JP6942666B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle including a traveling machine body and a working device movably connected to the traveling machine body.

As the work vehicle as described above, for example, an obstacle and an aircraft based on a distance sensor that detects information (signal) regarding the presence or absence of an obstacle in front of the aircraft and its distance, and information (signal) acquired from the distance sensor. When the distance between the rice transplanter and the rice transplanter becomes smaller than a predetermined set distance, there is a rice transplanter provided with a processing unit that transmits a command signal to the autonomous traveling means to stop the autonomous traveling of the rice transplanter (see, for example, Patent Document 1).
Further, for example, a target lamp that is a target for vehicle travel and a camera that images the ground in the direction of travel and the distant view in front and the ground in front are arranged in the upper part of the cockpit, and the image of the direction of travel is captured. There is an agricultural work vehicle provided with a steering control device that detects a target lamp that is a target of vehicle travel and automatically steers the vehicle toward the target lamp (see, for example, Patent Document 2).

Japanese Unexamined Patent Publication No. 2008-092818 Japanese Unexamined Patent Publication No. 2016-173634

In the configurations described in Patent Documents 1 and 2, when the work device is movably connected to the front part of the work vehicle, the detection range of the sensor or the imaging range of the camera may be significantly limited by the elevating and lowering of the work device. ..

In view of this situation, a main problem of the present invention is to avoid that the detection range of the sensor is significantly limited by raising and lowering the working device.

The first characteristic configuration of the present invention is in a work vehicle.
The object detection range is set to the traveling machine body, the working device connected to the traveling machine body so as to be able to move up and down, the automatic traveling unit for automatically traveling the traveling machine body, and the arrangement side of the working device in the periphery of the traveling machine body. Has an object detection unit
The object detection unit has at least a first detection sensor installed in the upper structure of the traveling machine body and a second detection sensor installed in the lower structure of the traveling machine body. ..

According to this configuration, when the work device is raised and the object detection range of the first detection sensor is widely limited, the range limited by the work device in the object detection range of the second detection sensor is narrowed. On the contrary, when the working device is lowered and the object detection range of the second detection sensor is widely limited, the range limited by the working device in the object detection range of the first detection sensor is narrowed.
That is, in the automatic traveling unit, when the object detection range of either the first detection sensor or the second detection sensor is widely restricted by raising and lowering the work device, the other sensor whose object detection range is widened accordingly. Based on the detection information from, it is possible to detect the presence or absence of an object on the arrangement side of the work device around the traveling machine body.
As a result, it is possible to avoid that the detection range of the sensor is significantly limited due to the raising and lowering of the working device, and it is possible to satisfactorily detect the presence or absence of an object on the arrangement side of the working device.

The second characteristic configuration of the present invention is
The working device moves up and down in front of the traveling machine body, and moves up and down.
In the first detection sensor, the object detection range is set on the front side of the traveling machine body and on the upper side of the lowered working device.
The second detection sensor is at a point where the front side of the traveling machine body and the lower side of the raised working device are set in the object detection range.

According to this configuration, when the object detection range of either the first detection sensor or the second detection sensor is widely restricted by the raising and lowering of the work device in front of the traveling machine body, the automatic traveling unit accordingly. Based on the detection information from the other sensor that widens the object detection range, it is possible to detect the presence or absence of an object on the front side of the traveling aircraft.
As a result, in the automatic traveling of the work vehicle by the automatic traveling unit, it is possible to prevent the detection range of the sensor from being significantly limited by the work device on the front side of the machine body when the work vehicle is frequently moved forward, and the front side of the machine body. The presence / absence of an object on the side can be detected satisfactorily.

The third characteristic configuration of the present invention is
The first detection sensor and the second detection sensor are 3D sensors that measure the distance to the object to be measured in three dimensions.
When the position of the work device and the presence / absence of an obstacle on the work device arrangement side of the traveling machine are detected based on the information from the first detection sensor and the second detection sensor, and the presence of the obstacle is detected. In addition, it is provided with an obstacle control unit that performs collision avoidance control according to the position of the work device.

According to this configuration, the obstacle control unit can three-dimensionally capture an object existing on the work device arrangement side of the traveling machine, thereby, and the position and obstacle of the work device on the work device arrangement side of the traveling machine. The existence or nonexistence of an object can be detected with high accuracy.
As a result, when the obstacle control unit detects the presence of an obstacle, it can perform appropriate collision avoidance control according to each of the rising state and the falling state of the work device. As a result, it is possible to more appropriately avoid the possibility that the traveling machine and the working device collide with an obstacle.

The fourth characteristic configuration of the present invention is
Based on the self-machine detection range acquisition process for acquiring the self-machine detection range in which the traveling machine and the work device have entered the object detection range of the first detection sensor and the second detection sensor, and the self-machine detection range. The point is that the masking processing unit for performing the masking range setting process for setting the masking range in the object detection range of the first detection sensor and the second detection sensor is provided.

According to this configuration, the obstacle control unit avoids the possibility of erroneously detecting a traveling machine or a working device that has entered the object detection range of the first detection sensor or the object detection range of the second detection sensor as an obstacle. Can be done.
As a result, it is possible to prevent a decrease in work efficiency due to unnecessary collision avoidance control due to erroneous detection of the obstacle control unit.

The figure which shows the schematic structure of the automatic driving system Block diagram showing the schematic configuration of the autonomous driving system Diagram showing an example of a target travel route for a field Diagram showing an example of a target travel route for a material storage area The figure which shows the measurement range of each rider sensor and the left and right sonar units in a plan view. The figure which shows the measurement range of each rider sensor in the side view. Side view showing an example of loader work The figure which shows the own machine detection range and the masking range in the object detection range of the 1st rider sensor. The figure which shows the own-machine detection range and the masking range in the object detection range of the 2nd rider sensor. The figure which shows the own machine detection range and the masking range in the working device descending state in the object detection range of the rear rider sensor. The figure which shows the own machine detection range and the masking range in the state of raising the work device in the object detection range of the rear rider sensor.

Hereinafter, as an example of an embodiment for carrying out the present invention, an embodiment in which the present invention is applied to a tractor, which is an example of a work vehicle, will be described with reference to the drawings.
The present invention may be applied to passenger work vehicles other than tractors, such as passenger mowers, passenger rice transplanters, combines, transport vehicles, wheel loaders, snowplows, and unmanned work vehicles such as unmanned mowers. can.

As shown in FIGS. 1 and 2, the tractor 1 illustrated in the present embodiment is configured to automatically travel in a work area (see FIGS. 3 and 4) such as a field S by an automatic traveling system for a work vehicle. ing. This automatic traveling system includes an automatic traveling unit 2 mounted on the tractor 1 and a mobile communication terminal 3 set to communicate with the automatic traveling unit 2. As the mobile communication terminal 3, a tablet-type personal computer, a smartphone, or the like having a touch-operable display unit 51 (for example, a liquid crystal panel) or the like can be adopted.

The tractor 1 includes left and right front wheels 5 that function as driveable steering wheels, and a traveling machine body 7 that has left and right rear wheels that can be driven. A front frame 27 and a bonnet 8 are arranged on the front side of the traveling machine body 7, and an electronically controlled diesel engine (hereinafter referred to as an engine) 9 equipped with a common rail system is provided inside the bonnet 8. Has been done. A cabin 10 forming a boarding-type driving unit is provided behind the bonnet 8 of the traveling machine body 7.

As shown in FIG. 1, a front loader 12A, which is an example of the working device 12, is connected to the front portion of the traveling machine body 7. A rotary tillage device 12B, which is an example of the work device 12, is connected to the rear portion of the traveling machine body 7 via a three-point link mechanism 11 so as to be able to move up and down and roll. Further, as a result, the tractor 1 can perform loader work by the front loader 12A and tillage work by the rotary tillage device 12B. Instead of the rotary tillage device 12B, a working device 12 such as a plow, a sowing device, a spraying device, and a mowing device can be connected to the rear part of the tractor 1.

As shown in FIGS. 1 and 2, the front loader 12A includes a loader frame 121 connected to the traveling machine body 7, left and right booms 122 vertically swingably connected to the loader frame 121, and free end portions of each boom 122. The left and right first hydraulic cylinders 124 that swing and drive the left and right booms 122 in the vertical direction with respect to the bucket 123 and the loader frame 121, and the bucket 123 in the vertical direction with respect to the left and right booms 122. The left and right second hydraulic cylinders 125 that swing to the left, the electronically controlled loader valve unit 126 that controls the flow of oil to each of the hydraulic cylinders 124, 125, and the loader operation lever that enables manual operation of the front loader 12A. It also has a loader electronic control unit 127 and the like that operate the loader valve unit 126 based on the operation of the loader operation lever and the like. The front loader 12A can replace the bucket 123 at the tip with an attachment such as a roll grab.

As shown in FIG. 2, the tractor 1 includes an electronically controlled transmission 13 that shifts the power from the engine 9, a fully hydraulic power steering mechanism 14 that steers the left and right front wheels 5, and left and right rear wheels 6. Left and right side brakes for braking (not shown), electronically controlled brake operation mechanism 15 that enables hydraulic operation of the left and right side brakes, work clutch that interrupts transmission to work devices 12 such as rotary tillers (Fig.) (Not shown), an electronically controlled clutch operating mechanism 16 that enables hydraulic operation of the work clutch, an electrohydraulic control type lifting drive mechanism 17 that lifts and lowers a rear working device 12 such as a rotary tiller, and a tractor 1. An in-vehicle electronic control unit 18 having various control programs related to automatic driving and the like, a vehicle speed sensor 19 for detecting the vehicle speed of the tractor 1, a steering angle sensor 20 for detecting the steering angle of the front wheels 5, and the current position and current position of the tractor 1. A positioning unit 21 or the like for measuring the orientation is provided.

An electronically controlled gasoline engine equipped with an electronic governor may be adopted as the engine 9. As the transmission 13, a hydraulic mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), a belt type continuously variable transmission, or the like can be adopted. As the power steering mechanism 14, an electric power steering mechanism 14 or the like provided with an electric motor may be adopted.

As shown in FIG. 1, inside the cabin 10, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for passengers, and a touch panel It is provided with an expression display unit and various operating tools including the above-mentioned loader operating lever. Both lateral sides of the front side portion of the cabin 10 are provided with boarding / alighting steps 41 that serve as boarding / alighting portions for the cabin 10 (driver's seat 39).

As shown in FIG. 2, the in-vehicle electronic control unit 18 includes a speed change control unit 181 that controls the operation of the speed change device 13, a braking control unit 182 that controls the operation of the left and right side brakes, and a work device 12 such as a rotary tiller. The work device control unit 183 that controls the operation, the steering angle setting unit 184 that sets the target steering angles of the left and right front wheels 5 during automatic driving and outputs them to the power steering mechanism 14, and the preset target driving for automatic driving. It has a non-volatile vehicle-mounted storage unit 185 and the like for storing the route P (see, for example, FIGS. 3 and 4) and the like.

As shown in FIG. 2, the positioning unit 21 is a satellite that measures the current position and current orientation of the tractor 1 by using GPS (Global Positioning System), which is an example of a satellite positioning system (NSS: Navigation Satellite System). It is equipped with a navigation device 22, an inertial measurement unit (IMU) 23 and the like having a three-axis gyroscope, a three-direction acceleration sensor, and the like to measure the attitude and orientation of the tractor 1. Positioning methods using GPS include DGPS (Differential GPS: relative positioning system) and RTK-GPS (Real Time Kinematic GPS: interference positioning system). In this embodiment, RTK-GPS suitable for positioning of a moving body is adopted. Therefore, as shown in FIGS. 1 and 2, a reference station 4 that enables positioning by RTK-GPS is installed at a known position around the work site.

As shown in FIG. 2, the tractor 1 and the reference station 4 are connected to the GPS antennas 24 and 61 that receive radio waves transmitted from the GPS satellite 71 (see FIG. 1), and between the tractor 1 and the reference station 4. Communication modules 25, 62 and the like that enable wireless communication of various data including positioning data in the above are provided. As a result, the satellite navigation device 22 receives the positioning data obtained by the GPS antenna 24 on the tractor side receiving the radio waves from the GPS satellite 71 and the GPS antenna 61 on the base station side receiving the radio waves from the GPS satellite 71. Based on the obtained positioning data, the current position and current orientation of the tractor 1 can be measured with high accuracy. Further, the positioning unit 21 is provided with the satellite navigation device 22 and the inertial measurement unit 23 to measure the current position, the current direction, and the attitude angle (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy. Can be done.

The GPS antenna 24, the communication module 25, and the inertial measurement unit 23 provided in the tractor 1 are housed in the antenna unit 80 as shown in FIG. The antenna unit 80 is arranged at an upper position on the front side of the cabin 10.

As shown in FIG. 2, the mobile communication terminal 3 has positioning data between the terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51 and the like, and the communication module 25 on the tractor side. A communication module 55 or the like that enables wireless communication of various data including the above is provided. The terminal electronic control unit 52 includes a travel route generation unit 53 that generates a target travel route P (see, for example, FIGS. 3 and 4) for travel guidance for automatically traveling the tractor 1, and various types input by the user. It has a non-volatile terminal storage unit 54 and the like that stores input data and a target travel route P and the like generated by the travel route generation unit 53.

When the travel route generation unit 53 generates the target travel route P, a user or the like including a driver or an administrator performs a work vehicle according to an input guide for setting a target travel route displayed on the display unit 51 of the mobile communication terminal 3. The vehicle body data such as the type and model of the work device 12 and the work device 12 are input, and the input vehicle body data is stored in the terminal storage unit 54. The travel area S (see FIGS. 3 and 4) for which the target travel path P is generated is set as a work area in a work area such as a field, and the terminal electronic control unit 52 of the mobile communication terminal 3 has a shape of the work area and Work place data including the position is acquired and stored in the terminal storage unit 54.

Explaining the acquisition of work site data, for example, when the work site is the field shown in FIG. 3, the terminal electronic control unit 52 is a positioning unit when a user or the like drives and actually runs the tractor 1 in the field. Position information for specifying the shape, position, etc. of the field can be acquired from the current position, etc. of the tractor 1 acquired by 21. The terminal electronic control unit 52 specifies the shape and position of the field from the acquired position information, and acquires the field data including the traveling area S specified from the shape and position of the specified field. FIG. 3 shows an example in which the rectangular traveling region S is specified.

When the field data including the shape and position of the specified field is stored in the terminal storage unit 54, the traveling route generation unit 53 uses the field data and the vehicle body data stored in the terminal storage unit 54 for the field. Generates the target travel path P of.

As shown in FIG. 3, the traveling route generation unit 53 divides and sets the traveling region S in the field into a central region R1 and an outer peripheral region R2. The central region R1 is set in the central portion of the traveling region S, and is a reciprocating work region in which the tractor 1 is automatically traveled in the reciprocating direction in advance to perform a predetermined work (for example, work such as tillage). .. The outer peripheral region R2 is set around the central region R1 and is a circumferential work region in which the tractor 1 is automatically driven in the circumferential direction following the central region R1 to perform a predetermined work. The travel path generation unit 53 is, for example, a space for turning travel required for turning the tractor 1 at the ridge of the field based on the turning radius, the front-rear length of the tractor 1, the working width, and the like included in the vehicle body data. Etc. are being sought. The travel path generation unit 53 divides the travel region S into a central region R1 and an outer peripheral region R2 so as to secure a space or the like obtained on the outer circumference of the central region R1.

As shown in FIG. 3, the travel route generation unit 53 generates a target travel route P for the field using vehicle body data, field data, and the like. For example, the target travel path P for the field is a plurality of work paths P1 having the same straight-line distance in the central region R1 and arranged in parallel at regular intervals corresponding to the work width, and the end of the adjacent work path P1. It has a plurality of non-working swivel paths P2 that connect the start end and the start end in the order of travel, and a circuit path P3 (indicated by a dotted line in the figure) formed in the outer peripheral region R2. The plurality of work paths P1 are routes for the tractor 1 to perform a predetermined work while traveling straight. The turning path P2 is a U-turn path for the tractor 1 to change the traveling direction of the tractor 1 by 180 degrees without performing a predetermined work, and is a U-turn path that is adjacent to the end of the work path P1 and the start of the next work path P1. Is connected. The orbital path P3 is a path for the tractor 1 to perform a predetermined operation while orbiting in the outer peripheral region R2. In the circuit path P3, the path portions located at the four corners of the traveling region S are path portions for the tractor 1 to change the traveling direction of the tractor 1 by 90 degrees while appropriately performing forward traveling and reverse traveling. Incidentally, the target traveling route P shown in FIG. 3 is just an example, and what kind of target traveling route is generated can be variously changed according to the vehicle body data, the field data, and the like.

For example, when the work site is a material storage place for storing materials such as compost shown in FIG. 4, the travel route generation unit 53 can be generated by the user or the like actually driving the tractor 1 and performing various setting operations. From the setting operation and the current position of the tractor 1 acquired by the positioning unit 21, the standby area R10, the scooping work area R11, the dump area R12, etc. in the material storage area are determined, and the target traveling route P for the material storage area is generated. .. The target travel path P for the material storage area includes a first movement path P11 extending over the standby area R10 and the scooping area R11, a second movement path P12 extending over the standby area R10 and the dump area R12, and a rescue operation in the scooping work area R11. It has a work path P13 and the like for performing the above. Incidentally, the target traveling route P shown in FIG. 4 is only an example, and what kind of target traveling route is generated can be variously changed according to the vehicle body data, the work place data, and the like.
When the work area is a material storage area, the user or the like operates the mobile communication terminal 3 to acquire map data including the material storage area, and performs various setting operations using the map data. The travel route generation unit 53 determines the standby area R10, the scooping work area R11, the dump area R12, etc. in the material storage area based on the setting operation, and generates the target travel path P for the material storage area. May be good.

The target travel route P generated by the travel route generation unit 53 can be displayed on the display unit 51, and is stored in the terminal storage unit 54 as route data associated with vehicle body data, work location data, and the like. The route data includes the azimuth angle of the target travel route P, the set engine rotation speed set according to the travel mode of the tractor 1 on the target travel route P, the target travel speed, and the like.

In this way, when the travel route generation unit 53 generates the target travel route P, the terminal electronic control unit 52 transfers the route data from the mobile communication terminal 3 to the tractor 1, so that the vehicle-mounted electronic control unit 18 of the tractor 1 However, the route data can be acquired. The in-vehicle electronic control unit 18 automatically travels the tractor 1 along the target travel route P while acquiring its own current position (current position of the tractor 1) by the positioning unit 21 based on the acquired route data. Can be done. The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, in a cycle of several seconds), and the mobile communication terminal 3 grasps the current position of the tractor 1. There is.

Regarding the transfer of the route data, the entire route data can be transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18 at once before the tractor 1 starts the automatic traveling. Further, for example, the route data including the target travel route P can be divided into a plurality of route portions for each predetermined distance with a small amount of data. In this case, in the stage before the tractor 1 starts the automatic traveling, only the initial route portion of the route data is transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18. After the start of automatic driving, every time the tractor 1 reaches a route acquisition point set according to the amount of data or the like, the route data of only the subsequent route portion corresponding to that point is electronically controlled by the terminal electronic control unit 52. It may be transferred to the unit 18.

When starting the automatic running of the tractor 1, for example, after the user or the like moves the tractor 1 to the start point or the standby area R10, when various automatic running start conditions are satisfied, the mobile communication terminal 3 displays the automatic running. When the user operates the display unit 51 to instruct the start of automatic traveling, the mobile communication terminal 3 transmits the instruction to start automatic traveling to the tractor 1. As a result, in the tractor 1, the in-vehicle electronic control unit 18 receives an instruction to start automatic driving, and while the positioning unit 21 acquires its own current position (current position of the tractor 1), the vehicle-mounted electronic control unit 18 sets the target traveling path P. The automatic running control for automatically running the tractor 1 along the line is started.

The automatic driving control includes automatic shift control that automatically controls the operation of the transmission 13, automatic braking control that automatically controls the operation of the brake operation mechanism 15, automatic steering control that automatically steers the left and right front wheels 5, and a rotary tillage device. The automatic control for work and the like for automatically controlling the operation of the work device 12 and the like are included.

In the automatic shift control, the shift control unit 181 determines the tractor 1 on the target travel path P based on the route data of the target travel path P including the target travel speed, the output of the positioning unit 21, and the output of the vehicle speed sensor 19. The operation of the transmission 13 is automatically controlled so that the target traveling speed set according to the traveling mode or the like can be obtained as the vehicle speed of the tractor 1.

In the automatic braking control, the braking control unit 182 sets the left and right side brakes after the left and right in the braking region included in the route data of the target traveling path P based on the target traveling path P and the output of the positioning unit 21. The operation of the brake operating mechanism 15 is automatically controlled so as to properly brake the wheels 6.

In the automatic steering control, the steering angle setting unit 184 sets the target of the left and right front wheels 5 based on the route data of the target travel path P and the output of the positioning unit 21 so that the tractor 1 automatically travels on the target travel path P. The steering angle is obtained and set, and the set target steering angle is output to the power steering mechanism 14. The power steering mechanism 14 automatically steers the left and right front wheels 5 based on the target steering angle and the output of the steering angle sensor 20 so that the target steering angle is obtained as the steering angles of the left and right front wheels 5.

In the automatic work control, the work device control unit 183 controls the operation of the work device 12 according to the work data included in the target travel path P. The work data includes the lowering position for scooping work and the ascending position for dumping / moving the front loader 12A, the lowering position for tilling work and the ascending position for working standby regarding the rotary tiller 12B, and their ascending / descending positions. The correspondence with the current position of the tractor 1 is included.
For example, if the target travel path P is the target travel path P for the field shown in FIG. 3, the work device control unit 183 first arranges that the front loader 12A is always maintained in the ascending position for dumping / moving. The operation of the loader valve unit 126 is automatically controlled via the loader electronic control unit 127. In addition to this, the work device control unit 183 rotates as the tractor 1 reaches the work start position such as the start end of the work path P1 based on the route data of the target travel path P and the output of the positioning unit 21. Clutch operation so that the tilling work by the tilling device 12B is started and the tilling work by the rotary tilling device 12B is stopped when the tractor 1 reaches the work end position such as the end of the work path P1. The operation of the mechanism 16 and the elevating drive mechanism 17 is automatically controlled. The clutch operating mechanism 16 switches the work clutch to the transmission state when the tractor 1 reaches the work start position, and switches the work clutch to the disengaged state when the tractor 1 reaches the work end position. In addition, the work clutch is hydraulically operated based on the control command from the work device control unit 183. The elevating drive mechanism 17 is such that the rotary tillage device 12B is positioned at the lowering position for the tilling work as the tractor 1 reaches the work start position, and the rotary is as the tractor 1 reaches the work end position. The rotary tillage device 12B is raised and lowered based on the control command from the work device control unit 183 so that the tillage device 12B rises from the lower position for the tillage work to the ascending position for the work standby.
In the work device control unit 183, for example, if the target travel path P is the target travel path P for the material storage area shown in FIG. 4, first, the rotary tillage device 12B is always maintained in the ascending position for work standby. , Automatically control the operation of the clutch operating mechanism 16 and the elevating drive mechanism 17. In addition to this, the work device control unit 183 is stopped in the standby area R10 of the tractor 1 or is stopped based on the route data of the target travel path P, the output of the positioning unit 21, and the control program for loader operation. While traveling on the first movement path P11 or the second movement path P12 of the tractor 1, the front loader 12A is maintained in the raised position for dumping / moving in a predetermined transport posture, and the tractor 1 is in the scooping area. While the front loader 12A is located at R11, the front loader 12A is located at a lower position for scooping work so that the scooping work is performed by the front loader 12A. Further, while the tractor 1 is located at the dump area R12, the front loader 12A Automatically controls the operation of the loader valve unit 126 via the loader electronic control unit 127 so that the front loader 12A is located at the raised position for dumping / moving.
The control program for loader operation is stored in the vehicle-mounted storage unit 185.

In this way, in the tractor 1, the transmission 13, the power steering mechanism 14, the brake operation mechanism 15, the clutch operation mechanism 16, the elevating drive mechanism 17, the in-vehicle electronic control unit 18, the vehicle speed sensor 19, the steering angle sensor 20, The automatic traveling unit 2 is composed of the positioning unit 21, the communication module 25, and the like.

In this embodiment, it is possible not only to automatically drive the tractor 1 without the user or the like boarding the cabin 10, but also to automatically drive the tractor 1 with the user or the like boarding the cabin 10. Therefore, not only can the tractor 1 be automatically driven along the target traveling path P by the automatic traveling control by the in-vehicle electronic control unit 18 without the user or the like boarding in the cabin 10, but also the user or the like can be boarded in the cabin 10. Even in this case, the tractor 1 can be automatically driven along the target traveling path P by the automatic traveling control by the vehicle-mounted electronic control unit 18.

When a user or the like is on board the cabin 10, the traveling state of the tractor is determined by the automatic traveling state in which the tractor 1 is automatically driven by the in-vehicle electronic control unit 18 and the tractor 1 is driven based on the driving of the user or the like. It is possible to switch to the manual driving state. Therefore, the traveling state of the tractor can be switched from the automatic traveling state to the manual traveling state while the tractor is automatically traveling on the target traveling path P in the automatic traveling state. On the contrary, the traveling state of the tractor can be switched from the manual traveling state to the automatic traveling state while the tractor is traveling in the manual traveling state. Regarding switching between the manual driving state and the automatic driving state, for example, a switching operation unit for enabling switching between the automatic driving state and the manual driving state can be provided in the vicinity of the driver's seat 39, and the switching thereof can be provided. The operation unit can also be displayed on the display unit 51 of the mobile communication terminal 3. Further, when the user operates the steering wheel 38 during the automatic traveling control by the vehicle-mounted electronic control unit 18, the traveling state of the tractor can be switched from the automatic traveling state to the manual traveling state.

As shown in FIG. 2, the tractor 1 detects the presence or absence of an obstacle around the tractor 1 (traveling machine 7), and when the obstacle is detected, the tractor 1 is an obstacle detection system 100 that avoids a collision with the obstacle. I have. In the obstacle detection system 100, as shown in FIGS. 1, 2 and 5 to 7, the measurement range (the front side of the tractor 1 which is the arrangement side of the front loader 12A) is the measurement range around the tractor 1 (traveling machine 7). LiDAR Sensor: Light Detection and Ranging Sensor) 102, two sets of left and right sonar units 103 and 104 whose left and right outer sides of the tractor 1 are set to the measurement range (object detection range) N, and each of these units 101, 103, 104 and the rider sensor 102. It has an obstacle control unit 107 into which information from is input.
Incidentally, regarding the measurement range C of the object detection unit 101 and the measurement range D of the rider sensor, a cut process may be performed to limit the range in the left-right direction to a set range according to the work width of the work device 12. ..

The object detection unit 101 includes a first rider sensor (an example of a first detection sensor) 105 installed on the roof 35 of the cabin 10 included in the upper structure 7A of the traveling machine body 7 (tractor 1), and a tractor 1 (traveling machine body). It has a second rider sensor (an example of a second detection sensor) 106 installed on the front upper part of the bonnet 8 included in the lower structure 7B of 7).
The boundary position between the upper structure 7A and the lower structure 7B in the traveling machine body 7 (tractor 1) can be set in various ways, but in this embodiment, the upper end position of the rear portion of the bonnet 8 is set to travel. It is set at the boundary position between the upper structure 7A and the lower structure 7B in the machine body 7 (tractor 1).

As shown in FIG. 2, the obstacle control unit 107 is provided in the in-vehicle electronic control unit 18. The in-vehicle electronic control unit 18 includes CAN (Controller) in the electronic control unit for the engine, the electronic control unit 127 for the loader, the rider sensors 102, 105, 106, the sonar units 103, 104, etc. included in the common rail system. It is connected so that it can communicate via Area Network).

Each rider sensor 102, 105, 106 measures TOF (Time Of) from the round-trip time until the laser beam (for example, pulsed near-infrared laser beam) hits the measurement object and bounces off to the measurement object. The distance to the object to be measured is measured by the Flight) method. Each rider sensor 102, 105, 106 scans the laser beam in the vertical and horizontal directions at high speed, and sequentially measures the distance to the measurement target at each scanning angle to three-dimensionally measure the distance to the measurement target. Measure with. Each rider sensor 102, 105, 106 repeatedly measures the distance to the measurement target within the measurement range in real time. Each rider sensor 102, 105, 106 generates a three-dimensional image from the measurement result and outputs it to the in-vehicle electronic control unit 18. The three-dimensional images from the rider sensors 102, 105, and 106 can be displayed on a display device such as a display unit of the tractor 1 or a display unit 51 of the mobile communication terminal 3, whereby the presence or absence of obstacles to the user or the like can be displayed. Can be visually recognized. By the way, in the three-dimensional image, for example, the distance in the perspective direction can be indicated by using a color or the like.

Each sonar unit 103, 104 measures the distance to the measurement target by the TOF (Time Of Flight) method, which measures the distance from the round-trip time until the transmitted ultrasonic wave hits the measurement target and bounces off the measurement target. taking measurement. When any object exists as a measurement object within the measurement range, the sonar units 103 and 104 detect the measurement object as an obstacle and measure the distance to the obstacle.

Here, the measurement objects measured by the rider sensors 102, 105, 106 and the sonar units 103, 104 include a person such as a worker working at the work site, another work vehicle, and an existing utility pole at the work site. Objects such as existing ridges and fences are included around the trees and work area.

The obstacle control unit 107 detects an object to be measured such as an object or a person existing within a predetermined distance as an obstacle based on the information from the rider sensors 102, 105, 106 and the sonar units 103, 104. Obstacle detection processing is performed, and collision avoidance control is performed when the presence of an obstacle is detected in the obstacle detection processing. The obstacle control unit 107 repeatedly performs obstacle detection processing based on information from the rider sensors 102, 105, 106 and each sonar unit 103, 104 in real time to appropriately detect obstacles such as objects and people. Then, collision avoidance control is performed to avoid a collision with the obstacle. In the collision avoidance control, the obstacle control unit 107 activates a notification device 26 (see FIG. 2) such as a notification buzzer and a notification lamp provided in the tractor 1, a deceleration process for decelerating the vehicle speed of the tractor 1. It is configured to appropriately perform a stop process or the like for stopping the tractor 1 according to a distance from an obstacle or the like.

As shown in FIGS. 1 and 5-7, the first rider sensor 105 on the front side is in a front-down posture in which the front side of the tractor 1 is viewed from the diagonally upper side at the left and right center portions of the front end portion of the roof 35 of the cabin 10. Have been placed. In the first rider sensor 105, the measurement range (object detection range) C1 is set on the front side of the tractor 1 and on the upper side of the front loader 12A located at the lowering position for scooping work (see FIG. 6). The second rider sensor 106 on the front side is arranged at the left and right center portions of the front portion of the bonnet 8 in a front-down posture in which the front side of the tractor 1 is viewed from the diagonally upper side. In the second rider sensor 106, the measurement range (object detection range) C2 is set on the front side of the tractor 1 and on the lower side of the front loader 12A located at the ascending position for dumping / moving (FIGS. 6 and 6). 7). The rear rider sensor 102 is arranged at the left and right center portions of the rear end portion of the roof 35 of the cabin 10 in a rear-down posture in which the rear side of the tractor 1 is viewed from diagonally above. In the rear rider sensor 102, the rear side of the tractor 1 is set to the measurement range D (see FIG. 6). The left and right sonar units 103 and 104 each have a pair of ultrasonic sensors (sonars) arranged adjacent to each other in the front-rear direction. Of the left and right sonar units 103 and 104, the left sonar unit 104 is arranged in the lower left portion of the cabin 10 in a downward left posture with a small depression angle. In the left sonar unit 104, the left outer side of the tractor 1 is set to the measurement range N (see FIG. 5). As shown in FIG. 5, the right sonar unit 103 is arranged in the lower right portion of the cabin 10 in a downward right posture with a small depression angle. In the sonar unit 103 on the right side, the measurement range N is set on the outer right side of the tractor 1.

With the above configuration, for example, when the tractor 1 performs the tilling work by automatic traveling in the field as shown in FIG. 3, the front loader 12A is located at the ascending position for dumping / moving as shown in FIG. As a result, substantially the entire front loader 12A enters the measurement range C1 of the first rider sensor 105. Therefore, the measurement range C1 of the first rider sensor 105 is widely limited by the front loader 12A. On the other hand, in the measurement range C2 of the second rider sensor 106, as shown in FIG. 6, only a part of the bonnet 8 enters the lower end side thereof, and the range limited by the front loader 12A is the first rider sensor. It is narrower than the range limited by the front loader 12A in the measurement range C1 of 105 (in this embodiment, as shown in FIG. 6, the range limited by the front loader 12A is eliminated).
As a result, during the tilling work by automatic running, the second rider sensor 106, the rear rider sensor 102, and the left and right sonar units 103 and 104 can satisfactorily measure the object to be measured around the tractor 1. can. Then, the obstacle control unit 107 appropriately performs the obstacle detection process and the collision avoidance control based on the information from the second rider sensor 106, the rear rider sensor 102, and the left and right sonar units 103 and 104. It can be carried out.
As a result, in the tilling work by the automatic traveling of the tractor 1 in which the front loader 12A is maintained in the raised position for dumping / moving, the front loader 12A and the rotary tilling device 12B connected to the tractor 1 and the tractor 1 collide with an obstacle. It is possible to avoid the risk of this.

Further, for example, when the tractor 1 performs loader work by automatic traveling in the material storage place as shown in FIG. 4, the tractor 1 is stopped in the standby area R10 or the dump area R12, or the tractor 1 is moved first. While traveling on the route P11 or the second movement route P12, as shown in FIG. 6, the front loader 12A is located at the ascending position for dumping / moving, so that substantially the entire front loader 12A is the first rider sensor 105. It comes into the measurement range C1 of. Therefore, the measurement range C1 of the first rider sensor 105 is widely limited by the front loader 12A. On the other hand, in the measurement range C2 of the second rider sensor 106, as shown in FIGS. 6 to 7, only a part of the bonnet 8 enters the lower end side thereof, and the range limited by the front loader 12A is the first. It is narrower than the range limited by the front loader 12A in the measurement range C1 of the rider sensor 105 (in this embodiment, as shown in FIGS. 6 to 7, the range limited by the front loader 12A is eliminated).
On the other hand, during the scooping work in the scooping area R11 of the tractor 1, as shown in FIG. 6, the front loader 12A is positioned at the lowering position for the scooping work, so that the front half of the front loader 12A is the second rider sensor 106. It comes into the measurement range C2 of. Therefore, the measurement range C2 of the second rider sensor 106 is widely limited by the front loader 12A. On the other hand, in the measurement range C1 of the first rider sensor 105, as shown in FIG. 6, only a part of the bonnet 8 and a part of the front loader 12A enter the lower end side thereof, and the measurement range C1 is limited by the front loader 12A. The range is narrower than the range limited by the front loader 12A in the measurement range C2 of the second rider sensor 106.
As a result, during the loader operation by automatic traveling, the tractor 1 is stopped in the standby area R10 or the dump area R12, or the tractor 1 is traveling in the first movement path P11 or the second movement path P12. The rider sensor 106, the rear rider sensor 102, and the left and right sonar units 103 and 104 can satisfactorily measure the object to be measured around the tractor 1. Then, the obstacle control unit 107 appropriately performs the obstacle detection process and the collision avoidance control based on the information from the second rider sensor 106, the rear rider sensor 102, and the left and right sonar units 103 and 104. It can be carried out.
On the other hand, during the scooping operation in the scooping area R11 of the tractor 1, the first rider sensor 105, the rear rider sensor 102, and the left and right sonar units 103 and 104 measure the object to be measured around the tractor 1. Can be done well. Then, the obstacle control unit 107 appropriately performs the obstacle detection process and the collision avoidance control based on the information from the first rider sensor 105, the rear rider sensor 102, and the left and right sonar units 103 and 104. It can be carried out.
As a result, in the loader work in which the front loader 12A is switched between the ascending position for dumping / moving and the descending position for scooping work, the front loader 12A and the rotary tiller 12B connected to the tractor 1 and the tractor 1 become obstacles. The risk of collision can be avoided.
In particular, by appropriately performing obstacle detection processing and collision avoidance control based on the information from the second rider sensor 106, for example, as shown in FIGS. 4 and 7, the material is scooped by the bucket 123 of the front loader 12A. The tractor 1 is used when performing a transportation operation for automatically traveling the tractor 1 after removal to the dump area R12 and a dump operation for dumping and supplying the materials in the bucket to the loading platform or the like of the truck 200 waiting in the dump area R12. The material in the bucket can be loaded onto the loading platform of the truck 200 or the like without colliding with the truck 200.

Since the rider sensors 102, 105, and 106 are 3D sensors that measure the distance to the object to be measured in three dimensions, the obstacle control unit 107 is located on the front side of the tractor 1 where the front loader 12A is located. , And the object existing on the rear side of the tractor 1 where the rotary tiller 12B is located can be captured three-dimensionally. As a result, the position of the front loader 12A on the front side of the tractor 1 and the presence / absence of obstacles, and the position of the rotary tiller 12B on the rear side of the tractor 1 and the presence / absence of obstacles can be accurately detected.
As a result, when the obstacle control unit 107 detects the presence of an obstacle, the front loader 12A and the rotary tiller 12B appropriately collide with each other according to the rising state and the falling state. Avoidance control can be performed, whereby the possibility that the front loader 12A and the rotary tiller 12B connected to the tractor 1 and the tractor 1 collide with an obstacle can be more appropriately avoided.

The obstacle control unit 107 performs obstacle detection processing and collision avoidance control from the information of the first rider sensor 105 based on the work data included in the target travel path P, the position information from the positioning unit 21, and the like. It automatically switches between the 1 control state and the second control state in which the obstacle detection process and the collision avoidance control are performed from the information of the second rider sensor 106.

As shown in FIG. 6, the measurement range C1 of the first rider sensor 105 used during the scooping work during the loader work includes a part of the bonnet 8 and one of the front loaders 12A located at the lowered position for the scooping work. The part is intruded. Further, a part of the bonnet 8 is included in the measurement range C2 of the second rider sensor 106, which is used during the tilling work, the loader work, and the stopping or moving running. A part of the rotary tillage device 12B located in the descending position for tilling work or a part of the rotary tilling device 12B located in the ascending position for waiting for work enters the measurement range D of the rear rider sensor 102. I'm out. Therefore, if the obstacle control unit 107 performs the obstacle detection process based on the information from the first rider sensor 105 or the second rider sensor 106, there is a possibility that a part of the front loader 12A may be erroneously detected as an obstacle. be. Further, if the obstacle control unit 107 performs the obstacle detection process based on the information from the rear rider sensor 102, there is a possibility that a part of the rotary tillage device 12B is erroneously detected as an obstacle.

Therefore, as shown in FIGS. 2 and 8 to 11, the in-vehicle electronic control unit 18 includes the bonnet 8, the front loader 12A, and the front loader 12A for the measurement ranges C1, C2, and D of the rider sensors 102, 105, and 106. The self-machine detection range acquisition process for acquiring the self-machine detection range M in which the rotary tiller 12B has entered, and masking the measurement ranges C1, C2, and D of each rider sensor 102, 105, 106 based on the self-machine detection range M. A masking processing unit 110 that performs a masking range setting process for setting the range L is provided.

As a result, the obstacle control unit 107 erroneously detects the bonnet 8, the front loader 12A, and the rotary tiller 12B that have entered the measurement ranges C1, C2, and D of the rider sensors 102, 105, and 106 as obstacles. The fear can be avoided.
As a result, it is possible to prevent a decrease in work efficiency due to unnecessary collision avoidance control due to an erroneous detection of the obstacle control unit 107.

The masking processing unit 110 has a masking range with respect to the measurement range D of the rear rider sensor 102 based on the lift operation command for the rotary tillage device transmitted from the work device control unit 183 to the lift drive mechanism 17 in the automatic work control. Performs masking range switching processing for switching L.
Specifically, when the work device control unit 183 sends an ascending operation command for the rotary tillage device to the elevating drive mechanism 17 in the automatic work control, the masking processing unit 110 is based on the ascending operation command. The masking range L with respect to the measurement range D of the rear rider sensor 102 is switched from the masking range L1 for tillage work shown in FIG. 10 to the masking range L2 for work standby shown in FIG.
When the lowering operation command for the rotary tillage device is transmitted from the working device control unit 183 to the elevating drive mechanism 17 in the automatic work control, the masking processing unit 110 causes the rear rider sensor based on the lowering operation command. The masking range L with respect to the measurement range D of 102 is switched from the masking range L2 for work standby shown in FIG. 11 to the masking range L1 for tilling work shown in FIG.

As a result, the masking processing unit 110 sets an appropriate masking range L according to the amount of penetration of the rotary tillage device 12B with respect to the measurement range D of the rear rider sensor 102, which differs between the tilling work and the work standby. Can be done.
As a result, while avoiding the possibility that the obstacle control unit 107 erroneously detects the rotary tillage device 12B that has entered the measurement range D of the rear rider sensor 102 as an obstacle, the work standby is wide even during the tillage work. Due to the setting of the masking range L2, it becomes difficult to properly perform the obstacle detection process and the collision avoidance control of the obstacle control unit 107 based on the information from the rear rider sensor 102 during the tilling work. The fear can be avoided.

The masking processing unit 110, for example, as a self-machine detection range acquisition process, includes the tractor 1, the front loader 12A, and the rotary tillage device 12B, which are included in the vehicle body data, and each size such as the front-rear length and the left-right width of each part. , It may be configured to acquire the own machine detection range M by performing arithmetic processing based on the measurement ranges C1, C2, D and the like of each rider sensor 102, 105, 106.
For example, the masking processing unit 110 displays the display unit of the tractor 1 and mobile communication such as the three-dimensional image generated by each rider sensor 102, 105, 106 and the operation procedure for setting the own machine detection range as the own machine detection range acquisition process. It may be configured to perform the display process to be displayed on the display device such as the display unit 51 of the terminal 3 and acquire the own device detection range M by the manual setting operation of the user or the like on the display device.
In addition, the own machine detection range M acquired by the own machine detection range acquisition process includes the range of the scooping operation performed by the bucket 123 of the front loader 12A located at the lowering position for scooping work, and the position at the rising position for dumping / moving. The range of the dump operation performed by the bucket 123 of the front loader 12A, the operating range of the rotary tilling device 12B located at the descending position for the tilling work, the operating range in the automatic tilling depth control and the rolling control, and the like are included.

For example, in the masking range setting process, the masking processing unit 110 may be configured to set the minimum range with respect to the own machine detection range M acquired in the own machine detection range acquisition process to the masking range L.
For example, in the masking range setting process, the masking processing unit 110 is configured to multiply the own machine detection range M acquired in the own machine detection range acquisition process by a predetermined coefficient to set a slightly wider range as the masking range L. It may have been done.

As shown in FIGS. 1, 2 and 6, the tractor 1 includes a front camera 108 having an imaging range on the front side of the traveling aircraft 7 and a rear camera 109 having an imaging range on the rear side of the traveling aircraft 7. It is equipped. Similar to the first rider sensor 105, the front camera 108 is arranged at the left and right center portions of the front end portion of the roof 35 of the cabin 10 in a front-down posture looking down on the front side of the tractor 1 from an obliquely upper side. Similar to the rear rider sensor 102, the rear camera 109 is arranged at the left and right center portions of the rear end portion of the roof 35 of the cabin 10 in a rear-down posture in which the rear side of the tractor 1 is viewed from diagonally above. The captured images of the front camera 108 and the rear camera 109 can be displayed on a display device such as a display unit of the tractor 1 or a display unit 51 of the mobile communication terminal 3, whereby the work status of the rotary tillage device 12B and the front loader can be displayed. It is possible to make the user or the like visually recognize the situation around the tractor 1 such as the work situation by 12A.

[Another Embodiment]
Other embodiments of the present invention will be described.
It should be noted that the configurations of the respective embodiments described below are not limited to being applied independently, but can also be applied in combination with the configurations of other embodiments.

(1) Another typical embodiment regarding the configuration of the work vehicle 1 is as follows.
For example, the work vehicle 1 may be configured as a semi-crawler specification in which left and right crawlers are provided instead of the left and right rear wheels 6.
For example, the work vehicle 1 may be configured to have a full crawler specification in which left and right crawlers are provided instead of the left and right front wheels 5 and the left and right rear wheels 6.
For example, the work vehicle 1 may be configured to have an electric specification including an electric motor instead of the engine 9.
For example, the work vehicle 1 may be configured in a hybrid specification including an engine 9 and an electric motor.
For example, the work vehicle 1 may be configured with rear wheel steering specifications in which the left and right rear wheels 6 function as steering wheels.
For example, the work vehicle 1 may be configured to perform work by running a plurality of work vehicles 1 in parallel by using an automatic driving system.
For example, the work vehicle 1 may have a configuration in which the work device 12 is connected to only one of the front and rear thereof.
For example, the work vehicle 1 may be configured to include a protective frame extending above the boarding space from the traveling machine body 7 instead of the cabin 10.

(2) Another typical embodiment of the object detection unit 101 is as follows.
For example, the object detection unit 101 may have the object detection range C set on the rear side of the traveling machine 7 which is the arrangement side of the rotary tilling device 12B in the periphery of the traveling machine 7 (working vehicle 1). ..
For example, the object detection unit 101 is located on the front side of the traveling machine 7 which is the placement side of the front loader 12A and the traveling machine 7 which is the placement side of the rotary tiller 12B in the periphery of the traveling machine 7 (working vehicle 1). The rear side may be set to the measurement range (object detection range) C and D.
For example, the object detection unit 101 may be configured to have two or more of either one or both of the first detection sensor 105 and the second detection sensor 106.
For example, the object detection unit 101 may have one or more detection sensors other than the first detection sensor 105 and the second detection sensor 106 in addition to the first detection sensor 105 and the second detection sensor 106.
For example, the object detection unit 101 includes, as a plurality of detection sensors, a visible light camera that generates a visible light image and a non-visible light camera such as a thermo camera or a millimeter wave camera that generates a non-visible light image. You may.

(3) Typical alternative embodiments of the first detection sensor 105 and the second detection sensor 106 are as follows.
For example, a camera or a stereo camera equipped with a CCD sensor or a CMOS sensor may be adopted for either or both of the first detection sensor 105 and the second detection sensor 106.
For example, in the first detection sensor 105 and the second detection sensor 106, when the object detection range C of the object detection unit 101 is set to the rear side of the traveling machine body 7, the object detection range C1 of the first detection sensor 105 is set. The object detection range C2 of the second detection sensor 106 is set on the rear side of the traveling machine body 7 and on the upper side of the lowered work device 12 (rotary tilling device 12B, etc.), and the object detection range C2 of the second detection sensor 106 is on the rear side of the traveling machine body 7. , It may be set on the lower side of the raised working device 12 (rotary tilling device 12B, etc.).
For example, the first detection sensor 105 may be installed at the upper end of the protection frame included in the upper structure 7A as long as the work vehicle 1 is provided with the protection frame.
For example, the second detection sensor 106 may be installed in front of the bonnet 8 included in the lower structure 7B.
For example, in the first detection sensor 105 and the second detection sensor 106, the upper end position of the front frame 27 or the height position of the floor surface in the cabin 10 is the upper structure 7A in the traveling machine body 7 (work vehicle 1). When the boundary with the lower structure 7B is set, the first detection sensor 105 is installed above the bonnet 8 included in the upper structure 7A, and the second detection sensor 106 is installed on the lower structure 7B. It may be installed at the front end portion of the front frame 27 included in the above.
For example, in the first detection sensor 105, the object detection range C1 may be set so that a part of the left and right front wheels 5 enters the object detection range C1. In this case, the masking processing unit 110 acquires the own detection range M including a part of the left and right front wheels 5 in the own machine detection range acquisition processing, and a part of the left and right front wheels 5 in the masking range setting processing. The masking range L suitable for the object detection range C1 of the first detection sensor 105 is set based on the own machine detection range M including the above.
For example, in the second detection sensor 106, the object detection range C2 may be set so that a part of the left and right front wheels 5 enters the object detection range C2. In this case, the masking processing unit 110 acquires the own detection range M including a part of the left and right front wheels 5 in the own machine detection range acquisition processing, and a part of the left and right front wheels 5 in the masking range setting processing. The masking range L suitable for the object detection range C2 of the second detection sensor 106 is set based on the own machine detection range M including the above.
For example, in the second detection sensor 106, the object detection range C2 may be set so that a part of the front loader 12A located at the ascending position for dumping / moving enters the object detection range C2. In this case, in the own machine detection range acquisition process, the masking processing unit 110 acquires the own machine detection range M corresponding to a part of the front loader 12A in addition to the own machine detection range M corresponding to the bonnet 8. In the masking range setting process, two masking ranges L suitable for the object detection range C1 of the first detection sensor 105 are set based on their own detection range M.

(4) Another typical embodiment of the obstacle control unit 107 is as follows.
For example, in the collision avoidance control, the obstacle control unit 107 may use the traveling machine body 7 (working vehicle 1) to avoid a collision with an obstacle based on the information from the first detection sensor 105, the second detection sensor 106, and the like. ) May be configured to perform a detour process.
For example, in the configuration in which the object detection unit 101 includes a visible light camera and an invisible light camera, the obstacle control unit 107 includes a visible light image from the visible light camera and an invisible light image from the invisible light camera. By synthesizing the above, the object may be easily detected.

2 Automatic traveling unit 7 Traveling machine 7A Upper structure (roof)
7B lower structure (bonnet)
12 Working device 101 Object detection unit 105 1st detection sensor (1st rider sensor)
106 2nd detection sensor (1st rider sensor)
107 Obstacle control unit 110 Masking processing unit C Object detection range C1 Object detection range (first detection sensor)
C2 object detection range (second detection sensor)
L Masking range M Own detection range

Claims (3)

Includes a vehicle body, a lifting operably linked working device to the traveling machine body, disposed side of the working device of the periphery of the front Symbol traveling machine body and object detection unit which is set in the object detection range,
The object detection unit has at least a first detection sensor installed in the upper structure of the traveling machine body and a second detection sensor installed in the lower structure of the traveling machine body .
When the position of the work device and the presence / absence of an obstacle on the work device arrangement side of the traveling machine are detected based on the information from the first detection sensor and the second detection sensor, and the presence of the obstacle is detected. A work vehicle provided with an obstacle control unit that performs collision avoidance control according to the position of the work device. The working device moves up and down in front of the traveling machine body, and moves up and down.
In the first detection sensor, the object detection range is set on the front side of the traveling machine body and on the upper side of the lowered working device.
The work vehicle according to claim 1, wherein the second detection sensor is the work vehicle according to claim 1, wherein the front side of the traveling machine body and the lower side of the raised work device are set in the object detection range. Based on the self-machine detection range acquisition process for acquiring the self-machine detection range in which the traveling machine and the work device have entered the object detection range of the first detection sensor and the second detection sensor, and the self-machine detection range. The work vehicle according to claim 1 or 2 , further comprising a masking processing unit that performs a masking range setting process for setting a masking range in the object detection range of the first detection sensor and the second detection sensor.

Images