JP2000066725A - Work vehicle and abnormality detecting/coping method for work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of detecting and coping with the abnormality of the work vehicle such as a tractor moving around inside an optional section and performs work, and to provide a method therefor. SOLUTION: An abnormality detecting/coping function for making this work vehicle V itself check conditions such as the acquisition state of navigation information and the state of the respective parts of the vehicle during the work, and in the case that the abnormality is present, stopping the vehicle and performing the coping of reporting the occurrence of the abnormality to a manager and an operator is provided. In the detection of the abnormality, an abnormal state such as traveling incapability by excessive speed and slippage by dashing and projection to the outside of a set section is estimated and detected based on the position information and direction information of the vehicle V. In the coping in the case that the abnormality is present, the vehicle is tentatively stopped promptly, the generation of the abnormality is reported, abnormality contents and a coping method are displayed and the coping including temporary manual drive/operation is requested to the manager and the operator. After the coping is performed, the work is restarted after checking restoration to a normal state and confirming the manager and the operator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle and a method for detecting and dealing with an abnormality when a work vehicle such as a tractor moves around an arbitrary section and performs work. About.

[0002]

2. Description of the Related Art Conventionally, when working with a work vehicle,
The driver monitors the work situation while driving the vehicle, and if there is any abnormality, stops the vehicle as necessary, adjusts various parts, etc., so that normal and proper work can be continued. .

[0003]

1) When an unmanned operation or an automatic driving operation is performed by a work vehicle, an abnormal situation may occur in which a proper work cannot be continued due to a change in the work environment or a trouble in the vehicle itself. . Therefore, during work,
The work vehicle itself checks the status such as the navigation information acquisition status and the status of each part of the vehicle, and if there is any abnormality, stops the vehicle and notifies the manager or driver of the occurrence of the abnormality, etc. There is a need to do.

[0004] 2) If the work vehicle does not have such a function of checking the work status, detecting an abnormality, and responding to an abnormality, the manager or the driver may perform unattended work or automatic driving work. However, it is necessary to constantly monitor the operation status such as the state of each part of the vehicle, and in the unattended operation, the manager may have to follow around the vehicle in some cases.

[0005] 3) If there is an abnormality in the unattended operation, the manager must rush to the working vehicle in operation and get on the vehicle, and take measures such as stopping the vehicle and adjusting each part. Comes with danger. In addition, if the response is delayed or not taken properly, not only can proper work not be carried out or work must be stopped halfway, but also dangerous It is also expected that the situation will be irreparable, such as the situation or damage to the vehicle itself.

[0006] 4) There is no appropriate work vehicle or work vehicle abnormality detection / response method for solving such problems of labor saving, safety and reliability due to unmanned work and automatic driving work of the work vehicle. .

Accordingly, the present invention provides a work vehicle that checks the status of the navigation information acquisition and the state of each part of the vehicle during work, and stops the vehicle if an abnormality is found, It has an abnormality detection and response function that notifies the user of the occurrence of an abnormality, etc. In the detection of an abnormality, excessive speed due to dashing (rotary tillage), running impairment due to slipping, running out of the set section, etc. An abnormal state is estimated and detected based on the position information and the direction information of the vehicle. In the event of an abnormality, the vehicle must be stopped immediately, the details of the abnormality and the response method displayed, and the administrator or driver asked for a response that includes temporary manual operation and operation. After the operation is performed, the operation is resumed after checking the return to the normal state and confirming with the administrator and the driver. In this way, the abnormality detection and response function eliminates the need for managers and drivers to constantly monitor the work status, and enables unattended operations to perform other operations within a range that can recognize the notification of abnormalities from the vehicle. It is an object of the present invention to provide a work vehicle and a work vehicle abnormality detection / response method that achieves the above.

[0008]

In order to achieve the above object, the present invention is characterized by the following constitution and means. A. Work vehicle V position detecting means S1 and azimuth detecting means S
2. Measurement / control means C having state detection means S3 for the work vehicle V, acquiring and processing information from the detection means S1, S2, S3, and controlling each part of the work vehicle V; Using a work vehicle V having a notifying means A for issuing an alarm according to a command from the means C, a display means D for displaying information, and an input means K for giving a command to the measurement / control means C, a work section, a work speed, etc. are set in advance. Then, based on the position information Pi and the azimuth information θi of the work vehicle V obtained from time to time, when working inside the section, the detecting means S1, S
2, based on the position information Pi of the work vehicle V detected and obtained by the measurement and control means C, the azimuth information θi, and the state of each part of the work vehicle V, the position information Pi is normally obtained, Check that the traveling and work of the vehicle V are performed normally and that the status of each part of the work vehicle V is normal. If an abnormality is detected, the operation is temporarily stopped and the abnormal state is automatically set. If it is possible to return to the normal state, the operation is automatically restarted after waiting for a certain period of time. Otherwise, the abnormality is notified to the manager or the driver by the notification means A and the details of the abnormality are displayed on the display means D. And the response method are displayed, and the administrator or the driver resolves the abnormal state and returns to the normal state based on the abnormality content and the response method displayed on the display means D. At this time, the administrator or the driver Input means K to finger Operating freely work vehicle V giving -
A work vehicle that can be operated and that can also manually drive and operate the work vehicle V arbitrarily.

B. After the administrator or the driver resolves the abnormal state and returns to the normal state, the work vehicle V automatically confirms the return to the normal state, and issues a command to resume the work by the display means D to the administrator. Alternatively, when a request is made to the driver and the manager or the driver gives a command to restart the work by the input means K, the situation or state in which the work should be restarted by detecting the position information Pi and the azimuth information θi of the work vehicle V. Automatically recognizes the situation, and changes the setting of each part of the work vehicle V to correspond to the situation or state, and resumes the work.

C. Position information Pi of work vehicle V detected / acquired by detection means S1, S2 and measurement / control means C
A work vehicle that estimates an excessive speed due to dashing in a rotary tillage operation or an abnormal state in which the vehicle cannot travel due to a slip, based on the azimuth information θi.

D. Detecting means S1 and measuring / controlling means C
The work vehicle that stops immediately when it is determined that the work vehicle V has gone out of the set section based on the position information Pi of the work vehicle V detected and acquired by the vehicle.

E. It has a position detecting means S1 and a direction detecting means S2 of the work vehicle V, and a state detecting means S3 of the work vehicle V,
Further, measurement / control means C for acquiring and processing information from the detection means S1, S2, S3 and controlling each part of the work vehicle V
A work vehicle V having a notifying means A for issuing an alarm according to a command from the measurement / control means C, a display means D for displaying information, and an input means K for giving a command to the measurement / control means C; In the case of working in a section based on the position information Pi and the azimuth information θi of the work vehicle V obtained every moment, the detection means S1, S2, S3 and the measurement / control Position information Pi and azimuth information θ of work vehicle V detected and acquired by means C
i, and the position information P based on the state of each part of the work vehicle V.
It is checked that i has been acquired normally, that the traveling and work of the work vehicle V is performed normally, and that the state of each part of the work vehicle V is normal. If an abnormality is detected,
The work is temporarily stopped, and if the abnormal state can be automatically returned to the normal state, the work is automatically restarted after waiting for a certain period of time to return. Is displayed, and the content of the abnormality and the response method are displayed on the display means D, and the administrator or the driver resolves the abnormal state based on the content of the abnormality and the response method displayed on the display means D, and returns to the normal state. At this time, the manager or the driver gives a command from the input means K to
Is a method for detecting and responding to an abnormality in a work vehicle that can freely drive and operate the vehicle, and can also manually drive and operate the work vehicle V arbitrarily.

[0013]

The work vehicle and the abnormality detection / response method for the work vehicle according to the present invention having the above-described structure and means have the following functions. Work vehicle V position detecting means S1 and azimuth detecting means S
2. Measurement / control means C having state detection means S3 for the work vehicle V, acquiring and processing information from the detection means S1, S2, S3, and controlling each part of the work vehicle V; Using a work vehicle V having a notifying means A for issuing an alarm according to a command from the means C, a display means D for displaying information, and an input means K for giving a command to the measurement / control means C, a work section, a work speed, etc. are set in advance. Then, based on the position information Pi and the azimuth information θi of the work vehicle V obtained from time to time, when working inside the section, 1) During the work, the detection means S1, S2, S3 and the measurement /
Based on the position information Pi and the azimuth information θi of the work vehicle V detected and obtained by the control means C and the state of each part of the work vehicle V, the position information Pi has been normally obtained, Checks that the operation is performed normally and the state of each part of the work vehicle V is normal. If an abnormality is detected, the operation is temporarily stopped and the abnormal state is automatically returned to the normal state. If possible, automatically resume work after waiting for a certain period of time to return; otherwise, notify means A
Notify the administrator or driver of the abnormality by
The abnormality content and the response method are displayed on the display means D, and the administrator or the driver resolves the abnormal state based on the abnormality content and the response method displayed on the display means D and returns to the normal state. The administrator or the driver can freely operate and operate the work vehicle V by giving a command from the input means K, and can manually operate and operate the work vehicle V arbitrarily.
It is also possible to operate.

2) After the administrator or the driver has resolved the abnormal state and returned to the normal state in the above 1), the work vehicle V automatically confirms the return to the normal state, and then displays the display means. D, a command to restart the work is requested to the manager or the driver.
When the work restart command is issued by the operator, the position information Pi and the azimuth information θi of the vehicle V are detected to automatically recognize the situation or state in which the work should be resumed, and the work vehicle to respond to the situation or state. The work is restarted by changing the setting of each part of V.

3) In the above 1), the detecting means S1, S
Based on the position information Pi and the azimuth information θi of the work vehicle V detected and acquired by the measurement and control means 2 and 2, an excessive speed due to dusting in the rotary tillage work and an abnormal state in which the vehicle cannot travel due to slip are estimated.

4) The work vehicle V detected and acquired by the detection means S1 and the measurement / control means C in 1) above.
If it is determined that the work vehicle V has gone out of the set section based on the position information Pi, the vehicle immediately stops.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be specifically described below with reference to the accompanying drawings. FIG. 1 (a),
In (b), a light reflection sign and a specific low-power communication device are installed on an agricultural tractor (work vehicle) V, and an automatic tracking surveying device and a specific low-power communication device are installed at fixed points outside the field, respectively. To obtain vehicle position information Pi at a cycle of about 0.5 seconds or less. The tractor V is equipped with a geomagnetic azimuth sensor, gyro, and tilt sensor to provide vehicle azimuth information θ.
i and inclination information are detected.

Each part of the tractor V includes a sensor for detecting its operating state, setting state, and the like, such as a steering angle, a shuttle lever position, a hydraulic lever position, a work machine position, a potentiometer for detecting the remaining fuel amount, and an engine. State detection sensors such as a tachometer for detecting the number of revolutions, turning on / off of the PTO, and a limit switch for detecting a traveling speed stage are provided.
The tractor V acquires and processes the position information Pi, the direction information θi, the inclination information, and the state information, and controls a controller that controls an actuator for automatically controlling each operation unit, and manages an abnormality of each unit. It is equipped with a horn for notifying the driver and the driver, a display for transmitting information to the manager and the driver, and a keyboard for giving commands to the controller and the controller. Further, the tractor V can arbitrarily perform manual operation even in the automatic control mode in which each operation unit is controlled by the controller.

As safety equipment at the time of work, obstacle detection sensors such as a bumper switch and an ultrasonic sensor are provided at the front, rear and side of the tractor V to detect approach and contact with obstacles. A mechanism is provided to stop the tractor V when the vehicle approaches or comes into contact with an obstacle. In addition, a mechanism is provided for emergency stop of the tractor V by remote control using a small wireless transmitter that can be carried by an administrator during unmanned operations.

Using this tractor V, for example, a rotary tillage operation in a given field section is performed unmanned based on the position information Pi and the azimuth information θi obtained every moment.
As shown in FIG. 2, the unmanned rotary tillage work is performed by reciprocating around the center of the field and working around the field including the headland. The software for unmanned operation is a teaching run module that performs only one time to teach the field lot and work direction, a route planning module, work from the initial position to the work start position, or work around from the reciprocating work end position It consists of an idle running module to the start position, a reciprocating work module, a surrounding work module, etc. (FIG. 3). The modules for unmanned work are a straight work routine, a 180 ° turning routine, a 90 ° turning routine,
It comprises a width adjustment routine and the like (FIGS. 4 and 5).

Before starting the unattended operation, the manager inputs a work area, a reference work direction,
After commanding and setting the traveling speed and the like, normal acquisition of the position information Pi and the like, setting of the traveling speed stage, driving (ON) of the PTO,
The setting of the work implement elevating hydraulic mechanism, the setting of each part of the vehicle such as the remaining fuel, and the normal operation of the automatic control mechanism such as steering are automatically checked (self-diagnosis function, examples of self-diagnosis items are shown in Table 1). When there is a problem in the unattended operation, the administrator is notified of the problem and requests a response. After the administrator responds, the unattended operation is started. During the operation, the following checks and abnormal response are performed.

1) Checking the position coasting information and responding to abnormalities (FIG. 6)

[Table 1] From the start to the end of the unmanned operation, the position information Pi is checked throughout, and if the position information Pi is not updated, or even if it is updated, the traveling speed of the tractor V calculated from the temporal change of the position information Pi If Vt is equal to or higher than the reference value Vso (about twice the set traveling speed), and if the count reference value Cpa has continued for the number of times, the position abnormality alarm 1 is generated. This alarm is generated when the position information Pi is not normally acquired, such as when the automatic tracking and surveying device at the fixed point outside the field loses the tracking of the light reflection sign on the tractor V. In some cases, the vehicle may be automatically returned to and resumed from the state acquired in the above, so that the vehicle is temporarily stopped and a response is made to wait for a return at a certain time. If the position information is not returned to a state where the position information can be normally acquired even after waiting for a certain period of time, a position abnormality alarm 2 is generated, the horn notifies the administrator of the abnormality, and “normal position information cannot be acquired.
Check and repair equipment related to position information acquisition, such as automatic tracking survey equipment. Is displayed on the display on the vehicle, and requests the administrator to respond.

When the updated position information Pi is data outside the work section, a position abnormality alarm 3 is immediately generated. This alarm 3 is generated when the vehicle goes out of the section for some reason. However, dangerous situations such as crossing the ridge and runaway can be assumed. Notifying the operator of the abnormality and displaying a message such as "The vehicle has gone out of the section. Move the vehicle into the section." On the display on the vehicle and request the administrator to respond.

2) Checking the running speed and dealing with abnormalities With respect to the running speed Vt of the tractor V calculated from the temporal change of the position information Pi determined to be normal in the above 1), three speed reference values Vs1, Vs2, Vs3 (Vs1 is about 1.5 times, Vs2 is about 0.3 times,
Vs3 is about 0.2 times), the speed is checked, and at the time of turning, the time change of the azimuth information θi of the vehicle is checked. When the traveling speed Vt at the time of work is equal to or higher than Vsl,
If the count continues for the count reference value Cvl times, an overspeed alarm is generated. This alarm occurs when the traveling speed increases due to dashing, etc., but dangerous situations such as runaway can be assumed, so raise the work machine when the vehicle stops and notify the administrator of the abnormality with the horn and A message such as "The running speed is too fast. The dashing platform can take measures such as lowering the running speed or the PTO rotation speed." Is displayed on the display on the vehicle, and the manager is requested to take measures.

In the case where the traveling speed Vt during work is equal to or lower than Vs2, the count reference value Cv lasts twice, and in the case where the travel speed Vt during non-work travel is Vs3 or less, the case where the count reference value Cv lasts three times. Or, when the temporal change of the azimuth information θi of the vehicle at the time of turning is small, a speed reduction alarm is generated. This alarm occurs when the traveling speed is reduced due to a slip or when the vehicle does not start for some reason or when the vehicle stops, but the vehicle stops and the horn notifies the administrator of the abnormality. Along with the notification, a message such as "The driving speed is too slow or the vehicle is not moving. If the vehicle slips, escape from that location." .

3) Checking the vehicle inclination and responding to abnormalities From the start to the end of the unmanned operation, the vehicle inclination information is checked throughout. When the vehicle inclination reaches about 15 ° or more, the vehicle is stopped emergency and the vehicle inclination alarm is issued. Occurs.
This alarm is generated when the vehicle is tilted such that a danger of falling is expected. The vehicle is stopped, the horn is used to notify the manager of the abnormality, and "the vehicle has a large inclination. Please respond with caution. "On the display on the vehicle and request the administrator to respond.

4) Checking the work state and dealing with abnormalities The engine speed is checked during the work, and if the engine speed falls below the reference speed Rs, a work overload alarm is generated. This alarm is generated when the work load is large, but the vehicle is stopped, the horn informs the manager of the abnormality, and the "work load is large. Measures such as lowering the traveling speed and the PTO rotation speed are taken. Message on the display on the vehicle and request the administrator to take action.

5) Checking the remaining fuel level and responding to abnormalities Before starting each work process, the remaining fuel level is checked. If the remaining fuel level is reduced to about 1/5 or less, a refueling alarm is generated. I do. This alarm is generated when the fuel level is low. Stop the vehicle, notify the administrator of the abnormality by the horn, and send a message such as "Low fuel level. Replenish if necessary." Display on the display and request the administrator to respond. However, if this alarm is generated, it can be set so that this alarm is not generated thereafter, whether or not the administrator refuels.

6) Obstacle Detection Check / Abnormal Response If the obstacle detection sensor detects an obstacle from the start to the end of the unmanned operation, the vehicle will stop emergency and an obstacle detection alarm will be generated. When this alarm occurs, the horn notifies the administrator of the abnormality and displays a message such as "An obstacle has been detected. Remove or avoid the obstacle" on the display on the vehicle and manage the alarm. Request response. Table 2 shows examples of the checks and abnormalities described in 1) to 6) above.

[Table 2]

7) Response by the administrator and return of unmanned running / working Except in the case of the position abnormality alarm 1 in the above 1) or in the case of the vehicle inclination alarm in the above 3) where it is obviously dangerous to get on the vehicle, When each of the above alarms occurs, the administrator gets on the vehicle and responds to the abnormality according to the display on the display. Basically, the correspondence is advanced by checking, operation, and adjustment of each unit by the administrator, and interaction between the administrator and the controller using a keyboard and a display (FIG. 7).

When the vehicle goes out of the section, slips, or refuels, it is necessary to move the vehicle arbitrarily. Therefore, automatic control is performed so that the manager can drive and operate the vehicle. Any manual operation under the mode or semi-automatic operation by command input from the keyboard is possible. A response is made to resolve the abnormal state, and when the administrator determines that the state has been returned to the normal state, the administrator requests the controller to return the unattended operation. The controller confirms the return to the normal state, and if the abnormal state is still not resolved, a notification that the abnormality has not been resolved and a request for the countermeasure are made by the horn and the display.

When it is confirmed by the controller that the vehicle has returned to the normal state, the state and settings of each part of the vehicle at the time of occurrence of the alarms 1) to 6) are displayed to the administrator, and the setting of the traveling speed and the like is performed. If you have changed the setting, request that the setting be entered from the keyboard. When the setting change is input by the administrator, "unmanned running / work is resumed after a few seconds."
Leave the car after dinner on the key. Is displayed, and when the key is touched by the administrator, after waiting for a few seconds, the position information Pi and the azimuth information θi of the work vehicle V are detected, and the situation or state in which the unmanned work should be resumed is determined by the controller. Determines, recognizes, and resumes unattended work by changing the settings of each part of the work vehicle V so as to correspond to the situation or state. If you are unable to return to,
By inputting a key that cannot be handled, unattended work can be stopped immediately.

This tractor can be used by a driver to perform automatic driving work in addition to unmanned work. Regarding the detection of the vehicle position information, a fixed point on the vehicle and a fixed point outside the field
There is also a configuration in which a PS receiver and a specific low-power wireless device are installed to configure a differential GPS system, and position information is acquired on a vehicle. In the notification of the abnormality, the content of the abnormality, the urgency, the dangerous situation, and the like can be notified to the manager and the driver by notifying the details of the abnormality by the tone and length of the horn. Regarding the state of each part of the vehicle, items such as an engine cooling water temperature, an engine lubricating oil pressure, a working machine elevating mechanism operating oil temperature and oil pressure, and various power supply voltages can be handled in addition to the engine speed and the remaining fuel amount.

[0034]

As described above, according to the work vehicle and the work vehicle abnormality detection / response method of the present invention, the following effects are obtained. During unmanned work or automatic driving work by a work vehicle, during work, the vehicle itself checks the work status such as navigation information acquisition state and the state of each part of the vehicle, and if there is an abnormality, temporarily stops the vehicle, By notifying the manager or driver of the occurrence of the abnormality, the manager or driver does not need to monitor the work. Labor saving, such as performing work, is achieved.

In order to cope with an abnormality, the vehicle is stopped immediately, the details of the abnormality and the method of coping are displayed, and the manager or the driver is requested to take a measure including temporary manual driving and operation. In the event of an abnormality, the response is properly executed without delay. Furthermore, after the administrator or driver has dealt with the abnormality, after confirming the return to the normal state, the work is resumed while interacting with the administrator and driver, so safety and reliability can be improved. High work can be performed to the end.

[Brief description of the drawings]

1A and 1B are work vehicle and measurement / control block diagrams.

FIG. 2 is a traveling / working route of unmanned rotary tillage.

FIG. 3 is a configuration diagram of unmanned traveling / work software.

FIG. 4 is a peripheral work module diagram.

FIG. 5 is a flowchart of a straight-ahead work routine.

FIG. 6 is a flowchart for checking position information and responding to an abnormality.

FIG. 7 is a flowchart of a response by an administrator and a return of unmanned traveling / work.

[Explanation of symbols]

 V Work vehicle (tractor) S1 Work vehicle position detection means S2 Work vehicle direction detection means S3 Work vehicle state detection means C Measurement / control means A Notification means D Display means K Input means Pi Work vehicle position information θi Work vehicle Direction information

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tatsuya Kobayashi 1-40-2 Nisshin-cho, Omiya-shi, Saitama Pref. Chome Hokkaido University F-term (Reference) 2B043 AA04 AB19 BA03 BA07 BB01 BB03 EA13 EA37 EB01 EB05 EB13 EB14 EB15 EC12 EE01 EE02 5H301 AA03 AA10 BB01 DD02 DD06 DD17 FF11 GG07 GG14 GG17 KK07 MM08

Claims (5)

[Claims] 1. A work vehicle (V) position detecting means (S1).
And a direction detecting means (S2), a state detecting means (S3) of the work vehicle (V), and detecting means (S1, S2, S
3) measuring and controlling means (C) for acquiring and processing the information from 3) and controlling each part of the work vehicle (V); and notifying means (A) for issuing an alarm in accordance with a command from the measuring and controlling means (C);
Display means (D) for displaying information, measurement / control means (C)
Vehicle (V) having input means (K) for giving a command to a vehicle
, The work section and the work speed are set in advance, and the position information (Pi) and the azimuth information (θ) of the work vehicle (V) obtained every moment are obtained.
In the case of working inside the section based on i), the position information (Pi) of the work vehicle (V) detected / acquired by the detection means (S1, S2, S3) and the measurement / control means (C) during the work ), The azimuth information (θi), and the state of each part of the work vehicle (V), the position information (Pi) is normally acquired, and the traveling and work of the work vehicle (V) are performed normally. Check that the status of each part of the work vehicle (V) is normal, and if an abnormality is detected,
The work is temporarily stopped, and if the abnormal state can be automatically returned to the normal state, the work is automatically restarted after waiting for a certain period of time to return. Otherwise, the administrator or the driver is notified by the notification means (A). And a display means (D)
The administrator or the driver displays the details of the error and the method of handling the error, and the administrator or the driver resolves the abnormal state based on the details of the error and the method of handling displayed on the display means (D) and returns to the normal state. The operator or driver can freely operate and operate the work vehicle (V) by giving a command from the input means (K), and can manually operate and operate the work vehicle (V) arbitrarily. A work vehicle characterized in that it is also possible. 2. After the manager or the driver resolves the abnormal state and returns to the normal state, the work vehicle (V) automatically confirms the return to the normal state, and then displays the display means (D). ) Requests the manager or the driver to restart the work, and when the manager or the driver issues the work restart command by the input means (K), the position information (Pi) of the work vehicle (V) or Detecting the azimuth information (θi), automatically recognizing a situation or state in which work should be resumed, and resuming work by changing the settings of each part of the work vehicle (V) so as to correspond to the situation or state. The work vehicle according to claim 1, wherein: 3. A rotary plowing operation based on position information (Pi) and azimuth information (θi) of the work vehicle (V) detected and obtained by the detection means (S1, S2) and the measurement / control means (C). 2. The work vehicle according to claim 1, wherein an abnormal state in which traveling is impossible due to excessive speed or slippage due to dusting is estimated. 4. Based on the position information (Pi) of the work vehicle (V) detected / acquired by the detection means (S1) and the measurement / control means (C), the work vehicle (V) is set outside a section set by the work vehicle (V). 2. The work vehicle according to claim 1, wherein when it is determined that the vehicle has come out, the vehicle stops immediately. 5. A position detecting means (S1) for a work vehicle (V).
And a direction detecting means (S2), a state detecting means (S3) of the work vehicle (V), and detecting means (S1, S2, S
3) measuring and controlling means (C) for acquiring and processing the information from 3) and controlling each part of the work vehicle (V); and notifying means (A) for issuing an alarm in accordance with a command from the measuring and controlling means (C);
Display means (D) for displaying information, measurement / control means (C)
Vehicle (V) having input means (K) for giving a command to a vehicle
, The child work section, work speed, etc. are set, and the position information (Pi) and azimuth information (θ) of the work vehicle (V) obtained every moment are obtained.
In the case of working inside the section based on i), the position information (Pi) of the work vehicle (V) detected / acquired by the detection means (S1, S2, S3) and the measurement / control means (C) during the work ), The azimuth information (θi), and the state of each part of the work vehicle (V), the position information (Pi) is normally acquired, and the traveling and work of the work vehicle (V) are performed normally. Check that the status of each part of the work vehicle (V) is normal, and if an abnormality is detected,
The work is temporarily stopped, and if the abnormal state can be automatically returned to the normal state, the work is automatically restarted after waiting for a certain period of time to return. Otherwise, the administrator or the driver is notified by the notification means (A). And a display means (D)
The administrator or the driver displays the details of the error and the method of handling the error, and the administrator or the driver resolves the abnormal state based on the details of the error and the method of handling displayed on the display means (D) and returns to the normal state. The operator or driver can freely operate and operate the work vehicle (V) by giving a command from the input means (K), and can manually operate and operate the work vehicle (V) arbitrarily. A method for detecting and responding to an abnormality in a work vehicle, wherein