Working vehicle
To stably and safely perform automatic steering during rearward travel of a working vehicle, the working vehicle includes a vehicle body to be manually steered with a steering wheel or automatically steered to travel forward or rearward, a prime mover on the vehicle body, a working implement supported on the vehicle body, a power take-off (PTO) shaft to transmit power from the prime mover to the working implement, and a controller to control automatic steering of the vehicle body and driving of the PTO shaft. The controller is configured or programmed to allow the automatic steering during rearward travel of the vehicle body when the PTO shaft is in a stopped state, and prohibit the automatic steering during rearward travel of the vehicle body when the PTO shaft is in a driven state.
1. A working vehicle comprising:
a vehicle body to be manually steered with a steering wheel or automatically steered to travel forward or rearward;
a prime mover on the vehicle body;
a working implement supported on the vehicle body;
a power take-off (PTO) shaft to transmit power from the prime mover to the working implement; and
a controller to control automatic steering of the vehicle body and driving of the PTO shaft; wherein
the controller is configured or programmed to:
allow the automatic steering during rearward travel of the vehicle body when the PTO shaft is in a stopped state; and
prohibit the automatic steering during rearward travel of the vehicle body when the PTO shaft is in a driven state.
2. The working vehicle according to claim 1 , further comprising:
a PTO operation actuator to control the driving of the PTO shaft and to be moved from a neutral position to a driving position; wherein:
the controller is configured or programmed to, when the PTO operation actuator is in the neutral position and the PTO shaft is in the stopped state, allow the automatic steering during rearward travel of the vehicle body; and
the controller is configured or programmed to, upon movement of the PTO operation actuator to the driving position to allow the PTO shaft to be driven, prohibit the automatic steering during rearward travel of the vehicle body.
3. The working vehicle according to claim 1 , further comprising:
a position detector to detect a position of the vehicle body;
a defining switch to be operated to issue an instruction to define a reference travel line based on which the automatic steering is performed; and
a steering switch to be operated to issue an instruction to start or stop the automatic steering; wherein:
the controller is configured or programmed to define the reference travel line in response to an operation of the defining switch based on positions of the vehicle body that were detected by the position detector while the vehicle body was manually steered to travel;
the controller is configured or programmed to, if the automatic steering during rearward travel of the vehicle body is allowed, start the automatic steering in response to an operation of the steering switch to start the automatic steering, perform the automatic steering based on the reference travel line and on the position of the vehicle body detected by the position detector, and stop the automatic steering in response to an operation of the steering switch to stop the automatic steering; and
the controller is configured or programmed to, if the automatic steering during the rearward travel of the vehicle body is prohibited, not start or stop the automatic steering in response to the operation of the steering switch.
4. The working vehicle according to claim 1 , further comprising a notifier to provide a notification indicating that the automatic steering during rearward travel of the vehicle body is prohibited.
5. The working vehicle according to claim 4 , wherein the notifier is operable to further provide a notification including guidance which is a prompt for the PTO shaft to be stopped.
6. The working vehicle according to claim 4 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.
7. The working vehicle according to claim 5 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.
8. The working vehicle according to claim 2 , further comprising:
a position detector to detect a position of the vehicle body;
a defining switch to be operated to issue an instruction to define a reference travel line based on which the automatic steering is performed; and
a steering switch to be operated to issue an instruction to start or stop the automatic steering; wherein:
the controller is configured or programmed to define the reference travel line in response to an operation of the defining switch based on positions of the vehicle body that were detected by the position detector while the vehicle body was manually steered to travel;
the controller is configured or programmed to, if the automatic steering during rearward travel of the vehicle body is allowed, start the automatic steering in response to an operation of the steering switch to start the automatic steering, perform the automatic steering based on the reference travel line and on the position of the vehicle body detected by the position detector, and stop the automatic steering in response to an operation of the steering switch to stop the automatic steering; and
the controller is configured or programmed to, if the automatic steering during the rearward travel of the vehicle body is prohibited, not start or stop the automatic steering in response to the operation of the steering switch.
9. The working vehicle according to claim 8 , further comprising a notifier to provide a notification indicating that the automatic steering during rearward travel of the vehicle body is prohibited.
10. The working vehicle according to claim 9 , wherein the notifier is operable to further provide a notification including guidance which is a prompt for the PTO shaft to be stopped.
11. The working vehicle according to claim 9 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.
12. The working vehicle according to claim 10 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.
13. The working vehicle according to claim 2 , further comprising a notifier to provide a notification indicating that the automatic steering during rearward travel of the vehicle body is prohibited.
14. The working vehicle according to claim 13 , wherein the notifier is operable to further provide a notification including guidance which is a prompt for the PTO shaft to be stopped.
15. The working vehicle according to claim 13 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.
16. The working vehicle according to claim 14 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.
17. The working vehicle according to claim 3 , further comprising a notifier to provide a notification indicating that the automatic steering during rearward travel of the vehicle body is prohibited.
18. The working vehicle according to claim 17 , wherein the notifier is operable to further provide a notification including guidance which is a prompt for the PTO shaft to be stopped.
19. The working vehicle according to claim 17 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.
20. The working vehicle according to claim 18 , wherein the notifier is operable to provide the notification when an instruction to start the automatic steering is issued, if the automatic steering during rearward travel of the vehicle body is prohibited.