device 203, and divides the unharvested grain stalks of the field H one by one. For example, the grain dividing body 205 divides the amount of the unharvested grain stalks by 6 or 7. The straw lifting device 203 lifts the reaped straw separated by the straw separating body 205 one by one.

The working vehicle 100 can drive the traveling device 102 to move in the field H and simultaneously drive the harvesting device 200 to continuously harvest the non-harvested paddy poles in the field H.

Next, the work vehicle 100 according to the present embodiment will be further described with reference to fig. 1. As shown in fig. 1, a travel machine body 101 (work vehicle 100) includes a threshing device 300. The travel machine body 101 (work vehicle 100) further includes a grain tank (not shown).

The threshing device 300 is driven based on power (kinetic energy) generated in the engine. The threshing device 300 threshes the harvested straw conveyed to the traveling machine body 101 by the straw conveying device 204. The grain tank stores grains threshed by the threshing device 300. Specifically, the threshing device 300 includes a threshing cylinder 301, a swing screen disc 302, a winnowing fan 303, a processing cylinder 304, and a dust exhaust fan 305. The threshing device 300 further includes a secondary processing unit (not shown).

The rod tip side of the harvested straw is guided into the threshing cylinder 301. The threshing cylinder 301 threshes the straw tips of the harvested straws. The swing screening disc 302 is disposed below the threshing cylinder 301. The swing sifting pan 302 swings and sifts (gravity sifts) the threshed grains falling from the threshing cylinder 301. More specifically, the swing screen disc 302 screens the threshing material dropped from the threshing cylinder 301 into secondary screening material such as grains (primary screening material) and branched grains.

The winnowing fan 303 supplies sifting wind to the oscillating sifting disc 302. As a result, the grass clippings and foreign substances in the grains (primary screening material) are removed by the screening wind from the winnowing fan 303. The grains (primary screen) from which the grass clippings and foreign substances have been removed fall from the swing screen disc 302 and are stored in a grain box.

The secondary screen material such as grain with branches falls from the swing screen disc 302, and then returns to the swing screen disc 302 via the secondary processing unit. The secondary treatment unit removes branches and the like from the secondary screening material. The swing screen pan 302 re-screens the secondary screen processed by the secondary processing unit.

The processing drum 304 processes the threshing discharge taken out from the rear of the threshing drum 301 again. The dust exhausting fan 305 exhausts the dust exhausted from the back of the swing screen disc 302.

Next, the work vehicle 100 according to the present embodiment will be further described with reference to fig. 1 and 2. As shown in fig. 1, traveling machine body 101 (work vehicle 100) further includes cab 2. Cab 2 is box-shaped, and a cab space 2a for use by a driver of work vehicle 100 is formed inside cab 2. The driver seat 4 shown in fig. 2 is disposed in the driver space 2a. As shown in fig. 1, cab 2 has frame 22 and left window portion 24a. The left window 24a is disposed on the left of the cab 2a and supported by the frame 22.

Fig. 2 is a plan view showing the periphery of the driver seat 4. As shown in fig. 2, the traveling machine body 101 (the working vehicle 100) further includes a driver seat 4, a steering handle 6, a side panel 8, an operation terminal 12, a display device 14, a right elbow rest 42, a left elbow rest 44, an armrest 46, a main shift lever 82, and a mirror 30. Cab 2 also has a front side window portion 24b. The front window 24b is disposed in front of the cab 2a and supported by the frame 22.

The driver seat 4, the steering handle 6, the side panel 8, the operation terminal 12, the display device 14, the right toggle 42, the left toggle 44, the armrest 46, and the main shift lever 82 are disposed in the cab 2a (inside the cab 2). The mirror 30 is disposed outside the cab 2 and supported by the frame 22. The driver of work vehicle 100 can visually confirm mirror 30 through the right side portion of front side window 24b or right side window 24c shown in fig. 3. Therefore, the driver of work vehicle 100 can visually confirm the rear and rear lateral sides of work vehicle 100 via rearview mirror 30.

The driver of the work vehicle 100 is seated in the driver seat 4. The steering handle 6 is disposed in front of the driver seat 4. The steering handle 6 is operated by the driver seated in the driver seat 4 to change the traveling direction of the traveling device 102 shown in fig. 1. The steering handle 6 is an example of a steering operation portion. When the mode of work vehicle 100 is the manual travel mode, the driver can operate steering handle 6 to turn work vehicle 100. Turning includes, for example, 90-degree turning (α turning), U-turning, and fishtail turning.

The side panel 8 is disposed on the left side of the driver seat 4. The side panel 8 has various switches 81. The main shift lever 82 is disposed on the side panel 8. Therefore, the main shift lever 82 is disposed on the left of the driver seat 4. The main shift lever 82 is operated by an operator seated on the operator's seat 4 to switch the traveling direction of the traveling device 102 shown in fig. 1 between forward and reverse. The main shift lever 82 is an example of a shift operating member.

More specifically, the main shift lever 82 is movable to the front side and the rear side. In the manual travel mode, work vehicle 100 moves forward when main shift lever 82 tilts forward, and work vehicle 100 moves backward when main shift lever 82 tilts backward. The traveling device 102 travels at a speed corresponding to the amount of tilting of the main shift lever 82. Specifically, the greater the amount of tilting of the main shift lever 82, the greater the running speed. Further, when the main shift lever 82 tilts neither forward nor backward, the running device 102 does not run.

In addition, the main shift lever 82 has various switches. The various switches of the main shift lever 82 include, for example: a switch for adjusting the threshing depth, a switch for raising the harvesting device 200, a switch for lowering the harvesting device 200, and a switch for adjusting the height of the harvesting device 200.

The operation terminal 12 is disposed in the vicinity of the steering handle 6. In the present embodiment, the operation terminal 12 is disposed on the right side of the steering handle 6. Therefore, the operation terminal 12 is disposed on the opposite side of the driver seat 4 from the main shift lever 82 side. Further, the steering handle 6 is disposed between the main shift lever 82 and the operation terminal 12 in a plan view. The operation terminal 12 is, for example, a tablet terminal. As will be described later with reference to fig. 5, the operation terminal 12 includes a touch display 121, and can display various screens on the touch display 121.

The operation terminal 12 accepts an operation by the driver. More specifically, the operation terminal 12 accepts an operation instructing the start of the automatic travel mode. Specifically, when the driver operates the operation terminal 12 to instruct the start of the automatic travel mode, the driver tilts the main shift lever 82 forward. As a result, work vehicle 100 (travel device 102) travels automatically. In addition, the driver can operate the operation terminal 12 to instruct the stop or interruption of the automatic travel mode. The driver can operate the operation terminal 12 to set various conditions related to automatic traveling.

The display device 14 displays a predetermined image. The display device 14 displays, for example, the engine speed. The display device 14 is disposed between the operation terminal 12 and the main shift lever 82 in a plan view. Therefore, the display device 14 is disposed at a relatively close position with respect to the operation terminal 12. As a result, the driver can visually confirm the touch display 121 (fig. 5) and the display device 14 of the operation terminal 12 without greatly moving the line of sight. In the present embodiment, the display device 14 is disposed inside the steering handle 6.

The right elbow rest 42 is disposed on the right side of the driver seat 4 and supported by the up-down door 26 shown in fig. 3. The left toggle 44 is disposed on the left side of the driver seat 4 and supported by the driver seat 4. The driver seated in the driver seat 4 can put the elbows of the left and right arms on the right and left elbow rests 42 and 44, respectively.

The armrest 46 is supported by the vertical door 26 shown in fig. 3, and extends forward from between the right elbow rest 42 and the vertical door 26 than the right elbow rest 42. As shown in fig. 2, the front end of the armrest 46 is located near the operation terminal 12. The armrest 46 is held by a driver seated in the driver seat 4. Specifically, the portion of the armrest 46 that is forward of the right elbow rest 42 is gripped by the driver. In other words, the portion of the armrest 46 on the operation terminal 12 side is held by the driver. The armrest 46 is an example of a holding member. In the following description, a portion of the armrest 46 that is forward of the right elbow rest 42 may be referred to as a "front portion of the armrest 46".

According to the present embodiment, the driver can hold the armrest 46 with the right hand during automatic travel. Therefore, the posture of the driver during automatic traveling is stabilized. The front end of the armrest 46 is located near the operation terminal 12. Thereby, the driver grips the front side portion of the armrest 46, and the distance from the operation terminal 12 to the position of the hand of the driver becomes shorter. As a result, the operability of the operation terminal 12 by the driver is improved. For example, the driver can easily perform an operation instructing the stop or interruption of the automatic travel mode on the operation terminal 12 during the automatic travel.

Next, the work vehicle 100 according to the present embodiment will be further described with reference to fig. 2. As described above, the driver grips the front side portion of the armrest 46 during automatic travel. As shown in fig. 2, the operation terminal 12 is disposed in front of the armrest 46 as viewed by the driver seated in the driver seat 4. As a result, the driver can more easily operate the operation terminal 12.

Next, the work vehicle 100 according to the present embodiment will be described with reference to fig. 3. Fig. 3 is a perspective view showing the periphery of the armrest 46. As shown in fig. 3, the cab 2 further includes a right window portion 24c and an up-down door 26. The right window portion 24c and the up-down door 26 are disposed on the right side of the driving space 2a shown in fig. 2. The up-down door 26 is supported by the frame 22 to be openable and closable. The right window portion 24c is supported by the vertical door 26. The driver opens the up-down door 26 to get on and off the cab 2.

As shown in fig. 3, the right elbow rest 42 and the armrest 46 are fixed to the up-down door 26. More specifically, the right elbow rest 42 and the armrest 46 are mounted on the inside of the up-down door 26. Therefore, when the up-down door 26 is opened, the right toggle 42 and the armrest 46 move to the outside of the cab 2. This makes it easier for the driver to get on and off the cab 2, compared to a structure in which the right elbow rest 42 and the armrest 46 are fixed inside the cab 2.

Next, the work vehicle 100 according to the present embodiment will be further described with reference to fig. 2 and 3. As shown in fig. 2 and 3, the armrest 46 has a curved portion 46a. The bent portion 46a is bent from the up-down door 26 toward the steering handle 6. In other words, the curved portion 46a is curved from the up-down door 26 toward the inside of the cab 2. The curved portion 46a is included in a portion of the armrest 46 on the operation terminal 12 side. In other words, the curved portion 46a is included in the front side portion of the armrest 46.

According to the present embodiment, since the curved portion 46a is curved toward the inside of the cab 2, a gap is generated between the armrest 46 (curved portion 46 a) and the vertical door 26. As a result, the driver can easily grip the armrest 46 (the curved portion 46 a). The curved portion 46a is curved toward the driver. As a result, the driver can easily grip the armrest 46 (the curved portion 46 a).

Next, the work vehicle 100 according to the present embodiment will be further described with reference to fig. 2. As shown in fig. 2, the bent portion 46a is disposed in front of the right toggle 42 when viewed by a driver seated in the driver seat 4. Therefore, the driver can hold the bent portion 46a in a state where the elbow of the right arm is held on the right elbow rest 42. This reduces the burden on the driver. As a result, the driver can more easily stabilize his posture.

As shown in fig. 2, the bent portion 46a is located between the operation terminal 12 and the right toggle bracket 42. Specifically, the operation terminal 12, the bending portion 46a, and the right elbow rest 42 are linearly arranged. Therefore, the driver can operate the operation terminal 12 without turning the right hand to the left and right when operating the operation terminal 12 by holding the bent portion 46a with the elbow of the right arm on the right elbow rest 42. Therefore, the driver can easily operate the operation terminal 12, as compared with a configuration in which the operation terminal 12, the bending portion 46a, and the right elbow rest 42 are not arranged in a straight line. Further, compared to the configuration in which the operation terminal 12, the bending portion 46a, and the right elbow rest 42 are not arranged in a straight line, the driver can immediately operate the operation terminal 12 from a state in which the driver is gripping the bending portion 46a.

Next, as shown in fig. 3, the armrest 46 further includes a linear portion 46b extending in the vertical direction. The linear portion 46b is provided at the front end of the armrest 46. Therefore, the linear portion 46b is included in the front side portion of the armrest 46. More specifically, the linear portion 46b is included in the curved portion 46a. The linear portion 46b extends downward from the front end of the armrest 46 in plan view. According to the present embodiment, the armrest 46 has the linear portion 46b, so that the driver can adjust the position at which the armrest 46 is gripped in the up-down direction (height direction). Therefore, the driver can more easily hold the armrest 46.

Next, the work vehicle 100 according to the present embodiment will be described with reference to fig. 4. Fig. 4 is a diagram showing the periphery of operation terminal 12 as viewed from the rear. As shown in fig. 4, the operation terminal 12 is disposed to coincide with the height of the upper portion of the main shift lever 82 with respect to the ground of the cab 2 (the bottom surface of the cab 2 a). Specifically, the operation terminal 12 is disposed at a position higher than the steering handle 6. The operation terminal 12 is disposed at a position vertically overlapping the upper end of the main shift lever 82.

According to the present embodiment, when the driver operates the operation terminal 12 to instruct the start of the automatic travel mode and tilts the main shift lever 82 forward, the driver can operate the main shift lever 82 without largely rotating the line of sight up and down.

Further, according to the present embodiment, as compared with the configuration in which the operation terminal 12 is disposed so as to coincide with the height of the line of sight of the driver seated in the driver seat 4, the burden of the driver on operating the operation terminal 12 can be reduced. That is, in a configuration in which the operation terminal 12 is disposed so as to coincide with the position in the vertical direction of the line of sight of the driver seated in the driver seat 4 (the height of the operation terminal with respect to the floor of the cab 2), the driver needs to raise his or her hand to a position above his or her own shoulder to operate the operation terminal 12. Therefore, the operation of the operation terminal 12 becomes a large burden. In contrast, according to the present embodiment, the operation terminal 12 is disposed so as to coincide with the position in the vertical direction of the upper portion of the main shift lever 82 (the height with respect to the ground of the cab 2), so that the driver can operate the operation terminal 12 below his own shoulder. Thus, the operation of the operation terminal 12 becomes not a large burden.

Next, the work vehicle 100 according to the present embodiment will be further described with reference to fig. 2 and 4. As shown in fig. 2 and 4, in the work vehicle 100 of the present embodiment, the operation terminal 12 is disposed on the opposite side of the steering handle 6 from the main shift lever 82. Therefore, the driver can easily visually confirm the front side compared to a configuration in which the operation terminal 12 is disposed in front of the steering handle 6.

As shown in fig. 2 and 4, the operation terminal 12 is disposed on the side opposite to the side panel 8 side with respect to the steering handle 6. As a result, the burden on the driver can be reduced. That is, in the configuration in which the operation terminal 12 is disposed on the side of the side panel 8, the driver needs to operate the various switches 81, the main shift lever 82, and the operation terminal 12 with the left hand, and the burden on the left hand of the driver increases. In contrast, according to the present embodiment, since the operation terminal 12 is disposed on the side opposite to the side panel 8, the burden of the operation of the driver can be distributed to the right hand and the left hand. As a result, the burden on the driver is reduced.

As shown in fig. 2, the steering handle 6 is disposed between the main shift lever 82 and the operation terminal 12 in a plan view. Therefore, the burden of the operations of the main shift lever 82, the steering handle 6, and the operation terminal 12 can be distributed to the left and right. This reduces the burden on the driver. Further, as described above with reference to fig. 4, since the operation terminal 12 is disposed at a position higher than the steering handle 6, even if the steering handle 6 is disposed between the main shift lever 82 and the operation terminal 12, the operation of the steering handle 6 by the driver is not hindered by the operation terminal 12.

As shown in fig. 2 and 4, mirror 30 is disposed on the right side of cab 2, and operation terminal 12 is disposed between steering handle 6 and mirror 30. Therefore, the driver's sight line when visually confirming the rearview mirror 30 is not blocked by the operation terminal 12. This enables the driver to visually confirm the mirror 30 with certainty. Further, by disposing the operation terminal 12 between the steering handle 6 and the mirror 30, the mirror 30 can be visually confirmed without greatly moving the line of sight when moving the line of sight from the operation terminal 12 to the mirror 30. Similarly, when the line of sight is moved from the mirror 30 to the operation terminal 12, the operation terminal 12 can be visually confirmed without greatly moving the line of sight.

Next, the work vehicle 100 according to the present embodiment will be described with reference to fig. 4 and 5. As shown in fig. 4, traveling machine body 101 (work vehicle 100) further includes support mechanism 5. The support mechanism 5 supports the operation terminal 12. The support mechanism 5 is supported by a frame 22 of the cab 2.

Fig. 5 is an enlarged view showing the periphery of the operation terminal 12 viewed from the rear. As shown in fig. 5, frame 22 of cab 2 has support column 28 extending in the up-down direction. In the present embodiment, the strut 28 is a column. Specifically, the pillar 28 is a pillar of the front window 24b (fig. 2) and the right window 24c (fig. 3). The support mechanism 5 is fixed to the pillar 28. Therefore, the support column 28 supports the operation terminal 12 via the support mechanism 5. According to the present embodiment, since the operation terminal 12 is supported by the pillar 28 of the cab 2, the operation terminal 12 can be stably supported.

As shown in fig. 5, the support mechanism 5 includes a support member 51 and a swing mechanism 53. The support member 51 supports the operation terminal 12. The swing mechanism 53 supports the support member 51 to be swingable. Therefore, the support mechanism 5 supports the operation terminal 12 to be swingable.

Here, the operation terminal 12 will be described with reference to fig. 5. As shown in fig. 5, the operation terminal 12 has a touch display 121 and hard keys 122. The touch display 121 and the hard keys 122 constitute an operation unit of the operation terminal 12. The driver operates the operation terminal 12 by performing a touch operation on the touch display 121. In addition, the driver operates the operation terminal 12 by pressing the hard key 122.

Next, the support mechanism 5 will be described with reference to fig. 5 and 6. Fig. 6 is an enlarged view showing the periphery of the operation terminal 12 as viewed from the front. As shown in fig. 5 and 6, the support member 51 includes a first support member 51a, a second support member 51b, and a third support member 51c (fig. 6). The first support member 51a supports the operation terminal 12 from below and from behind. The second support member 51b is disposed above the first support member 51a, and supports the operation terminal 12 from behind and in the lateral direction. The third support member 51c is disposed behind the operation terminal 12. The third support member 51c extends in the vertical direction and connects the first support member 51a and the second support member 51b.

Next, the swing mechanism 53 will be described with reference to fig. 6. The swing mechanism 53 supports the support member 51 swingably about each of the first rotation axis AX1 to the third rotation axis AX3 as a central axis. The first rotation axis AX1 is an imaginary axis extending in the up-down direction. The second rotation axis AX2 is an imaginary shaft extending parallel to the first rotation axis AX1, and the third rotation axis AX3 is an imaginary shaft extending in the lateral direction. The lateral direction is a direction orthogonal to the up-down direction. The support mechanism 5 has 3 rotation axes (the first rotation axis AX1 to the third rotation axis AX 3), so that the driver can change the position of the operation terminal 12.

As shown in fig. 6, the swing mechanism 53 includes a first mounting member 531, an arm member 532, a first shaft support member 533, a second shaft support member 534, a second mounting member 535, and first to third shaft members 536a to 536c.

The first mounting member 531 is mounted to the strut 28. The first mounting member 531 rotatably supports both ends of the first shaft member 536 a. In detail, the first shaft member 536a extends in the vertical direction. The first rotation axis AX1 passes through the center of the first shaft member 536 a. The first shaft member 536a is rotatable about the first rotation axis AX 1.

The arm member 532 is fixed to the circumferential surface of the first shaft member 536a, and extends from the first shaft member 536a in the radial direction of the first rotation axis AX 1. Therefore, the arm member 532 rotates centering on the first rotation axis AX 1.

The first shaft support member 533 is fixed to a front end of the arm member 532, and extends upward from the front end of the arm member 532. The first shaft support member 533 rotatably supports both ends of the second shaft member 536 b. In detail, the second shaft member 536b extends in the vertical direction. The second rotation axis AX2 passes through the center of the second shaft member 536 b. The second shaft member 536b is rotatable about the second rotation axis AX 2.

The second shaft support member 534 is fixed to the circumferential surface of the second shaft member 536 b. Therefore, the second shaft support member 534 rotates centering on the second rotation axis AX 2. The second shaft support member 534 rotatably supports the circumferential surface of the third shaft member 536c. In detail, the third shaft member 536c extends in the lateral direction. The third rotation axis AX3 passes through the center of the third shaft member 536c. The third shaft member 536c is rotatable about the third rotation axis AX3 as a center axis.

The second mounting member 535 is mounted to the third support member 51c. The second mounting member 535 rotatably supports both ends of the third shaft member 536c.

In the present embodiment, the support mechanism 5 has 3 rotation shafts (the first rotation axis AX1 to the third rotation axis AX 3), but the support mechanism 5 may not have a rotation shaft. Alternatively, the support mechanism 5 may have 1, 2, or 4 or more rotation axes.

Next, the work vehicle 100 according to the present embodiment will be described with reference to fig. 7. Fig. 7 is a block diagram showing the configuration of work vehicle 100 according to the present embodiment. As shown in fig. 7, the operation terminal 12 further includes a terminal processing unit 123, a storage unit 124, a communication processing unit 125, and a communication antenna 126. In addition, the touch display 121 has a display portion 121a and a touch sensor 121b.

The display unit 121a is controlled by the terminal processing unit 123 and displays various screens. For example, the display unit 121a displays a screen for setting the travel route SG. The display unit 121a is formed of a display such as a liquid crystal display or an organic EL display. The touch sensor 121b is disposed on the display surface of the display unit 121a and detects a touch operation by the driver. The touch sensor 121b is, for example, a capacitive touch sensor.

The communication antenna 126 transmits and receives radio waves (radio signals). The communication antenna 126 includes an antenna for short-range wireless communication. The communication antenna 126 may also include an antenna for an internet line.

The communication processing unit 125 is electrically connected to the communication antenna 126. The communication processing unit 125 transmits and receives data to and from the traveling machine body 101 via the communication antenna 126. The communication processing unit 125 includes, for example, a short-range wireless communication module. The communication processing unit 125 may include a communication module conforming to a wireless LAN (Local Area Network) standard such as Wi-Fi (registered trademark).

The storage unit 124 stores various computer programs and various data. The storage unit 124 includes, for example, a semiconductor memory. The storage unit 124 is composed of, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory). The storage unit 124 may further include a nonvolatile memory such as an EEPROM (registered trademark) or a flash memory.

The termination Processing Unit 123 is configured by a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit) that executes various operations. Alternatively, the terminal processing unit 123 may be constituted by a general-purpose arithmetic unit. The terminal processing unit 123 executes various processes based on various computer programs and various data stored in the storage unit 124.

For example, the terminal processing unit 123 displays a screen receiving an instruction to start the automatic travel mode on the display unit 121a before starting the automatic travel. When an instruction to start the automatic traveling mode is received by a touch operation by the driver or an operation of the hard key 122 by the driver, a signal to permit the automatic traveling mode is transmitted to the traveling machine body 101 via the communication processing unit 125. Further, after the start of the automatic traveling, the terminal processing unit 123 causes the display unit 121a to display a screen on which an instruction to stop or interrupt the automatic traveling mode is received. When an instruction to stop or interrupt the automatic traveling mode is received by a touch operation by the driver or an operation of the hard key 122 by the driver, a signal to stop or interrupt the automatic traveling mode is transmitted to the traveling machine body 101 via the communication processing unit 125.

Next, the traveling machine body 101 will be explained. As shown in fig. 7, traveling machine body 101 (work vehicle 100) further includes a main body processing unit 401, a storage unit 402, a position acquisition unit 403, a communication processing unit 404, a positioning antenna 405, and a communication antenna 406.

The positioning antenna 405 receives radio waves from positioning satellites constituting a Satellite positioning System (GNSS). The positioning antenna 405 also receives electric waves from the base station.

The position acquisition unit 403 is electrically connected to the positioning antenna 405. The position acquisition unit 403 acquires the position of the work vehicle 100 as latitude and longitude information based on a positioning signal based on the radio wave received by the positioning antenna 405. Hereinafter, information indicating the position of the work vehicle 100 (information of latitude and longitude) may be described as "current position data of the work vehicle 100".

The communication antenna 406 transmits and receives radio waves (radio signals). The communication antenna 406 includes an antenna for short-range wireless communication. Further, the communication antenna 406 may also include an antenna for an internet line.

The communication processing unit 404 is electrically connected to the communication antenna 406. The communication processor 404 transmits and receives data to and from the operation terminal 12 via the communication antenna 406. The communication processing unit 404 includes, for example, a short-range wireless communication module. The communication processing unit 404 may include a communication module conforming to a wireless LAN standard such as Wi-Fi (registered trademark).

The storage unit 402 stores various computer programs and various data. The storage section 402 includes, for example, a semiconductor memory. The storage unit 402 is constituted by, for example, a RAM and a ROM. The storage unit 124 may further include a nonvolatile memory such as an EEPROM (registered trademark) or a flash memory.

The main body processing unit 401 is configured by a processor such as a CPU or MPU that executes various operations. Alternatively, the main body processing unit 401 may be constituted by a general-purpose arithmetic unit. The main body processing unit 401 executes various processes based on various computer programs and various data stored in the storage unit 402.

For example, the main body processing unit 401 transmits the current position data of the work vehicle 100 to the operation terminal 12 via the communication processing unit 404. As a result, the terminal processing unit 123 acquires the current position of the work vehicle 100.

Further, upon receiving a signal for permitting the automatic travel mode from the operation terminal 12 via the communication processing unit 404, the main body processing unit 401 drives the travel device 102 to start automatic travel when detecting that the main shift lever 82 shown in fig. 2 is tilted forward. Specifically, main body processing unit 401 controls traveling device 102 based on data indicating travel route SG stored in storage unit 402 and data indicating the position of work vehicle 100 acquired at any time by position acquisition unit 403. As a result, work vehicle 100 travels along travel route SG stored in storage unit 402. Further, when the main body processing unit 401 receives a signal for stopping or interrupting the automatic travel mode from the operation terminal 12 via the communication processing unit 404 after the start of the automatic travel, the main body processing unit stops or interrupts the driving of the travel device 102.

The terminal processing unit 123 creates data indicating the travel route SG before the start of the automatic travel. Before the start of the automatic travel, the terminal processing unit 123 transmits data indicating the travel route SG to the travel machine body 101 via the communication processing unit 125. As a result, the data indicating the travel route SG is stored in the storage unit 402 of the travel machine body 101.

Next, an example of processing performed by the terminal processing unit 123 and the main body processing unit 401 will be described with reference to fig. 7 to 12. Fig. 8 is a diagram showing an example of the field H. Fig. 9 is a diagram showing a first screen G1 displayed on the operation terminal 12. Fig. 10 is a diagram showing the second screen G2 displayed on the operation terminal 12. Fig. 11 is a diagram showing a third screen G3 displayed on the operation terminal 12. Fig. 12 is a diagram showing a fourth screen G4 displayed on the operation terminal 12.

In the example shown in fig. 8, the field H has a rectangular outer shape. As shown in fig. 8, the field H includes an outermost peripheral region H1, a headland region H2, and an automatic mode region H3. The driver first manually operates the working vehicle 100 to perform a harvesting operation for harvesting an unharvested grain pole in the outermost peripheral region H1.

When the harvesting operation in the outermost peripheral region H1 is completed, the terminal processing unit 123 registers the contour of the field H based on the current position data of the work vehicle 100. Specifically, the terminal processing unit 123 causes the touch display 121 (the display unit 121 a) to display a screen indicating the outline of the field H based on the current position data of the work vehicle 100. Then, the contour of the field H is registered in accordance with a touch operation by the driver or an operation of the hard key 122 by the driver. The terminal processing unit 123 may display a screen image on the touch display 121 (the display unit 121 a) on which an operation for fine-tuning the contour of the field H is received.

After the registration of the outline of the field H is completed, the terminal processing unit 123 causes the touch display 121 (display unit 121 a) to display the first screen G1 shown in fig. 9. As shown in fig. 9, the first screen G1 displays the field H and the current position of the work vehicle 100. In addition, the first screen G1 displays a start button B1. The first screen G1 may display a mode switching button B3 in gray, which will be described later with reference to fig. 11.

The start button B1 is a button image for instructing the start of the headland straight mode. The headland straight mode is an example of the automatic travel mode. When the driver touches the start button B1 and tilts the main shift lever 82 forward in the display of the first screen G1, the work vehicle 100 automatically travels (travels straight) along the headland area H2, and reaps the non-reaped stalks in the headland area H2.

In the headland straight mode, when the driver moves from one side to the next, the driver operates the steering handle 6 and the main shift lever 82 to turn the work vehicle 100. Specifically, when the harvesting operation on one side of the headland area H2 is completed, the work vehicle 100 is stopped. After work vehicle 100 is stopped, the driver manually turns work vehicle 100 to a position where it can travel straight along the next side. After that, when the driver touches start button B1 and tilts main shift lever 82 forward, work vehicle 100 automatically travels along the next direction (straight travel).

When work vehicle 100 is automatically traveling (traveling straight) along headland area H2, terminal processing unit 123 causes touch display 121 (display unit 121 a) to display second screen G2 shown in fig. 10. As shown in fig. 10, the second screen G2 displays the field H and the current position of the work vehicle 100. In addition, the second screen G2 displays a stop button B2. The stop button B2 is a button image for instructing stop of the headland straight mode (automatic travel mode). When the driver touches stop button B2 on the display of second screen G2, work vehicle 100 is stopped. The second screen G2 may display the mode switching button B3 in gray similarly to the first screen G1.

When the harvesting operation in the headland area H2 is finished, the terminal processing unit 123 causes the touch display 121 (display unit 121 a) to display a third screen G3 shown in fig. 11. As shown in fig. 11, the third screen G3 also displays a mode switching button B3. More specifically, the third screen G3 displays the mode switching button B3 so as to be selectable. Mode switching button B3 is a button image for switching the mode of work vehicle 100 from the headland straight mode to the automatic mode. The automatic mode is an example of the automatic travel mode. The automatic mode is a mode in which work vehicle 100 travels automatically in automatic mode area H3. In the automatic mode, unlike the headland straight mode, work vehicle 100 automatically turns.

When the driver touches the mode switching button B3, the terminal processing unit 123 sequentially displays various setting screens on the touch display 121 (display unit 121 a). The various setting screens are screens for setting various conditions for performing harvesting work in the automatic mode region H3. For example, the terminal processing unit 123 sequentially displays a screen for setting the work direction and a screen for selecting the reciprocal mowing or the round mowing on the touch display 121 (the display unit 121 a). When the driver selects the reciprocating harvesting, the terminal processing unit 123 may further display a screen for performing the harvesting in the setting on the touch display 121 (display unit 121 a). The driver sets various conditions by touch operation or operation of the hard key 122. When the setting of the various conditions is completed, the terminal processing unit 123 creates the travel route SG based on the various conditions.

When the terminal processing unit 123 creates the travel route SG, the fourth screen G4 shown in fig. 12 is displayed on the touch display 121 (display unit 121 a). As shown in fig. 12, the fourth screen G4 displays the automatic mode area H3, the created travel route SG, and the current position of the work vehicle 100. The fourth screen G4 also displays the start position S and the target position G of the travel route SG.

In the fourth screen G4, the driver manually moves the work vehicle 100 to the start position S. When work vehicle 100 moves to start position S, terminal processing unit 123 displays start button B1 in a selectable manner. When the start button B1 is selectable, the driver touches the start button B1 and tilts the main shift lever 82 forward, the work vehicle 100 automatically travels along the travel route SG, and the valley bars in the automatic harvest mode region H3 are harvested.

The embodiments of the present invention have been described above with reference to the drawings (fig. 1 to 12). However, the present invention is not limited to the above embodiments, and can be implemented in various forms without departing from the scope of the invention. The plurality of components disclosed in the above embodiments can be changed as appropriate. For example, any one of the entire constituent elements described in one embodiment may be added to the constituent elements of the other embodiment, or some of the entire constituent elements described in one embodiment may be deleted from the embodiment.

In order to facilitate understanding of the present invention, the drawings are schematically illustrated mainly for each constituent element, and for convenience of drawing, the thickness, length, number, interval, and the like of each constituent element shown in the drawings may be different from those of the actual drawings. Note that, needless to say, the configurations of the respective components shown in the above embodiments are examples, and are not particularly limited, and various modifications can be made within a range not substantially departing from the effects of the present invention.

For example, although the operation terminal 12 is a tablet terminal in the embodiment described with reference to fig. 1 to 12, the operation terminal 12 is not limited to a tablet terminal. The operation terminal 12 may be any electronic device that receives an operation by the driver. For example, the operation terminal 12 may be a smartphone.

In the embodiment described with reference to fig. 1 to 12, the operation terminal 12 performs wireless communication with the traveling machine body 101, but the operation terminal 12 may perform wired communication with the traveling machine body 101.

In the embodiment described with reference to fig. 1 to 12, the work vehicle 100 is a combine harvester, but the work vehicle 100 is not limited to a combine harvester. Work vehicle 100 may be any vehicle that performs a predetermined work. For example, the work vehicle 100 may be an agricultural machine other than a combine harvester such as a tractor or a rice transplanter, or may be a construction machine.

The present invention is useful for a work vehicle having an automatic travel mode.

Claims

1. A work vehicle having an automatic travel mode for traveling along a predetermined travel route, comprising:

a traveling device that travels;

a driver seat for seating a driver;

a steering operation unit that changes a direction in which the travel device travels by an operation of the driver;

a shift operation member that switches a traveling direction of the traveling device between forward and reverse by an operation of the driver;

an operation terminal that accepts an operation by the driver,

the operation terminal accepts an operation instructing start of the automatic travel mode,

the operation terminal is configured to coincide with a height of an upper portion of the shift operating member.

2. The work vehicle according to claim 1,

the operation terminal has a touch sensor that accepts touch operation by the driver.

3. The work vehicle according to claim 1 or 2,

the operation terminal is disposed on a side opposite to a side on which the shift operation member is disposed with respect to the steering operation portion.

4. The work vehicle according to claim 3,

further comprises a rearview mirror for allowing the driver to visually confirm the rear and the rear side,

the operation terminal is disposed between the steering operation portion and the mirror.

5. The work vehicle according to claim 1 or 2,

the steering operation portion is disposed between the operation terminal and the shift operation member in a plan view.

6. The work vehicle according to claim 1 or 2,

further comprises a display device for displaying a predetermined image,

the display device is disposed between the operation terminal and the shift operation member in a plan view.

7. The work vehicle according to claim 1 or 2,

further comprises a cab provided with the driving seat,

the cab has a pillar extending in the up-down direction,

the support column supports the operation terminal.

8. The work vehicle according to claim 1,

a grip member that is provided in the vicinity of the operation terminal and that is gripped by the driver,

the operation terminal accepts an operation instructing the start of the automatic travel mode.

9. The work vehicle according to claim 8,

10. The work vehicle according to claim 8 or 9,

further comprises a cab provided with the driving seat,

the cab has an up-and-down door for the driver to get on and off the cab,

the holding member is attached to an inner side of the vertical door.

11. The work vehicle according to claim 8 or 9,

the operation terminal is disposed in front of the grip member when viewed by the driver seated in the driver seat.

12. The work vehicle according to claim 8 or 9,

the holding member has a curved portion curved to a side where the steering operation portion is located,

the bent portion is included in a portion of the holding member on a side where the operation terminal is located.

13. The work vehicle of claim 12,

also provided is an elbow rest for placing an elbow of the driver sitting on the driving seat,

the curved portion is disposed in front of the elbow rest when viewed by the driver seated in the driver seat.

14. The work vehicle of claim 13,

the bending part is located between the operation terminal and the elbow rest.