Working vehicle including steering control

Patent metadata

Field	Value
Publication number	US-12096709-B2
Application number	US-202117554077-A
Country	US
Kind code	B2
Filing date	Dec 17, 2021
Priority date	Sep 26, 2019
Publication date	Sep 24, 2024
Grant date	Sep 24, 2024

Abstract

A working vehicle includes a vehicle body capable of traveling either by either manual steering with a steering wheel or by automatic steering with the steering wheel, a reference registration controller configured or programmed to register a traveling reference line based on a position of the vehicle body caused to travel by the manual steering, an automatic steering controller configured or programmed to perform control by the automatic steering on a set scheduled traveling line based on the traveling reference line, a display to display information about the automatic steering when forward traveling by the automatic steering is to be performed, and a notifier to issue a notification of the information about the automatic steering aside from the information displayed on the display when rearward traveling by the automatic steering is to be performed.

First claim

What is claimed is:

1. A working vehicle, comprising:
a vehicle body capable of traveling by either manual steering with a steering wheel or automatic steering with the steering wheel;
a reference registration controller configured or programmed to register a traveling reference line based on a position of the vehicle body caused to travel by the manual steering;
an automatic steering controller configured or programmed to control the automatic steering along a set scheduled traveling line based on the traveling reference line;
a display to display information about the automatic steering when forward traveling by the automatic steering is to be performed;
a notifier to issue a notification of the information about the automatic steering aside from the information displayed on the display when rearward traveling by the automatic steering is to be performed; and
a shuttle lever to be switched to a forward-traveling side or a rearward-traveling side from a neutral position; wherein
when rearward traveling by the manual steering is started by switching of the shuttle lever to the rearward-traveling side, the notifier issues a notification by using sound or light as to whether a condition for starting the rearward traveling by the automatic steering is satisfied, the condition being that an azimuth difference between an azimuth of the traveling reference line and an azimuth of the vehicle body during the rearward traveling is equal to or smaller than a predetermined value.

2. The working vehicle according to claim 1 , further comprising:
a steering changeover switch operable to selectively start or terminate the automatic steering; wherein
after the automatic steering is terminated, and when forward traveling by the automatic steering is to be performed, the display is operable to display a guidance screen indicating a condition to be satisfied to start the automatic steering; and
the notifier is operable to issue the notification as to whether the condition to start the rearward traveling by the automatic steering is satisfied by changing a mode of the sound or the light in accordance with the azimuth difference between the azimuth of the traveling reference line and the azimuth of the vehicle body during the reward traveling.

3. The working vehicle according to claim 2 , wherein the display is operable to display a state of satisfying the condition to start the forward traveling by the automatic steering on the guidance screen in accordance with an azimuth difference between the azimuth of the traveling reference line and the azimuth of the vehicle body.

4. The working vehicle according to claim 2 , wherein when rearward traveling by the automatic steering is to be performed, the display is operable to display a screen different from at least the guidance screen.

5. The working vehicle according to claim 2 , wherein when rearward traveling by the automatic steering is to be performed, the display is operable to display a screen to call an operator's attention to look rearward.

Assignees

• Kubota Kk

Inventors

• KIKUMOTO Misako
• Nishino Kunihiko
• Morioka Yasuaki
• Ezaki Hideaki
• Miyashita Shunsuke
• TAMBO Toru

Classifications

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• B62D6/00 Primary

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title

• A01B69/00

  Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track · CPC title

• A01B69/008 Primary

  automatic · CPC title