US 12,134,420 B2
Working vehicle
Shunsuke Miyashita, Sakai (JP); Yasuaki Morioka, Sakai (JP); Kunihiko Nishino, Sakai (JP); Kumiko Kobayashi, Sakai (JP); and Misako Kawai, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on Jun. 9, 2023, as Appl. No. 18/207,716.
Application 18/207,716 is a continuation of application No. 17/133,698, filed on Dec. 24, 2020, granted, now 11,713,078.
Application 17/133,698 is a continuation of application No. PCT/JP2018/048623, filed on Dec. 29, 2018.
Claims priority of application No. 2018-120243 (JP), filed on Jun. 25, 2018; application No. 2018-120244 (JP), filed on Jun. 25, 2018; application No. 2018-120248 (JP), filed on Jun. 25, 2018; and application No. 2018-120249 (JP), filed on Jun. 25, 2018.
Prior Publication US 2023/0331301 A1, Oct. 19, 2023
Int. Cl. A01B 69/00 (2006.01); B62D 15/02 (2006.01); B60K 35/00 (2006.01); B60K 35/28 (2024.01); B62D 1/28 (2006.01)
CPC B62D 15/025 (2013.01) [B62D 15/021 (2013.01); B60K 35/00 (2013.01); B60K 35/28 (2024.01); B60K 2360/172 (2024.01)] 18 Claims
OG exemplary drawing
 
1. A working vehicle comprising:
a steering device including a steering handle;
a vehicle body to travel with either manual steering by the steering handle or automatic steering of the steering handle based on a traveling reference line;
a positioning device to detect an orientation of the vehicle body;
a display including:
a line orientation display portion to indicate an orientation of the traveling reference line; and
a vehicle orientation display portion to indicate the orientation of the vehicle body; and
an orientation scale portion including a reference point coinciding with the orientation of the traveling reference line, and on which a value indicating the orientation of the vehicle body increases or decreases depending on a distance from the orientation of the vehicle body to the reference point;
a controller configured or programmed to permit the automatic steering by the steering device when an orientational difference, which is a difference between the orientation of the vehicle body detected by the positioning device and the orientation of the traveling reference line, is within a predetermined range; and
an inclination detector to detect an inclination of the vehicle body in a width direction; wherein
the controller is configured or programmed to perform the automatic steering by the steering device when the automatic steering is permitted;
the display shows the predetermined range on the orientation scale portion, the predetermined range being indicative of a range of orientations of the vehicle body within which the automatic steering is permitted;
the controller is configured or programmed to change the predetermined range based on the inclination of the vehicle body in the width direction detected by the inclination detector; and
when the predetermined range is changed based on the inclination of the vehicle body in the width direction, the display displays the changed predetermined range.