JP2021070347A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of appropriately avoiding an obstacle. A work vehicle (1) according to an embodiment of an embodiment includes a traveling vehicle body (2) to which a work machine (W) can be mounted, a first detection area (R1), and the first detection area (R1). An obstacle sensor (20) that detects the presence or absence of an obstacle (OB) in the second detection region (R2) farther away, and a passenger sensor (P) that detects the presence or absence of a occupant (P) in the traveling vehicle body (2). The control device (40) includes a 27) and a control device (40) that controls the automatic driving of the vehicle (1) on the set scheduled travel route, and the control device (40) has the obstacle in the second detection region (R2). In the presence of an object (OB), the vehicle (1) is stopped when the passenger (P) is not present, and the vehicle (1) is decelerated when the passenger (P) is present. It is characterized by. [Selection diagram] Fig. 2

Description

The present invention relates to a work vehicle.

Conventionally, there is a technique for changing the behavior of a work vehicle during automatic driving according to the distance to an obstacle detected by an obstacle sensor that detects an obstacle in front of the vehicle (see, for example, Patent Document 1). As an example of such a technique, the detection area of the obstacle sensor is divided into a plurality of parts, and when an obstacle is detected in the detection area far from the work vehicle, the speed is reduced and the detection area on the near side is detected. Stop the vehicle when approaching the area.

JP-A-2009-213865

By the way, in a work vehicle, there are cases where automatic driving is performed in the presence of passengers and cases where automatic driving is performed in the absence of passengers. For example, if there is a occupant, the occupant can visually recognize the obstacle and avoid it appropriately, but if there is no occupant, the obstacle is left to the detection result of the obstacle sensor. There was a risk that it could not be avoided properly.

The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle capable of appropriately avoiding obstacles.

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to one aspect of the embodiment includes a traveling vehicle body (2) to which the work machine (W) can be mounted and a first detection region (R1). ) And the obstacle sensor (20) that detects the presence or absence of an obstacle (OB) in the second detection area (R2) farther than the first detection area (R1), and the passenger (P) in the traveling vehicle body (2). The control device (40) includes a passenger sensor (27) for detecting the presence or absence of the) and a control device (40) for controlling the automatic driving of the vehicle (1) on the set scheduled travel route. When the obstacle (OB) is present in the second detection area (R2), the vehicle (1) is stopped when the passenger (P) is not present, and when the passenger (P) is present. Is characterized in that the vehicle (1) is decelerated.

According to one aspect of the embodiment, obstacles can be appropriately avoided.

FIG. 1A is an explanatory view of a work vehicle according to an embodiment, and is a schematic left side view of the work vehicle. FIG. 1B is a diagram illustrating an outline of a control method executed by a control device of a tractor. FIG. 1C is a diagram illustrating an outline of a control method executed by a control device of a tractor. FIG. 2 is a block diagram showing an example of a control system for a work vehicle. FIG. 3 is a diagram showing information for setting the automatic operation mode. FIG. 4 is a flowchart showing a processing procedure of the mode switching process in the automatic operation mode according to the embodiment. FIG. 5 is a flowchart showing a processing procedure of the control processing of the automatic operation according to the embodiment.

Hereinafter, embodiments of the work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

First, the overall configuration of the work vehicle 1 according to the embodiment will be described with reference to FIG. 1A. FIG. 1A is an explanatory view of the work vehicle 1 according to the embodiment, and is a schematic left side view of the work vehicle 1. In the following, a tractor will be described as an example of the work vehicle 1.

The tractor 1 which is a work vehicle is an agricultural tractor that performs work in a field or the like while traveling by itself. Further, the tractor 1 is provided by a control system centered on a control device 40 (see FIG. 2), which will be described later, in addition to executing a predetermined work while the operator (also referred to as an operator) is on board and traveling in the field. By controlling each part, a predetermined work is executed while automatically traveling in the field. In the following, the operator who boarded the tractor 1 may be referred to as a passenger.

Further, in the following, the front-rear direction is defined as the traveling direction when the tractor 1 travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the tractor 1 is a direction from the driver's seat 8 to the steering wheel 9, which will be described later, when the tractor 1 travels straight.

The left-right direction is a direction that is horizontally orthogonal to the front-back direction. In the following, left and right are defined toward the "front" side. That is, when the operator of the tractor 1 is seated in the driver's seat 8 and faces forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is a direction parallel to the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. It should be noted that each direction is defined for convenience of explanation, and the present invention is not limited to these directions. Further, in the following, the tractor 1 may be referred to as an "aircraft".

As shown in FIG. 1A, the tractor 1 includes a traveling vehicle body 2 and a working machine W. The traveling vehicle body 2 includes a vehicle body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control unit 7, and a mission case 10. The vehicle body frame 3 is the main frame of the traveling vehicle body 2.

The front wheels 4 are a pair of left and right wheels, and are mainly steering wheels (steering wheels). The rear wheels 5 are a pair of left and right wheels, and are mainly driving wheels (driving wheels). The tractor 1 may be configured to be switchable between a two-wheel drive (2WD) driven by the rear wheels 5 and a four-wheel drive (4WD) driven by both the front wheels 4 and the rear wheels 5. In this case, the drive wheels are both the front wheels 4 and the rear wheels 5. The traveling vehicle body 2 may be provided with a crawler device instead of the wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawler is the drive wheel.

The bonnet 6 is provided so as to be openable and closable at the front portion of the traveling vehicle body 2. The bonnet 6 can be rotated (opened and closed) in the vertical direction with the rear portion as the center of rotation. The bonnet 6 covers the engine E mounted on the vehicle body frame 3 in a closed state. The engine E is a drive source for the tractor 1 and is a heat engine such as a diesel engine or a gasoline engine.

The control unit 7 is provided on the upper portion of the traveling vehicle body 2, and includes a driver's seat 8, a steering wheel 9, and the like. The control unit 7 may be formed by being covered with a cabin 7a provided on the upper part of the traveling vehicle body 2. The driver's seat 8 is the driver's seat. Further, the driver's seat 8 is provided with a seat sensor 27 (see FIG. 2), and the seat sensor 27 detects the presence or absence of a occupant in the driver's seat 8 (traveling vehicle body 2). The steering wheel 9 is operated by the operator when steering the front wheels 4, which are the steering wheels. The steering unit 7 is provided with a display unit (meter panel) for displaying various information in front of the steering wheel 9.

Further, the control unit 7 includes various operation levers such as a forward / backward advance lever, an accelerator lever, a main shift lever, and an auxiliary shift lever, and various operation pedals such as an accelerator pedal, a brake pedal, and a clutch pedal.

The transmission case 10 houses a transmission (transmission mechanism). The transmission appropriately decelerates the power (rotational power) transmitted from the engine E and transmits it to the rear wheels 5 which are the driving wheels and the PTO (Power Take-off) shaft.

A work machine W that performs work in the field is mounted on the rear portion of the traveling vehicle body 2, and a PTO shaft that transmits power for driving the work machine W projects rearward from the mission case 10. The PTO shaft transmits the rotational power appropriately decelerated by the transmission to the working machine W mounted at least at the rear of the traveling vehicle body 2.

Further, an elevating device 12 for raising and lowering the working machine W is provided at the rear portion of the traveling vehicle body 2. The elevating device 12 moves the working machine W to a non-working position by raising the working machine W. The non-working position is, for example, a position where the working machine W is raised when the traveling vehicle body 2 retracts or when the traveling vehicle body 2 turns. Further, the elevating device 12 moves the work machine W to the ground work position by lowering the work machine W. The lifting device 12 includes a hydraulic lifting cylinder 121, a lift arm 122, a lift rod 123, a lower link 124, and a top link 125.

When hydraulic oil is supplied to the elevating cylinder 121, the lift arm 122 rotates so as to raise the work machine W around the shaft AX which is a rotation fulcrum, and when the hydraulic oil is discharged from the elevating cylinder 121, the lift arm 122 rotates. The work machine W is rotated around the shaft AX so as to be lowered. A lift arm sensor 26 for detecting the rotation angle of the lift arm 122 is provided at the base of the lift arm 122 (near the shaft AX). The height of the working machine W is calculated based on the detection result of the lift arm sensor 26 and the working machine W.

Further, the lift arm 122 is connected to the lower link 124 via the lift rod 123. In this way, the elevating device 12 connects the working machine W to the traveling vehicle body 2 so as to be able to move up and down by the lower link 124 and the top link 125.

The working machine W is a machine that performs work in the field. In the example shown in FIG. 1A, the working machine W is a rotary cultivator that performs cultivating work in the field. The rotary tiller cultivates the field scene (soil) by rotating the tiller claw 61 by the power transmitted from the PTO axis.

Further, the tractor 1 includes a control device 40 (see FIG. 3). The control device 40 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. Further, the control device 40 controls the working machine W.

Further, the tractor 1 includes a positioning device 30. The positioning device 30 is provided on the upper part of the traveling vehicle body 2 and measures the position of the traveling vehicle body 2. The positioning device 30 is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from a navigation satellite S orbiting in the sky to perform positioning and timing.

Further, the tractor 1 can set various operations in a specific field by the operation of the information processing terminal (portable terminal such as a tablet terminal) 100 by the operator. The information processing terminal 100 includes, for example, a storage unit composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and a display unit and an operation unit composed of a touch panel. Various keys, buttons, and the like may be separately provided as the operation unit.

Further, the tractor 1 includes an obstacle sensor 20. The obstacle sensor 20 includes a front sensor 21 and a rear sensor 22. The front sensor 21 is arranged at the front portion of the traveling vehicle body 2, such as being attached to a sensor mounting stay 13 provided in front of the bonnet 6, and is an obstacle (person or object) existing in front of the traveling vehicle body 2. Is detected.

The rear sensor 22 is arranged on the upper rear side of the traveling vehicle body 2, such as being attached to the upper portion of the cabin 7a, and detects an obstacle existing behind the traveling vehicle body 2.

Further, both the front sensor 21 and the rear sensor 22 are medium-range sensors, preferably infrared sensors. The front sensor 21 and the rear sensor 22 emit an infrared beam and detect the reflected light from an obstacle. The forward sensor 21 has a detection area that extends forward. Further, the rear sensor 22 has a detection region extending rearward.

The front sensor 21 and the rear sensor 22 can detect the distance to the obstacle, for example, by measuring the time from emitting the infrared beam to detecting the reflected light from the obstacle. The front sensor 21 and the rear sensor 22, which are infrared sensors, detect obstacles two-dimensionally, and are, for example, a detection area of about several meters to several tens of meters. As the obstacle sensor 20, it is also possible to use a medium-range sensor other than the infrared sensor.

Here, in the present embodiment, the obstacle sensor 20 is divided into a plurality of detection areas according to the distance, and the obstacle sensor 20 corresponds to the position of the detection area in which the obstacle is detected among the plurality of detection areas. Controls automatic operation. Further, when an obstacle is detected in the detection area far from the tractor 1 among the plurality of detection areas, the automatic operation is controlled according to the presence or absence of a passenger. This point will be described with reference to FIGS. 1B and 1C.

1B and 1C are diagrams illustrating an outline of a control method executed by the control device 40 of the tractor 1. FIG. 1B shows a control method when the tractor 1 has a passenger P, and FIG. 1C shows a control method when the tractor 1 does not have a passenger P. Further, FIGS. 1B and 1C show the detection area of the obstacle sensor 20 which is the front sensor 21, and is farther from the first detection area R1 on the side closer to the tractor 1 and the tractor 1 than the first detection area R1. The second detection area R2 on the side is shown, and it is assumed that the obstacle OB exists in the second detection area R2.

As shown in FIG. 1B, the control device 40 decelerates the tractor 1 (an example of a vehicle) when there is an obstacle OB in the second detection area R2 and there is a passenger P. On the other hand, as shown in FIG. 1C, the control device 40 stops the tractor 1 (an example of a vehicle) when there is an obstacle OB in the second detection area R2 and there is no passenger P.

That is, when the passenger P is present, the control device 40 can visually recognize the obstacle OB and make an appropriate judgment such as avoiding the obstacle OB as soon as possible. Therefore, the tractor 1 Decelerate without stopping. On the other hand, in the case of the control device 40, when there is no passenger P, the operator entrusts the judgment to the detection result of the obstacle sensor 20, so that the response such as avoiding it immediately may be delayed. Therefore, the tractor Stop 1

In this way, when the obstacle OB is detected in the second detection area R2, the passenger P and the operator appropriately adjust the obstacle OB by changing the control of the automatic operation of the tractor 1 according to the presence or absence of the passenger P. Can be avoided.

Next, the control system of the work vehicle (tractor) 1 centering on the control device 40 will be described with reference to FIG. FIG. 2 is a block diagram showing an example of a control system of the work vehicle 1. As shown in FIG. 2, the control device 40 includes an engine ECU (Electronic Control Unit) 41, a traveling system ECU 42, and a work equipment elevating system ECU 43. The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the traveling speed of the traveling vehicle body 2 (see FIG. 1) by controlling the rotation of the drive wheels. The work equipment elevating system ECU 43 controls the elevating device 12 to elevate and control the work equipment W.

The control device 40 can control each part by electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, various programs, a planned traveling route of the traveling vehicle body 2 preset for each field, and the like. It is equipped with a storage unit for storing necessary data.

As shown in FIG. 2, the control device 40 includes a positioning device (GNSS) 30, an engine rotation sensor 23, a vehicle speed sensor 24, a turning angle sensor 25, an obstacle sensor 20 (front sensor 21 and a rear sensor 22), and a lift arm. Various sensors such as a sensor 26, a seat sensor 27, and a forward / backward lever position sensor 28 are connected. The engine rotation sensor 23 detects the rotation speed of the engine E. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The turning angle sensor 25 detects the turning angle of the front wheels 4 (see FIG. 1), which are the steering wheels. The turning angle sensor 25 detects the turning of the airframe.

The seat sensor 27 is an example of a passenger sensor, which is provided in the driver's seat 8 and detects whether or not a person is seated in the driver's seat 8. The passenger sensor is not limited to the seat sensor 27, and may be a camera that captures the vicinity of the driver's seat 8. The forward / backward lever position sensor 28 detects the position of the forward / backward lever included in the control unit 7. Specifically, the forward / backward lever position sensor 28 detects whether the forward / backward lever is in the forward, reverse, or neutral position.

The control device 40 includes position information of the traveling vehicle body 2 from the positioning device 30 in a field or the like, the rotation speed of the engine E from the engine rotation sensor 23, the traveling speed of the traveling vehicle body 2 from the vehicle speed sensor 24, and the turning angle sensor 25 to the front wheel 4. The turning angle, the obstacle detection result from the obstacle sensor 20, the height of the work equipment W from the lift arm sensor 26, and the presence / absence of detection of the work equipment W from the position detection sensor 70 are input respectively. When the tractor 1 is autonomously driven, the control device 40 uses the detection result of the steering angle sensor 25 to control the steering cylinder connected to the steering wheel 9 while feeding back the steering angle of the front wheels 4, thereby controlling the steering wheel. 9 is automatically steered.

Further, in the control device 40, the engine ECU 41 is connected to the engine E, the traveling system ECU 42 is connected to the steering device 51, the transmission device 52, the braking device 53, and the like, and the work equipment elevating system ECU 43 is connected to the elevating device 12. To.

Of these, the work equipment elevating system ECU 43 outputs a work equipment elevating signal to the elevating device 12. The elevating device 12 elevates and drives the work machine W based on the work machine elevating signal output from the work machine elevating system ECU 43.

Further, the control device 40 is wirelessly connected to, for example, an information processing terminal 100 that can be carried by an operator. The control device 40 controls each part of the tractor 1 based on an instruction signal from the information processing terminal 100 operated by the operator. Further, the control device 40 may be configured to hold the aircraft information database of the tractor 1 so that information such as a model can be exchanged from the information processing terminal 100 or the like.

Further, the control device 40 has an "automatic operation mode" in which the tractor 1 performs work while autonomously traveling. In the automatic operation mode, the control device 40 determines a planned travel route according to the work content of the work machine W in advance for each field, converts it into data and stores it in the storage unit, and based on the measurement result of the positioning device 30. , Each part such as the engine E, the steering device 51, the transmission 52, the braking device 53, and the elevating device 12 is controlled so as to travel along the stored scheduled traveling path. The planned travel route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, the type of crop, and the like. That is, the control device 40 controls the automatic operation of the tractor 1 in the "automatic operation mode".

Further, the control device 40 sets either "manned mode" or "unmanned mode" in the "automatic operation mode". The "manned mode" is an "automatic driving mode" when the tractor 1 has a passenger P. The "unmanned mode" is an "automatic driving mode" when there is no passenger P in the tractor 1. The details of the fact that the control of the tractor 1 when the obstacle OB is detected differs between the "manned mode" and the "unmanned mode" will be described later.

The control device 40 sets either "manned mode" or "unmanned mode" based on the detection results of the forward / backward lever position sensor 28 and the seat sensor 27. This point will be described with reference to FIG.

FIG. 3 is a diagram showing information for setting the automatic operation mode. Such information is stored in, for example, a storage unit (not shown) of the control device 40, and is read out when the automatic operation is started.

As shown in FIG. 3, when starting the automatic operation, the control device 40 sets either a manned mode or an unmanned mode according to the detection result of the seat sensor 27. Specifically, the control device 40 sets the manned mode when the seat sensor 27 is ON, that is, when the passenger P is present, and sets the unmanned mode when the seat sensor 27 is OFF, that is, when there is no passenger P. To do. In other words, the control device 40 determines that there is a occupant P when the seat sensor 27 detects seating (ON), and determines that there is no occupant P when the seating is not detected (OFF).

Further, when the automatic operation is started, the control device 40 sets either a manned mode or an unmanned mode according to the position of the forward / backward lever. Specifically, the control device 40 sets the manned mode when the position of the forward / backward lever is forward or backward, and sets the unmanned mode when the forward / backward lever is neutral.

Further, the control device 40 prohibits the start of automatic operation when the combination of the detection result of the seat sensor 27 and the position of the forward / backward lever is a specific combination. Specifically, when the control device 40 starts the automatic operation, if the position of the forward / backward lever is forward or backward and the seat sensor 27 is OFF, that is, there is no passenger P, the control device 40 starts the automatic operation. Ban. That is, switching to the "automatic operation mode" is prohibited.

Further, the control device 40 prohibits the start of automatic operation when the position of the forward / backward lever is neutral and the seat sensor 27 is ON, that is, when the passenger P is present. The control device 40 stops the automatic operation when the combination of the detection result of the seat sensor 27 and the position of the forward / backward lever is changed to a specific combination during the automatic operation in the manned mode or the unmanned mode. Stop the tractor 1.

Further, when the obstacle OB is detected by the front sensor 21 or the rear sensor 22, the control device 40 stops or decelerates the tractor 1 according to the mode (manned mode or unmanned mode) in the "automatic operation mode".

Specifically, the control device 40 stops the tractor 1 in the unmanned mode when the presence of the obstacle OB is detected in the second detection area R2. That is, the control device 40 stops the tractor 1 when the position of the forward / backward lever is neutral and the seat sensor 27 is OFF and an obstacle OB exists in the second detection region R2.

On the other hand, when the presence of the obstacle OB is detected in the second detection area R2, the control device 40 decelerates the tractor 1 in the manned mode. That is, the control device 40 decelerates the tractor 1 when the position of the forward / backward lever is forward or backward and the seat sensor 27 is ON and an obstacle OB exists in the second detection region R2.

When the obstacle OB is detected by the front sensor 21 or the rear sensor 22, the control device 40 stops the engine E or stops the transmission of the rotational power to the PTO shaft. Further, the control device 40 activates an alarm (not shown) when an obstacle is detected by the front sensor 21 or the rear sensor 22, and the control device 40 detects the obstacle. It may be notified.

Further, the control device 40 sets the tractor 1 for elevating control such as the height of the working machine W, turning control, speedup / deceleration control of the main shift position, engine speed during straight running, etc. during automatic operation in the manned mode. Give priority to. As a result, during manned driving, finer settings can be made by adjusting various controls with the tractor 1.

Further, the control device 40 controls the height of the working machine W and the like during automatic operation in the unmanned mode, turning control, speed-up / deceleration control of the main shift position, engine speed during straight movement, and the like. Priority is given to the setting of. As a result, it is possible to avoid unintentional control changes during unmanned driving.

Further, the control device 40 controls the engine speed from the start of turning to the completion of turning to be constant regardless of the manned mode and the unmanned mode during automatic operation.

Further, the control device 40 prohibits switching of the engine speed and the main shift during deceleration of the tractor 1 when an obstacle OB exists in the second detection region R2 in the manned mode. This makes it possible to prevent erroneous operations during deceleration from being reflected in the behavior.

Further, the control device 40 gives priority to the steering operation of the occupant P when the obstacle OB exists in the second detection area R2 in the manned mode. As a result, the obstacle OB can be appropriately avoided by the manual operation of the passenger P.

Next, the processing procedure of the control process executed by the control device 40 according to the embodiment will be described with reference to FIGS. 4 and 5. FIG. 4 is a flowchart showing a processing procedure of the mode switching process in the automatic operation mode according to the embodiment. FIG. 5 is a flowchart showing a processing procedure of the control processing of the automatic operation according to the embodiment.

As shown in FIG. 4, first, the control device 40 determines whether or not an instruction to start automatic operation has been received from the information processing terminal 100 (step S101), and does not receive the instruction (step S101: No). ), Step S101 is repeatedly executed.

When the control device 40 receives the instruction to start the automatic operation (step S101: Yes), the control device 40 determines the presence or absence of the passenger P (step S102).

When the passenger P is present (step S102: Yes), the control device 40 determines whether or not the position of the forward / backward lever is forward or backward (step S103).

When the forward / backward lever is moving forward or backward (step S103: Yes), the control device 40 sets the manned mode in the automatic operation mode (step S104), and ends the process.

On the other hand, when the forward / backward lever is neutral (step S103: No), the control device 40 prohibits the start of automatic operation (step S105) and ends the process.

Further, when there is no passenger P (step S102: No), the control device 40 determines whether or not the position of the forward / backward lever is forward or backward (step S106).

When the forward / backward lever is moving forward or backward (step S106: Yes), the control device 40 prohibits automatic operation (step S105) and ends the process.

On the other hand, when the forward / backward lever is neutral (step S106: No), the control device 40 sets the unmanned mode in the automatic operation mode (step S107), and ends the process.

Next, as shown in FIG. 5, the control device 40 determines whether or not the obstacle OB is detected in the second detection region R2 of the obstacle sensor 20 (step S201), and detects the obstacle OB. If not (step S201: No), step S201 is repeatedly executed.

When the control device 40 detects the obstacle OB in the second detection area R2 (step S201: Yes), the control device 40 determines whether or not it is in the manned mode (step S202).

When the control device 40 is in the manned mode (step S202: Yes), the control device 40 decelerates the tractor 1 (step S203) and ends the process.

On the other hand, when the control device 40 is in the unmanned mode (step S202: No), the control device 40 stops the tractor 1 (step S204) and ends the process.

As described above, in the tractor 1 according to the embodiment, the tractor 1 has an obstacle in the traveling vehicle body 2 on which the work machine W can be mounted and in the first detection area R1 and the second detection area R2 farther than the first detection area R1. An obstacle sensor 20 that detects the presence or absence of an object OB, a seat sensor 27 that detects the presence or absence of a occupant P in the traveling vehicle body 2, a control device 40 that controls the automatic operation of the tractor 1 on a set scheduled traveling route, and the like. When the obstacle OB is present in the second detection area R2, the control device 40 stops the tractor 1 when there is no passenger P, and decelerates the tractor 1 when there is a passenger P. .. As a result, the obstacle OB can be appropriately avoided.

Further, when the automatic operation is started, the control device 40 sets either a manned mode with the passenger P or an unmanned mode without the passenger P according to the detection result of the seat sensor 27. Further, when the obstacle OB exists in the second detection area R2, the control device 40 stops the tractor 1 in the unmanned mode and decelerates the tractor 1 in the manned mode. As a result, at the start of automatic driving, the presence or absence of the passenger P can be automatically determined, and automatic driving control for appropriately avoiding the obstacle OB can be performed.

Further, the tractor 1 further includes a forward / backward lever for switching forward, reverse or neutral of the tractor 1. When the control device 40 starts the automatic operation, if the forward / backward lever moves forward or backward and there is no passenger P, the control device 40 prohibits the start of the automatic operation. As a result, it is possible to avoid starting the automatic operation in the manned mode in the absence of the passenger P.

Further, when the control device 40 starts the automatic operation, if the forward / backward lever is neutral and the passenger P is present, the control device 40 prohibits the start of the automatic operation. As a result, it is possible to avoid starting automatic driving in the unmanned mode with the passenger P present.

The passenger sensor is a seat sensor 27 that detects the seating of the tractor 1 on the driver's seat 8. The control device 40 determines that the passenger P is present when the seat sensor 27 detects seating, and determines that the passenger P is not present when the seating is not detected. As a result, the presence or absence of the passenger P can be automatically determined.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1 Tractor (working vehicle)
2 Traveling vehicle body 20 Obstacle sensor 27 Seat sensor 40 Control device P Passenger R1 First detection area R2 Second detection area W Work equipment

Claims (5)

A running vehicle that can be equipped with a work machine,
An obstacle sensor that detects the presence or absence of an obstacle in the first detection area and the second detection area farther than the first detection area, and
A passenger sensor that detects the presence or absence of a passenger in the traveling vehicle body, and
A control device that controls the automatic driving of the vehicle on the set planned driving route,
With
The control device is
A work vehicle characterized in that, when the obstacle is present in the second detection area, the vehicle is stopped when the passenger is not present, and the vehicle is decelerated when the passenger is present. The control device is
When starting the automatic operation, either a manned mode with the passenger or an unmanned mode without the passenger is set according to the detection result of the passenger sensor.
The work vehicle according to claim 1, wherein when the obstacle is present in the second detection region, the vehicle is stopped in the unmanned mode and decelerated in the manned mode. Further equipped with a forward / backward lever for switching forward, reverse or neutral of the vehicle,
The control device is
The invention according to claim 1 or 2, wherein when the automatic operation is started, the start of the automatic operation is prohibited when the forward / backward lever moves forward or backward and there is no passenger. Work vehicle. The control device is
The work vehicle according to claim 3, wherein when the automatic operation is started, the start of the automatic operation is prohibited when the forward / backward lever is neutral and the passenger is present. The passenger sensor
It is a seat sensor that detects the seating of the vehicle.
The control device is
One of claims 1 to 4, wherein when the seat sensor detects seating, it is determined that the passenger is present, and when seating is not detected, it is determined that there is no passenger. The work vehicle described.

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