JP7792891B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle.

For example, the work vehicle disclosed in Patent Document 1 (referred to as a "field work vehicle" in the document) is equipped with a detection unit (referred to as a "photography unit" in the document) that detects objects around the vehicle. Detection signals from the detection unit are sent to a control device (referred to as a "self-propelled driving calculation unit" in the document).

Japanese Patent Application Laid-Open No. 2020-101943

During factory inspections (pre-shipment inspections, maintenance inspections, etc.), workers may inspect the detection unit on a work vehicle while walking around it. It is desirable to minimize the burden on the worker during such inspections. Furthermore, there is a risk that the detection accuracy of the detection unit on a work vehicle may be reduced due to factors such as mud adhering to the unit. For this reason, it is desirable to have a configuration that allows daily inspections of the detection unit. In this case, it is desirable for the configuration to be such that the operator can easily perform the daily inspection and easily confirm whether the daily inspection was performed properly and at a certain level of quality or above.

The object of the present invention is to provide a work vehicle that allows operators to easily and efficiently inspect the detection unit.

The work vehicle of the present invention is equipped with a work device, an alarm device, a control device having multiple control modes and capable of controlling each of the work device and the alarm device, and a detection unit that detects objects around the vehicle and outputs a detection signal to the control device indicating that the object has been detected, and the multiple control modes include a normal mode in which the work device changes its operating state in response to the detection signal being output by the detection unit, and a test mode in which the alarm device issues an alarm in response to the detection signal being output by the detection unit, and the control device, when in the test mode, causes the alarm device to change its alarm mode in response to the mode of the detection signal, which includes near detection, which detects the object within a predetermined range from the detection unit, and far detection, which detects the object within a range farther than the near detection range .

According to the present invention, the control mode of the control device includes a test mode, and when the control device is in test mode, the alarm device issues an alert in response to the detection signal from the detection unit. Therefore, when conducting factory inspections or routine inspections, an operator can switch the control mode of the control device to test mode and inspect the detection unit while walking around it. This allows the operator to easily confirm from the alert of the alarm whether the inspection was carried out properly and with a certain level of quality or above. This reduces the risk of placing an extra burden on the operator when inspecting or checking the detection unit, and realizes a work vehicle that allows the operator to inspect the detection unit easily and with high quality.

Furthermore, with this configuration, the notification mode of the notification device corresponds to the mode of the detection signal, so an operator or the like can easily check whether the detection signal is normal by checking the notification mode of the notification device.

In the present invention, it is preferable that the detection unit has multiple sensors, and the control device, in the test mode, causes the alarm device to change the alarm mode depending on which of the sensors detected the object.

With this configuration, the notification mode of the notification device corresponds to the detection status of each of the multiple sensors.
Therefore, an operator or the like can easily check which sensor is normal or abnormal by checking the notification mode of the notification device.

In the present invention, a work device, a notification device, a control device having a plurality of control modes and capable of controlling each of the work device and the notification device, a detection unit that detects an object around the machine body and outputs a detection signal indicating that the object has been detected to the control device, and a storage unit that stores the fact that the detection unit has detected the object as a detection history , are provided, and the plurality of control modes include a normal mode in which the work device changes its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device issues a notification in response to the detection signal being output by the detection unit. and a test mode, wherein the detection history includes near detection by the detection unit that detects the object within a predetermined range from the detection unit, far detection by the detection unit that detects the object within a range farther than the near detection range, and non-detection by the detection unit that does not detect the object farther than the far detection range, the detection unit has a plurality of sensors, and the control device allows switching to the normal mode when the near detection, far detection, and non-detection for all of the sensors are stored in the memory unit during the test mode.

According to the present invention, the control mode of the control device includes a test mode, and when the control device is in the test mode, the alarm device issues an alarm in response to a detection signal from the detection unit. Therefore, when performing factory inspections or routine inspections, an operator can switch the control mode of the control device to the test mode and inspect the detection unit while walking around it. This allows the operator to easily confirm, via the alarm device's notification, whether the inspection was properly performed with a certain level of quality or higher. Furthermore, with this configuration, the detection of an object by the detection unit is stored in the memory unit as a detection history. Therefore, the control mode of the control device can be switched to the normal mode after the operator has inspected all of the multiple sensors. This reduces the risk of excessive burden on the operator when inspecting or checking the detection unit, resulting in a work vehicle that allows the operator to inspect the detection unit easily and with high quality.

In the present invention, a work device, an alarm device, a control device having a plurality of control modes and capable of controlling each of the work device and the alarm device, a detection unit that detects objects around the machine and outputs a detection signal to the control device indicating that the object has been detected, and a light-emitting device , the plurality of control modes including a normal mode in which the work device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the alarm device is caused to issue an alarm in response to the detection signal being output by the detection unit, the detection unit having a plurality of sensors, and the control device, in the normal mode, calculates the direction in which the object is located around the machine based on the detection states of each of the plurality of sensors, and causes the light-emitting device to change its light-emitting mode in response to the direction.

According to the present invention, the control mode of the control device includes a test mode, and when the control device is in test mode, the alarm device issues an alert in response to the detection signal from the detection unit. Therefore, during factory inspections or routine inspections, an operator can switch the control mode of the control device to test mode and inspect the detection unit while walking around it. This allows the operator to easily confirm, via the alert from the alarm device, whether the inspection was properly performed at a certain level of quality or above. Furthermore, if the alarm device always issues an alert based on the detection status of the detection unit when the control device is in normal mode, the operator may find it bothersome. According to this configuration, a light-emitting device separate from the alarm device is provided, and the light-emitting mode of the light-emitting device changes depending on the direction of the object. In other words, with this configuration, the operator can check the light-emitting device as needed to determine the direction of the object relative to the vehicle. This reduces the risk of excessive burden on the operator when inspecting or checking the detection unit, resulting in a work vehicle that allows the operator to inspect the detection unit easily and with high quality.

In the present invention, it is preferable that, in the normal mode, the control device calculates the distance between the aircraft and the object based on the detection states of each of the multiple sensors, and causes the light-emitting device to change its light-emitting mode in accordance with the combination of the direction and the distance.

With this configuration, the light-emitting device's light-emitting behavior changes depending on the direction of the object and the distance between the aircraft and the object. In other words, with this configuration, operators and others can determine the direction and distance of the object relative to the aircraft by checking the light-emitting device as needed.

FIG. 2 is a plan view of the entire combine harvester and a diagram showing the detection range of the detection unit. FIG. 2 is a block diagram showing a configuration related to a control unit. FIG. 10 is a logic graph diagram showing the processing performed in the test mode. FIG. 10 is a flowchart showing a process performed in a test mode.

The following description will discuss an embodiment of the present invention with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow "F" in the drawings will be referred to as "front" and the direction of the arrow "B" as "rear." Furthermore, the direction of the arrow "L" in the drawings will be referred to as "left" and the direction of the arrow "R" as "right."

[Basic configuration of work vehicle]
In this embodiment, a conventional combine harvester is used as an example of a work vehicle. As shown in Figure 1, the conventional combine harvester 1 includes a harvesting section H, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 3.

A crawler-type traveling device 11 (see Figure 2) is provided on the bottom of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can then travel using the traveling device 11.

The driving unit 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An operator can ride in the driving unit 12 to monitor the operation of the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

The vertical conveying tube portion of the grain discharge device 18 is adjacent to the rear of the grain tank 14, and the horizontal conveying tube portion of the grain discharge device 18 is located above the grain tank 14. The satellite positioning module 3 is also attached to the top surface of the driver's unit 12.

The harvesting section H is provided at the front of the combine 1. The transport section 16 is provided behind the harvesting section H. The harvesting section H also includes a reaping device 15 and a reel 17.

The harvesting device 15 harvests crops in the field. While not limited to specific crops, examples of such crops include wheat, barley, rice, and soybeans. The reel 17 rotates around a reel axis that runs along the left-right direction of the machine body, raking in the crops to be harvested. Crops harvested by the harvesting device 15 are sent to the conveying section 16.

With this configuration, the harvesting section H harvests crops in the field. The combine 1 can then travel using the traveling device 11 while harvesting crops in the field using the harvesting device 15.

Crops harvested by the harvesting unit H are transported to the rear of the machine by the transport unit 16. This transports the crops to the threshing device 13.

The crop is threshed in the threshing device 13. The harvested material (grains) obtained through the threshing process is stored in the grain tank 14. The harvested material stored in the grain tank 14 is discharged outside the machine by the grain discharge device 18 as needed.

[Automatic driving of combine harvesters]
The combine harvester 1 can travel automatically in a field where crops are planted. The automatic travel includes travel while working and travel without working.

In this embodiment, automatic driving, manual driving, and automatic steering driving are defined as follows: Automatic driving is driving in which both vehicle speed and steering are automatically controlled by the control device 20. No human operation is required during automatic driving. Manual driving is driving in which vehicle speed and steering are controlled based on human operation. Automatic steering driving is driving in which vehicle speed is controlled based on human operation, and steering is automatically controlled by the control device 20.

The combine harvester 1 first travels around the periphery of the field while harvesting crops, and then travels to the target work area of the field to harvest the crops in the field.

The outer perimeter area is the area on the outer perimeter of the field. The work area is the area surrounded by the outer perimeter area.

In this embodiment, circumnavigation in the outer peripheral area is performed by manual driving. However, the present invention is not limited to this, and some or all of the circumnavigation may be performed by automatic driving or automatic steering driving. Work driving in the work area is performed by automatic driving. In other words, the combine harvester 1 is capable of automatic work driving.

In this embodiment, the number of laps in the outer peripheral region is one. However, the present invention is not limited to this, and the number of laps in the outer peripheral region may be a number other than one (for example, two or three laps).

The combine harvester 1 includes a detection unit 2. The detection unit 2 detects objects around the vehicle by emitting inspection waves, which are electromagnetic waves or sound waves, and measuring the reflected waves. In this embodiment, the detection unit 2 is a radar, and the inspection waves and the reflected waves are radio waves. The detection unit 2 is a Time of Flight (ToF)
The detection unit 2 may be a laser scanner (LiDar). The detection unit 2 may be a sonar. In this case, the inspection wave and the reflected wave are sound waves.

The detection unit 2 is equipped with sensor 2F, which detects objects in front of the machine body, sensor 2B, which detects objects behind the machine body, sensor 2L, which detects objects to the left of the machine body, and sensor 2R, which detects objects to the right of the machine body. Objects around the machine body of the combine harvester 1 are detected by the four sensors 2F, 2B, 2L, and 2R.

In the combine harvester 1 of this embodiment, work travel is controlled based on the detection results of each of the four sensors 2F, 2B, 2L, and 2R. For example, deceleration, steering, or stopping is performed based on sensors 2F, 2B, 2L, and 2R detecting the approach of an object (such as a worker).

The combine harvester 1 is equipped with a satellite positioning module 3. The satellite positioning module 3 receives positioning signals from artificial satellites GS used in GNSS (Global Navigation Satellite Systems, such as GPS, QZSS, Galileo, GLONASS, and BeiDou). Based on the received positioning signals, the satellite positioning module 3 generates positioning data indicating the vehicle position of the combine harvester 1.

[Control configuration]
2, the combine harvester 1 is equipped with a system including a control device 20. The control device 20 and each element included in the control device 20 may be a physical device such as a microcomputer, or may be a functional unit in software.

The detection unit 2 and satellite positioning module 3 are connected to the control device 20 via an input interface (not shown). When the detection unit 2 detects an object around the combine harvester 1, it outputs a detection signal indicating that the object has been detected to the control device 20. The satellite positioning module 3 outputs a positioning signal to the control device 20.

The control device 20 is configured to be able to control the traveling device 11, harvesting unit H, threshing device 13, grain discharge device 18, alarm device 24, and light-emitting device 25 via an output interface (not shown). The alarm device 24 may be, for example, a sound output device such as a horn or speaker, or a display device capable of displaying messages, etc. The light-emitting device 25 may be, for example, a stacked indicator light or a rotating indicator light. The "working device" of the present invention includes the harvesting unit H and threshing device 13.

A memory unit 23 is connected to the control device 20. The memory unit 23 stores software for implementing the functional units, temporary data generated by the functional units, and factory data. In particular, the memory unit 23 stores the detection history described below. The memory unit 23 is, for example, a HDD or non-volatile RAM.

The control device 20 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 3. The control device 20 then generates a field map based on these position coordinates. This field map includes a map showing the outline of the field and a map showing the work area where work will be performed. The map showing the outline of the field can be generated based on the position information acquired during circular travel in the outer perimeter area.

The position coordinates may be the position coordinates of the satellite positioning module 3 of the combine harvester 1, the position coordinates of the sensor 2F, or the coordinates of the center position in the left-right direction of the harvesting section H.

In this embodiment, the control device 20 has multiple control modes. The multiple control modes include an automatic mode, a manual mode, and a test mode. The "normal mode" of the present invention includes the automatic mode and the manual mode.

When in manual mode, the control device 20 controls the manual operation of the combine harvester 1 based on human operation.

In automatic mode, the control device 20 generates a target driving route for automatic driving in the target work area on the field map. In automatic mode, the control device 20 controls the driving device 11 so that the combine 1 automatically drives along the target driving route based on the vehicle's own position based on the positioning signal and the target driving route. At the same time, in automatic mode, the control device 20 controls the harvesting unit H and threshing device 13 so that they perform work driving in the target field area.

As described above, when the detection unit 2 detects an object around the combine harvester 1, it outputs a detection signal to the control device 20. When the control device 20 receives a detection signal from at least one of the four sensors 2F, 2B, 2L, and 2R, it causes the alarm device 24 to output an alarm. The alarm output from the alarm device 24 includes, for example, sound output from a horn or speaker, and message display on a display screen. Furthermore, when the control device 20 receives a detection signal from at least one of the four sensors 2F, 2B, 2L, and 2R, it causes the light-emitting device 25 to emit light. The light-emitting output from the light-emitting device 25 includes lighting, flashing, changing the light color, etc.

If none of the four sensors 2F, 2B, 2L, and 2R outputs a detection signal when the combine harvester 1 is traveling, the alarm device 24 does not issue an alarm and the light-emitting device 25 emits blue light.

For example, when the sensor 2F detects an object in front of the combine harvester 1 as it moves forward, the control device 20 stops the traveling device 11 and the harvesting unit H, causes the alarm device 24 to notify the presence of an object in front of the machine, and causes the light-emitting device 25 to emit red light (which may be pink; the same applies below).

Furthermore, when the sensor 2B detects an object behind the combine harvester 1 while it is moving backward, the control device 20 stops the traveling device 11, causes the alarm device 24 to notify the presence of an object behind the machine, and causes the light-emitting device 25 to emit a red light. Note that "forward" and "backward" at this time each include "forward" and "backward" that involve turning.

In other words, when the detection unit 2 detects the presence of an object in the direction of travel of the combine harvester 1, the control device 20 stops the traveling device 11, causes the alarm device 24 to notify the user that an object is present in the direction of travel of the machine, and causes the light-emitting device 25 to emit red light.

When sensor 2L or sensor 2R detects an object laterally outside the vehicle body, control device 20 causes alarm device 24 to notify that an object is present laterally outside the vehicle body and causes light-emitting device 25 to emit a green light (or yellow; the same applies below). Furthermore, if sensor 2B detects an object behind the vehicle body when combine harvester 1 is moving forward, control device 20 causes alarm device 24 to notify that an object is present behind the vehicle body and causes light-emitting device 25 to emit a green light. Furthermore, if sensor 2B detects an object ahead of the vehicle body when combine harvester 1 is moving backward, control device 20 also causes alarm device 24 to notify that an object is present ahead of the vehicle body and causes light-emitting device 25 to emit a green light.

In other words, when the detection unit 2 detects the presence of an object in a direction other than the direction of travel of the combine harvester 1, the control unit 20 causes the alarm device 24 to notify the presence of an object around the machine and causes the light-emitting device 25 to emit green light. At this time, the operating or stopped state of the traveling device 11 and the harvesting unit H remains unchanged. In this way, when in automatic mode or manual mode, the control unit 20 changes the operating state of at least one of the traveling device 11 and the working device in response to the detection signal output by the detection unit 2.

In this way, when in manual mode or automatic mode, the control device 20 calculates the direction of an object around the aircraft based on the detection states of each of the four sensors 2F, 2B, 2L, and 2R, and causes the light-emitting device 25 to change its light-emitting mode depending on the direction.

The intensity of the detection signals from each of the four sensors 2F, 2B, 2L, and 2R increases as the distance to the object decreases. Therefore, in manual mode or automatic mode, the control device 20 calculates the distance between the vehicle and the object based on the detection status of each of the four sensors 2F, 2B, 2L, and 2R, and causes the light-emitting device 25 to change its light-emitting behavior in accordance with the combination of the object's direction and distance. For example, if the detection unit 2 detects the presence of an object in a direction other than the direction of travel of the combine harvester 1, the light-emitting device 25 flashes green, and the flashing interval becomes shorter as the distance between the vehicle and the object decreases. Furthermore, for example, if the detection unit 2 detects the presence of an object in the direction of travel of the combine harvester 1, the light-emitting device 25 flashes red, and the flashing interval becomes shorter as the distance between the vehicle and the object decreases.

[Test mode]
As described above, in the combine harvester 1 of this embodiment, work travel control is performed based on the detection results of each of the four sensors 2F, 2B, 2L, and 2R. However, if, for example, foreign matter adheres to the sensors 2F, 2B, 2L, and 2R or if the sensors 2F, 2B, 2L, and 2R are malfunctioning, control based on normal detection results may not be performed. For this reason, in this embodiment, the control device 20 is provided with a test mode as one of multiple control modes.

In this embodiment, the control device 20 switches the control mode to the test mode, for example, at the start of use of the day. For example, when the operator starts the combine harvester 1 at the beginning of the day, the control mode of the control device 20 is initially switched to the test mode.
This allows daily inspection of the sensors 2F, 2B, 2L, and 2R. Furthermore, for example, during a factory inspection (pre-shipment inspection, maintenance inspection, etc.) of the combine harvester 1, the control device 20 can switch the control mode to a test mode by manual operation such as button operation.

As shown in Figures 3 and 4, the control device 20 allows switching to manual mode or automatic mode when it receives detection signals from all four sensors 2F, 2B, 2L, and 2R. For example, the operator may check the detection of the four sensors 2F, 2B, 2L, and 2R while walking around the machine. Furthermore, for example, the control device 20 may be configured to allow switching to automatic mode when it receives detection signals from all four sensors 2F, 2B, 2L, and 2R while the combine harvester 1 is moving from the storage shed to the field where the work is to be performed.

The detection signal output from each of the four sensors 2F, 2B, 2L, and 2R is shown in a time series graph in Figure 3. In Figure 3, the states in which each of the four sensors 2F, 2B, 2L, and 2R outputs a detection signal are indicated by "Far" and "Near," and the state in which each of the four sensors 2F, 2B, 2L, and 2R does not output a detection signal is indicated by "OFF." Also, in Figure 1, the detection ranges of each of the four sensors 2F, 2B, 2L, and 2R are indicated by "Far" and "Near." "Far" means that the distance between the sensor 2F, 2B, 2L, or 2R and an object is far, and the detection strength is weak (this is referred to as "far detection"). "Near" means that the distance between the sensor 2F, 2B, 2L, or 2R and an object is close, and the detection strength is strong (this is referred to as "near detection").

Figure 3 also shows a permission flag that indicates whether switching to manual mode or automatic mode is permitted. When the permission flag is OFF, switching the control mode to manual mode or automatic mode is not permitted. When the permission flag is ON, switching the control mode to manual mode or automatic mode is permitted.

In the example shown in FIG. 3, sensor 2F begins outputting a detection signal at timing T11. Sensor 2F finishes outputting the detection signal at timing T12. A series of output history from when sensor 2F starts to output the detection signal until it finishes is stored as output history in memory unit 23. Sensor 2F's distant detection, near detection, and non-detection are stored in memory unit 23. In other words, the series of output history of sensor 2F includes sensor 2F's distant detection, near detection, and non-detection.

In the example shown in Figure 3, sensor 2R begins outputting a detection signal at timing T21. Sensor 2R finishes outputting the detection signal at timing T22. A series of output history from when sensor 2R starts to output the detection signal until it finishes is stored as output history in memory unit 23. Sensor 2R's distant detection, near detection, and non-detection are stored in memory unit 23. In other words, the series of output history of sensor 2R includes sensor 2R's distant detection, near detection, and non-detection.

In the example shown in FIG. 3, sensor 2B begins outputting a detection signal at timing T31. Sensor 2B finishes outputting the detection signal at timing T32. A series of output history from when sensor 2B starts to output the detection signal until it finishes is stored as output history in memory 23. Sensor 2B's distant detection, near detection, and non-detection are stored in memory 23. In other words, the series of output history of sensor 2B includes sensor 2B's distant detection, near detection, and non-detection.

In the example shown in FIG. 3, sensor 2L begins outputting a detection signal at timing T41. Furthermore, sensor 2L finishes outputting the detection signal at timing T42. A series of output history from when sensor 2L starts to output the detection signal until it finishes is stored as output history in memory unit 23. Far detection, near detection, and non-detection by sensor 2L are stored in memory unit 23. In other words, the series of output history of sensor 2L includes far detection, near detection, and non-detection by sensor 2L.

At timing T42, all four sensors 2F, 2B, 2L, and 2R have output detection signals. In other words, at timing T42, the output history of all four sensors 2F, 2B, 2L, and 2R is stored in the memory unit 23. At this timing T42, the permission flag switches from OFF to ON, making it possible to switch the control mode between manual mode and automatic mode.

Referring to the flowchart in FIG. 4, after switching the control mode to test mode, the control device 20 performs the determination process of steps #01 to #04 shown in FIG. 4. Step #01 determines whether a series of output histories from sensor 2F has been stored in the memory unit 23. Step #02 determines whether a series of output histories from sensor 2R has been stored in the memory unit 23. Step #03 determines whether a series of output histories from sensor 2B has been stored in the memory unit 23. Step #04 determines whether a series of output histories from sensor 2L has been stored in the memory unit 23. In other words, if all of steps #01 to #04 result in a Yes determination, the control device 20 switches the permission flag shown in FIG. 3 from OFF to ON (step #05).

In this way, the control device 20 allows switching to manual mode and automatic mode when detection history for all sensors 2F, 2B, 2L, and 2R is stored in the memory unit 23 during test mode. In other words, the control device 20 allows switching to manual mode and automatic mode when history of far detection, near detection, and non-detection for all sensors 2F, 2B, 2L, and 2R is stored in the memory unit 23 during test mode.

In test mode, the control device 20 causes the alarm device 24 to issue an alarm in response to the detection signal output by the detection unit 2. In test mode, the control device 20 causes the alarm device 24 to change the alarm mode depending on which of the four sensors 2F, 2B, 2L, and 2R detects an object.

If the alarm device 24 is a sound output device such as a horn or speaker, the control device 20 may be configured to change the tone of the alarm device 24 or the pattern of audio guidance depending on which of the four sensors 2F, 2B, 2L, and 2R detects an object. In this case, for example, the horn sounding patterns and audio guidance patterns may be configured to have a total of eight patterns, combining four patterns (front, back, left, right) and two patterns (near and far).

Furthermore, if the alarm device 24 is a display device, the control device 20 may be configured to display on the display screen which of the four sensors 2F, 2B, 2L, and 2R has detected an object. In this case, for example, the display screen may be configured to have a total of eight display patterns, combining four patterns (front, back, left, right) and two patterns (near and far).

As described above, the strength of the detection signals from the four sensors 2F, 2B, 2L, and 2R increases as the distance to the object decreases. Therefore, if the alarm device 24 is a sound output device such as a horn or speaker, the stronger the strength of the detection signals from the sensors 2F, 2B, 2L, and 2R, the louder the volume of the alarm device 24 will be and the shorter the interval between horn sounds will be. Furthermore, if the alarm device 24 is a display device, when the strength of the detection signals from the sensors 2F, 2B, 2L, and 2R increases, a picture or the like representing the object will flash or be highlighted on the display screen.
That is, in the test mode, the control device 20 causes the notification device 24 to change the notification mode in accordance with the mode of the detection signal.

[Another embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

(1) Each of the four sensors 2F, 2B, 2L, and 2R may be a camera that captures visible light or a camera that captures infrared light.

(2) In the above embodiment, the detection unit 2 is equipped with four sensors, but this is not limited to this embodiment. For example, the detection unit 2 may be composed of three or fewer sensors, or may be composed of five or more sensors. In other words, the detection unit 2 may be configured to have multiple sensors. Alternatively, the detection unit 2 may be configured to have a single sensor.

(3) In the above-described embodiment, the working device is the harvesting unit H, but is not limited to this embodiment. The working device may be, for example, a corn header, a mowing device (boom mower, chopper, etc.), a plow, a mulcher, a stone picker, a seeding device, a rake, a tedder, a towed harvesting and sorting device, a topping device, a tillage management device, etc.

(4) The above-mentioned light-emitting device 25 may not be included.

(5) The above-mentioned storage unit 23 may be configured not to store the detection history. Also, the above-mentioned storage unit 23 may not be provided.

(6) The "normal mode" of the present invention may be either the automatic mode or the manual mode.

The configurations disclosed in the above-described embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs.
Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be modified as appropriate within the scope of the purpose of the present invention.

The present invention is applicable to work vehicles. Therefore, it is not limited to the general-purpose combine harvester 1 illustrated in this embodiment, but can also be applied to head-feeding combine harvesters, various harvesters (e.g., corn harvesters, sugarcane harvesters, potato harvesters, beet harvesters, carrot harvesters, etc.), tractors, rice transplanters, fertilizer management machines, self-propelled spreaders, self-propelled brush cutters, etc.

2: Detection unit 2B: Sensor 2F: Sensor 2L: Sensor 2R: Sensor 20: Control device 23: Memory unit 24: Notification device 25: Light-emitting device H: Harvesting unit (working device)

Claims (5)

A working device;
An alarm device;
a control device having a plurality of control modes and capable of controlling each of the working device and the notification device;
a detection unit that detects an object around the aircraft and outputs a detection signal indicating that the object has been detected to the control device,
the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device is caused to issue a notification in response to the detection signal being output by the detection unit ,
When in the test mode, the control device causes the alarm device to change the alarm mode depending on the mode of the detection signal, which includes near detection, which detects the object within a predetermined range from the detection unit, and far detection, which detects the object within a range farther away than the near detection range . the detection unit has a plurality of sensors,
2. The work vehicle according to claim 1 , wherein the control device, in the test mode, causes the alarm device to change the alarm mode depending on which of the sensors has detected the object. A working device;
An alarm device;
a control device having a plurality of control modes and capable of controlling each of the working device and the notification device;
a detection unit that detects an object around the aircraft and outputs a detection signal indicating that the object has been detected to the control device;
a storage unit that stores the fact that the detection unit has detected the object as a detection history,
the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device is caused to issue a notification in response to the detection signal being output by the detection unit,
the detection history includes near detection by the detection unit that detects the object within a preset range from the detection unit, far detection by the detection unit that detects the object within a range farther than the near detection range, and non-detection by the detection unit that does not detect the object farther than the far detection range,
the detection unit has a plurality of sensors,
The control device allows the work vehicle to switch to the normal mode when the near detection, far detection, and non-detection are stored in the memory unit for all of the sensors when in the test mode. A working device;
An alarm device;
a control device having a plurality of control modes and capable of controlling each of the working device and the notification device;
a detection unit that detects an object around the aircraft and outputs a detection signal indicating that the object has been detected to the control device;
a light emitting device ,
the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device is caused to issue a notification in response to the detection signal being output by the detection unit,
the detection unit has a plurality of sensors,
When in the normal mode, the control device calculates the direction in which the object is located around the vehicle based on the detection states of each of the multiple sensors, and causes the light-emitting device to change its light-emitting mode according to the direction. The work vehicle of claim 4, wherein the control device, when in the normal mode, calculates the distance between the vehicle body and the object based on the detection state of each of the plurality of sensors, and causes the light-emitting device to change its light-emitting mode according to the combination of the direction and the distance.