JP2019045975A - Tilling work vehicle - Google Patents

Abstract

To provide a tilling work vehicle for suppressing an occurrence of difference in tilled states of a farm field.SOLUTION: According to one aspect of an embodiment, a tilling work vehicle (1) includes a traveling vehicle body (10) which can connect tilling work machine, an obstacle detection sensor (231a) for detecting an obstacle in the traveling direction of the traveling vehicle body (10), and a control part (100) for causing the traveling vehicle body (10) to automatically travel along a traveling route. The control part (100) decelerates the traveling vehicle body (10) during automatic traveling when an obstacle is detected.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a tillage work vehicle.

  There is known a work vehicle that performs a detour traveling around an obstacle when an obstacle is detected in the traveling direction by a sensor (for example, Patent Document 1). It is also conceivable to apply the above technology to a cultivating work vehicle such as a tractor that cultivates a field.

Japanese Patent Laid-Open No. 2000-276232

  However, for example, before the obstacle is detected and the detouring is performed, the obstacle may move or be removed so that the obstacle disappears and the detouring may not be performed. Also in such a case, when the tilling work vehicle performs the detour traveling, a difference occurs in the cultivating state of the field compared to the case of traveling straight without performing the detour traveling.

  This invention is made in view of the above, Comprising: It aims at providing the tillage work vehicle which suppresses that a difference arises in the tillage state of a field.

  In order to solve the problems described above and achieve the purpose, a cultivating work vehicle (1) according to one aspect of the embodiment includes a traveling vehicle body (10) to which a cultivating operation machine can be connected, and the traveling vehicle body (10). An obstacle detection sensor (231a) for detecting an obstacle in a traveling direction; and a control unit (100) for automatically traveling the traveling vehicle body (10) along a traveling route, the control unit (100) comprising The traveling vehicle body (10) is decelerated when the obstacle is detected during the automatic traveling.

  According to one aspect of the embodiment, it is possible to suppress the occurrence of a difference in the tillage state of the field.

FIG. 1 is a schematic side view of a tractor according to the present embodiment. FIG. 2 is an explanatory view of a traveling vehicle body. FIG. 3 is a diagram showing a power transmission path of a traveling vehicle body. FIG. 4 is a block diagram showing a control system of the tractor. FIG. 5 is a flow chart for explaining the automatic travel control of the tractor according to the present embodiment.

  Hereinafter, an embodiment of a cultivating work vehicle according to the present invention will be described in detail based on the drawings. Note that the present invention is not limited by this embodiment, and various modifications can be made without departing from the scope of the present invention. Furthermore, constituent elements in the following embodiments include ones that can be easily replaced by persons skilled in the art, or ones that are substantially the same and so-called equivalent ranges.

  The configuration of a tractor 1 which is a tilling work vehicle according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic side view of a tractor 1 according to the present embodiment.

  The tractor 1 includes a traveling vehicle body 10, a vehicle control unit 100, and a communication unit 110. The tractor 1 is a terminal device 2 that a worker has, for example, a remote control or a tractor that receives a signal from the mobile communication terminal by the communication unit 110, travels automatically, and can work. That is, the tractor 1 is a tractor that can be operated remotely.

  The traveling vehicle body 10 includes a steering handle, an operation pedal, and a control unit provided with various instruments, which are not illustrated, and is configured to be able to connect a tilling work machine, which is not illustrated, to the rear. A differential global positioning system (DGPS) antenna 6 for receiving radio waves transmitted from a plurality of navigation satellites 60 is provided on the ceiling portion of the traveling vehicle body 10. In addition, work apparatuses other than a tilling work machine can be connected to the traveling vehicle body 10.

  The traveling vehicle body 10 will be described with reference to FIGS. 2 and 3. FIG. 2 is an explanatory view of the traveling vehicle body 10. FIG. 3 is a view showing a power transmission path of the traveling vehicle body 10. As shown in FIG.

  The traveling vehicle body 10 includes various mechanisms including a power transmission mechanism as shown in FIGS. 2 and 3. That is, as shown in FIG. 2, the traveling vehicle body 10 has left and right front wheels 301L and 301R attached to the left and right front axles 406L and 406R, and left and right attached to the left and right rear axles 405L and 405R. The wheels 302L and 302R are provided. In the following, L is added to the code and the left is added and R is added to indicate the right. However, when it is not necessary to distinguish the right and left, for example, the front wheel 301, the rear wheel 302, etc. It may be noted.

  An engine 321 as a power source is mounted on the front of the traveling vehicle body 10, and power is transmitted from the engine 321 to the front wheels 301 and the rear wheels 302 via a power transmission mechanism. The tractor 1 according to the present embodiment includes a 4WD clutch 324, and by switching the 4WD clutch 324, a 2WD method in which only the rear wheel 302 is driven, and a 4WD method in which both the front wheel 301 and the rear wheel 302 are driven. It is configured to be freely switchable.

  In the power transmission mechanism to the rear wheel 302, the main transmission unit 323 is disposed downstream of the engine 321 via the forward / backward clutch 322, and the auxiliary transmission unit 325 is disposed downstream of the main transmission unit 323. A wheel differential gear 326 is provided. A brake device 312 is provided at the base of the rear axle 405 connecting the rear wheel differential gear device 326 and the rear wheel 302.

  Further, the power is transmitted to the transmission shaft 404 through an idle gear provided downstream of the auxiliary transmission unit 325, and power is transmitted to the front wheel 301 through the 4WD clutch 324 and the front wheel differential gear device 320.

  The tractor 1 according to the present embodiment is provided with an automatic traveling unit 160 (see FIG. 4) controlled by the vehicle control unit 100 so that automatic traveling can be performed. A steering angle detection sensor 304 for detecting the steering angle of the front wheel 301 is connected to the vehicle control unit 100, and during automatic travel, the vehicle control unit is fed back while detecting the actual steering angle of the front wheel 301 detected. 100 controls the steering cylinder 303 to steer.

  In the brake device 312 provided on the rear wheel 302, when the operator depresses the brake pedal 310 provided on the vehicle body, the brake cylinder 311 acts by hydraulic pressure to function. That is, the left brake device 312L provided at the base of the left rear axle 405L is connected to the left brake cylinder 311L, and the right brake device 312R provided at the base of the right rear axle 405R is connected to the right brake cylinder 311R.

  As illustrated, the left and right brake cylinders 311L and 311R are connected to the left and right brake solenoids 330L and 330R connected to the vehicle control unit 100. Therefore, when a predetermined brake signal is input to the vehicle control unit 100, the vehicle control unit 100 can drive the brake solenoid 330 to operate one or both of the left and right brake devices 312L and 312R. . The brake solenoid 330 constitutes a hydraulic circuit together with, for example, the hydraulic pump 341, the relief valve 340, and the like.

  Next, a power transmission path from the engine 321 of the tractor 1 to the front wheels 301 and the rear wheels 302 will be described with reference to FIG. As shown, the output shaft of the engine 321 is connected to the power transmission shaft 401 via a forward and reverse clutch 322 for switching between forward and reverse. Therefore, the tractor 1 can selectively reverse the power transmission shaft 401 by switching the forward and reverse clutch 322.

  The power transmission shaft 401 is connected to the main transmission unit 323 and the auxiliary transmission unit 325. That is, main transmission unit 323 and sub transmission unit 325 are arranged on a power transmission path that transmits power from engine 321 to rear wheel 302 (front wheel 301 and rear wheel 302).

  The main transmission unit 323 includes a first / third switching clutch 402 having a first clutch gear 361 and a third clutch gear 363, and a second / fourth having a second clutch gear 362 and a fourth clutch gear 364 The speed switching clutch 403 is mounted, and the power from the engine 321 can be shifted to the 1st to 4th speeds for output.

  Further, the main transmission unit 323 is equipped with the high and low clutches 365, and can switch the first to fourth gears to higher speeds or lower speeds, respectively.

  The auxiliary transmission unit 325 to which the power of the main transmission unit 323 is input includes a first shifter 381 and a second shifter 382 of a secondary auxiliary transmission clutch operated by an auxiliary transmission lever (not shown) and a plurality of transmission gears. Equipped with Depending on which transmission gear the first shifter 381 and the second shifter 382 engage, transmission can be performed at an ultra low speed, a low speed, a medium speed and a high speed. Then, the rotation of the output shaft of the auxiliary transmission unit 325 is transmitted from the rear wheel differential gear device 326 to the rear wheel 302 via the axle and the rear wheel planetary gear mechanism 391.

  In addition, the driving force is transmitted to the front wheels 301 by the power input from the main transmission unit 323 to the auxiliary transmission unit 325 being input to the transmission shaft 404 equipped with the 4WD clutch 324 via the idle gear. The operation of the 4WD clutch 324 also makes it possible to switch from normal front wheel drive to accelerated front wheel drive. When the 4WD clutch 324 is made neutral, the driving of the front wheel 301 is interrupted and the driving of only the rear wheel 302, that is, 2WD.

  Thus, the power transmitted to the rear stage of the 4WD clutch 324 is transmitted to the front wheel 301 via the front wheel differential gear device 320 and the front wheel planetary gear mechanism 390.

  In addition, the traveling vehicle body 10 includes a working power transmission mechanism 360 for transmitting power from the engine 321 to the cultivating work machine without intervention of the transmission mechanism such as the main transmission unit 323 and the auxiliary transmission unit 325. Specifically, the traveling vehicle body 10 is provided with a PTO (Power Take Off) clutch 366, and by connecting the PTO clutch 366, power is transmitted from the engine 321 to the PTO shaft 392 without passing through the main transmission unit 323 and the like. It can be transmitted.

  The PTO shaft 392 is provided with a PTO shift first shifter 371 and a PTO shift second shifter 372 on the front stage side, and by operating these, the PTO shaft 392 can be forwardly rotated from low speed to high speed. It is also possible to reverse.

  Next, a control system of the tractor 1 according to the present embodiment will be described with reference to FIG. FIG. 4 is a block diagram showing a control system of the tractor.

  The tractor 1 according to the present embodiment can control each part by electronic control, and includes a vehicle control unit 100 that forms the core of a control system. The vehicle control unit 100 can control the automatic travel unit 160 to automatically travel by receiving the command signal from the terminal device 2 via the communication unit 110.

  The vehicle control unit 100 included in the tractor 1 includes a storage device 140 including a hard disk, a read only memory (ROM), a random access memory (RAM), and the like in which various programs and various necessary data are stored. In addition to a processing unit having a central processing unit, etc., a plurality of controllers 120, 130, and 150 configured of a ROM, a RAM, and the like are provided.

  The controllers 120, 130, and 150 include, for example, a traveling system controller 120 that controls a traveling system, an engine controller 130 that controls an engine 321, and a work machine system controller 150 that controls tillage machines connected to the rear of the machine.

  The traveling system controller 120, the engine controller 130, and the working machine system controller 150 all also have a processing unit having a CPU or the like, a ROM for storing a control program, a storage unit such as a RAM for work area, and the like. The input / output units are provided and connected to each other so that signals can be exchanged. A control program or the like corresponding to the control target of each controller 120, 130, 150 is stored in the ROM of the storage unit.

  The vehicle control unit 100 may also include an emergency stop switch 210, a steering drive motor (not shown), and a travel drive device 220 including the transmission mechanism shown in FIGS. 2 and 3, for example, the first obstacle detection sensor 231a or Various traveling system sensors 230 including a second obstacle detection sensor 231 b and a steering angle detection sensor 304 are connected. Furthermore, a navigation system 290 including a DGPS antenna 6 (see FIG. 1), a direction sensor 295, a vehicle speed sensor 296 and the like are connected to the vehicle control unit 100.

  The first obstacle detection sensor 231a is, for example, an ultrasonic sensor, and is a sensor that detects an obstacle in the traveling direction of the traveling vehicle 10, for example, within a first predetermined range in front of or to the side of the traveling vehicle 10. . The second obstacle detection sensor 231 b is, for example, an infrared sensor, and is a sensor that detects an obstacle in the traveling direction of the traveling vehicle 10, for example, within a second predetermined range in front of or to the side of the traveling vehicle 10. The first predetermined range and the second predetermined range are ranges set in advance, and the second predetermined range is a range narrower than the first predetermined range. The first obstacle detection sensor 231a and the second obstacle detection sensor 231b may be a camera or another sensor that captures an image for an image processing determination program for obstacle detection.

  The azimuth sensor 295 detects the azimuth of the traveling direction of the traveling vehicle body 10. The vehicle speed sensor 296 detects the speed of the traveling vehicle body 10.

  The vehicle control unit 100 also includes a work implement lifting drive 240 including a work implement lifting device (not shown), a PTO on / off operation switch 250 for turning on and off the PTO clutch 366, and a control for the tilling work machine. A variety of working machine / PTO driving various sensors 260, an engine driving device 270, an engine driving various sensors 280, and the like are connected.

  In this way, the tractor 1 performs the predetermined work while the worker gets on the vehicle and travels, and also operates the terminal device 2 to control the driving of the automatic traveling unit 160 by the vehicle control unit 100, thereby automatically Predetermined work can be performed while traveling.

  When the tractor 1 is caused to travel automatically, for example, a planned travel route corresponding to the work content is determined in advance for each field, and this is converted into data and stored in the storage device 140. The planned travel route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, and the type of crop.

  Vehicle control unit 100 detects the current position of traveling vehicle body 10 based on a signal from navigation system 290, and calculates an actual traveling route based on the detected current position. Then, the vehicle control unit 100 controls the steering cylinder 303 and the engine 321 so that the actual traveling route matches the planned traveling route.

  The automatic travel of the tractor 1 can be appropriately set in addition to being executed by the vehicle control unit 100 via the terminal device 2 as in the present embodiment.

  Next, the configuration of the terminal device 2 capable of remotely operating the tractor 1 will be described. As shown in FIG. 4, the terminal device 2 can wirelessly communicate with the communication unit 110 of the tractor 1. Further, the terminal device 2 includes, as an operation unit, a forward "on / off" switch 21 and a reverse "on / off" switch 22 for traveling the tractor 1, and an ENG speed switch 24 for switching the number of rotations of the engine 321. , And the vehicle stop switch 26 which can make the tractor 1 emergency stop.

  In addition, the terminal device 2 includes a PTO “on / off” switch 23 for operating the tilling machine and a working machine “up / down” switch 25.

  The operator can operate the terminal device 2 to move the tractor 1 forward and backward at a predetermined speed and stop it, and also raise and lower the tilling machine to work with a predetermined power. be able to.

  Next, automatic travel control of the tractor 1 according to the present embodiment will be described with reference to the flowchart of FIG. FIG. 5 is a flowchart illustrating automatic travel control of the tractor 1 according to the present embodiment. Here, it is assumed that the tractor 1 is traveling automatically.

  The vehicle control unit 100 determines whether or not there is an obstacle within a first predetermined range in the traveling direction of the traveling vehicle body 10 based on a signal from the first obstacle detection sensor 231a (S100).

  When the vehicle control unit 100 detects an obstacle within the first predetermined range in the traveling direction of the traveling vehicle body 10 (S100: Yes), the vehicle control unit 100 decelerates the traveling vehicle body 10 (S101). Specifically, the vehicle control unit 100 decelerates the traveling vehicle body 10 by downshifting the main transmission unit 323 or the sub transmission unit 325. Vehicle control unit 100 maintains the downshifted state when the downshift has already been performed in the processing up to the previous time.

  When the vehicle control unit 100 does not detect an obstacle within the first predetermined range in the traveling direction of the traveling vehicle body 10 (S100: No), the vehicle control unit 100 determines whether the traveling vehicle body 10 is decelerated (S102).

  When the traveling vehicle body 10 is being decelerated (S102: Yes), the vehicle control unit 100 detects an obstacle within the first predetermined range and is detected while decelerating the traveling vehicle body 10 It is determined that the obstacle has been moved or removed and the obstacle has disappeared.

  Then, when the traveling vehicle body 10 is decelerated (S102: Yes), the vehicle control unit 100 accelerates the traveling vehicle body 10 (S103). Specifically, the vehicle control unit 100 accelerates the traveling vehicle body 10 by upshifting the main transmission unit 323 or the auxiliary transmission unit 325. The vehicle control unit 100 accelerates the vehicle speed of the traveling vehicle body 10 to a vehicle speed before decelerating.

  When the traveling vehicle body 10 is not decelerated (S102: No), the vehicle control unit 100 ends the current process.

  The vehicle control unit 100 determines whether or not there is an obstacle within a second predetermined range in the traveling direction of the traveling vehicle body 10 based on the signal from the second obstacle detection sensor 231b (S104).

  When an obstacle is detected by the second obstacle detection sensor 231b, that is, when an obstacle is detected by the first obstacle detection sensor 231a and the second obstacle detection sensor 231b (S104). : Yes), the traveling vehicle 10 is stopped (S105).

  When no obstacle is detected by the second obstacle detection sensor 231b, that is, when an obstacle is detected only by the first obstacle detection sensor 231a (S104: No), the vehicle control unit 100 performs the current process. finish. In this case, the traveling vehicle body 10 is maintained in a state where the main transmission unit 323 or the auxiliary transmission unit 325 is downshifted.

  Next, the effects of the tractor 1 according to the present embodiment will be described.

  For example, when an obstacle is detected ahead of the traveling direction during work by automatic traveling, it is conceivable to stop the traveling vehicle body 10. In addition, it is conceivable to travel by bypassing an obstacle so as not to touch the obstacle.

  In the case where the traveling vehicle body 10 is stopped in the field, or when it is detoured, for example, an embankment may occur in the field, and the cultivating state of the place where the traveling vehicle body 10 is stopped etc. There may be a difference with the state. If there is a difference in the cultivation condition of the field, there is a possibility that the growth of the crop will be affected, so it is desirable to carry out the work without stopping the traveling vehicle body 10 or making a detour traveling.

  Therefore, the tractor 1 according to the present embodiment decelerates the traveling vehicle body 10 when the first obstacle detection sensor 231a detects an obstacle ahead in the traveling direction during automatic traveling. When the obstacle is moved or removed while decelerating the traveling vehicle body 10, the operation can be performed without stopping the traveling vehicle body 10 or detouring. Thereby, it is possible to suppress the difference in the cultivating state of the field than when stopping the traveling vehicle body 10 or detouring, and to suppress the difference in the breeding of the crop.

  The tractor 1 according to the present embodiment includes a working power transmission mechanism 360 for transmitting power from the engine 321 to the cultivating work machine without passing through the main transmission unit 323 or the like, and downshifts the main transmission unit 323 or the like. The traveling vehicle body 10 is decelerated. Thereby, even when the traveling vehicle body 10 is decelerated, it is possible to suppress a decrease in the number of rotations of the PTO shaft 392. Therefore, for example, it is possible to suppress the occurrence of a difference in the tillage state by the tilling work machine before and after the deceleration. Further, for example, when the front wheel 301 and the rear wheel 302 of the tractor 1 get into drainage grooves and muddy and the traveling vehicle body 10 deviates from the planned traveling route, the front wheel 301 and the rear wheel 301 can be Since the torque of the wheel 302 is increased, it becomes easy to escape from the ditch for drainage and mud.

  The tractor 1 according to the present embodiment detects an obstacle within the first predetermined range by the first obstacle detection sensor 231a, and detects an obstacle within the second predetermined range narrower than the first predetermined range as the second obstacle. The object detection sensor 231b detects the object. The tractor 1 according to the present embodiment decelerates the traveling vehicle body 10 when an obstacle is detected by the first obstacle detection sensor 231a and no obstacle is detected by the second obstacle detection sensor 231b. When the distance between the obstacle and the traveling vehicle body 10 is relatively long, by decelerating the traveling vehicle body 10, it is possible to lengthen the time until the obstacle is moved or removed. After that, when the obstacle is moved or removed, the work can be performed without stopping the traveling vehicle body 10 or without detouring.

  The tractor 1 according to the present embodiment stops the traveling vehicle body 10 when an obstacle is detected by the first obstacle detection sensor 231a and the second obstacle detection sensor 231b. Thereby, the contact between the obstacle and the traveling vehicle body 10 can be prevented.

  The tractor 1 according to the present embodiment accurately measures the actual distance to the obstacle by using the first obstacle detection sensor 231a and the second obstacle detection sensor 231b which have different ranges for detecting the obstacle. Instead, the automatic travel described above can be performed. That is, the automatic traveling described above can be performed by a simple system without using a sensor or a system that measures an actual distance to an obstacle.

  Next, a modification of the tractor 1 according to the present embodiment will be described.

  In the tractor 1 according to the modification, when the obstacle is detected by the first obstacle detection sensor 231a and the second obstacle detection sensor 231b and the traveling vehicle body 10 is stopped, the number of rotations of the engine 321 is preset. It is set as a predetermined low rotation speed. Thereby, the fuel consumption can be improved. Moreover, when the traveling vehicle body 10 is stopped, for example, it is possible to suppress that the field of the stopped portion is cultivated by the tilling work machine, and it is possible to suppress that a difference occurs in the cultivation state of the field.

  Further, in the tractor 1 according to the modification, even when the obstacle is detected by the first obstacle detection sensor 231a and the second obstacle detection sensor 231b and the traveling vehicle body 10 is stopped, the PTO clutch 366 is released. Good. Thereby, when the traveling vehicle body 10 is stopped, for example, it is prevented that a tilling work machine is driven, it is prevented that a field is plowed, and it is suppressed that a difference arises in the tillage state of a field. Can.

  In the tractor 1 according to the modification, when the obstacle is detected by the first obstacle detection sensor 231a and the second obstacle detection sensor 231b and the traveling vehicle body 10 is stopped, the obstacle disappears. The state where the traveling vehicle body 10 is stopped is maintained, and the traveling is resumed based on the operation instruction from the terminal device 2 or the like. Thus, safety can be improved by resuming traveling based on an instruction from a worker.

  In the tractor 1 according to the modification, the position of an obstacle in a field, such as a utility pole, a steel tower, a signboard, etc., may be converted into data and stored in the storage device 140. When the first obstacle detection sensor 231a detects an obstacle at the position of the obstacle stored in the storage device 140, the tractor 1 according to the modification bypasses the obstacle and travels the vehicle body 10 Run Thereby, it is possible to bypass the obstacle stored in advance to perform automatic traveling, to bypass the obstacle to perform tillage work, and to improve work efficiency.

  In the case of bypassing an obstacle stored in advance, the traveling vehicle body 10 is made to travel so that the second obstacle detection sensor 231b does not detect an obstacle. Thereby, when bypassing the obstacle stored beforehand, an obstacle can be detected by the 2nd obstacle detection sensor 231b, and it can prevent that the traveling vehicle body 10 stops. Further, when an obstacle different from the obstacle stored in advance is detected by the second obstacle detection sensor 231b, the tractor 1 according to the modification can stop the traveling vehicle body 10, and the safety can be reduced. It can be improved.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the invention are not limited to the specific details and representative embodiments represented and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1 Tractor (plow work vehicle)
10 traveling vehicle body 100 vehicle control unit (control unit)
140 Storage device (storage unit)
231a 1st obstacle detection sensor 231b 2nd obstacle detection sensor 290 navigation system (position detection unit)
301 front wheel (drive wheel)
302 Rear wheel (drive wheel)
321 engine (drive source)
323 Main transmission (transmission mechanism)
325 Auxiliary gear (transmission mechanism)
360 Power transmission mechanism for work

Claims (4)

A traveling car body to which a tilling machine can be connected;
An obstacle detection sensor that detects an obstacle in the traveling direction of the traveling vehicle body;
A control unit for automatically traveling the traveling vehicle along a traveling route;
Equipped with
The control unit
A cultivating work vehicle, wherein the traveling vehicle body is decelerated when the obstacle is detected during the automatic traveling. The traveling vehicle body is
A transmission mechanism disposed in a power transmission path from the drive source to the drive wheels;
A working power transmission mechanism for transmitting power from the drive source to the cultivating work machine without passing through the transmission mechanism;
The control unit
The tilling work vehicle according to claim 1, wherein the traveling vehicle body is decelerated by downshifting the transmission mechanism. The obstacle detection sensor is
A first obstacle detection sensor that detects the obstacle within a first predetermined range with respect to the traveling vehicle body;
A second obstacle detection sensor for detecting the obstacle within a second predetermined range narrower than the first predetermined range with respect to the traveling vehicle body;
The control unit
When the obstacle is detected by the first obstacle detection sensor and the obstacle is not detected by the second obstacle detection sensor, the traveling vehicle is decelerated.
The cultivating work vehicle according to claim 1 or 2, wherein the traveling vehicle body is stopped when the obstacle is detected by the first obstacle detection sensor and the second obstacle detection sensor. A position detection unit that detects a current position of the traveling vehicle body;
And a storage unit for storing the position of the obstacle.
The control unit
When the obstacle is detected by the obstacle detection sensor at the position of the obstacle stored in the storage unit, the obstacle is bypassed to run the traveling vehicle body. The tillage work vehicle according to any one of Items 1 to 3.

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