JP2020120620A - Work vehicle - Google Patents

Abstract

To prevent misrecognition as an obstacle when an operator gets off a work vehicle.SOLUTION: A work vehicle includes a portable terminal 97 capable of executing communication control with control devices 90, 91, 92, and 93 on a machine body side, and a mode changeover switching means 102 for switching driving modes between an automatic driving mode M1 in which an operator gets off a work vehicle and performs work travelling by the operation of the portable terminal 97 and a manual driving mode M2 in which the operator gets on the work vehicle and performs a work travelling operation. Control devices 90,91,92, and 93 on a machine body side detect an obstacle around the machine body and execute warning processing upon receipt of an imaging signal of imaging means 96 disposed in the machine body. The obstacle detection is cancelled when a predetermined time t2 has not passed from an opening operation of an opening/closing door 88 to imaging signal output of the imaging means 96.SELECTED DRAWING: Figure 13

Description

The present invention relates to a work vehicle such as a tractor, for example, and more particularly to a traveling control system.

In a work vehicle configured to be remotely controlled by a manipulating operation of a portable controller held by an operator, a means for generating an emergency signal is provided when it is determined that the portable controller C is within a predetermined distance range. There is a configuration in which the braking device is operated by the generation of this emergency signal, and at the same time, the rotational speed of the prime mover of the work vehicle is reduced (see, for example, Patent Document 1).

Further, an agricultural tractor as a work vehicle is provided with an automatic driving mode and a manual driving control mode, and restarts the automatic traveling when the automatic traveling is interrupted due to an erroneous detection of an obstacle (for example, see Patent Document 2). ).

JP, 2000-003217, A JP, 2016-170523, A

By the way, in particular, in the configuration of the agricultural tractor described in Patent Document 2, when the operator gets off the vehicle, an improper operation such as giving a warning by recognizing the operator as an obstacle occurs, and the operator smoothly operates in the automatic operation mode or Sometimes remote control cannot be started.

The present invention has been made in view of the above-described conventional problems, and an object thereof is to prevent the inappropriate operation.

The above problems of the present invention are solved by the following means.

The invention according to claim 1 is provided with a control device 90, 91, 92, 93 on the machine body side and a portable terminal 97 capable of communication control, and an automatic driving mode M1 in which an operator can get off and execute work traveling by operating the portable terminal 97. And a mode change-over switch means 102 for switching to a manual operation mode M2 in which an operator gets on board to perform a work traveling operation, and the control devices 90, 91, 92, 93 of the machine body side are provided with image pickup means 96 arranged on the machine body. In a work vehicle configured to detect an obstacle around the fuselage by receiving an image pickup signal and perform warning processing, an obstacle occurs when a predetermined time t2 has not elapsed from the opening operation of the opening/closing door 88 to the output of the image pickup signal of the image pickup unit 96. The work vehicle is configured to cancel the object detection.

According to a second aspect of the invention, in the invention of the first aspect, even if the portable terminal 97 is provided with an automatic operation start switch means 103 and the automatic operation start switch means 103 is operated within the predetermined time t2, Is configured not to start running.

According to the first aspect of the present invention, it is possible to prevent the operator from immediately determining that the operator is an obstacle when the operator dismounts after switching to the automatic operation mode M1 after getting on the vehicle and moving to the field.

According to the invention described in claim 2, in addition to the effect described in claim 1, the vehicle does not start within the predetermined time t2 after the door is opened and closed, so that the operator can leave the vehicle at a safe distance.

It is a side view of the tractor of a present Example. It is a power transmission mechanism figure of a tractor. It is a control block diagram. It is a schematic diagram of (A) and (B) information communication control. (A) (B) is an example of a screen display of a mobile terminal. It is a flowchart. It is an example of a screen display of a mobile terminal. It is an example of a screen display of a mobile terminal. It is an example of a screen display of a mobile terminal. It is an example of a screen display of a mobile terminal. It is an example of a display of the second pattern. It is a flowchart. It is a flowchart.

Embodiments of the present invention will be described with reference to the drawings. The driving system of the present embodiment is adopted in an agricultural tractor 1 as an example of a work vehicle. The tractor 1 is a tractor capable of shifting gears of 8 main gears, 3 auxiliary gears, and 24 gears in total. FIG. 1 is a side view of the tractor 1, and FIG. 2 is a power transmission mechanism diagram.

The tractor 1 has front wheels 2 and 2 for steering and rear wheels 3 and 3 as propulsion wheels, and the rotational power of an engine 5 mounted in a hood 4 is appropriately decelerated by a transmission in a mission case 6, The rotary power is transmitted to the rear wheels 3 and 3. The rotational power of the engine 5 may be transmitted not only to the rear wheels 3 and 3 but also to the front wheels 2 and 2 to drive all four wheels.

Further, in the mission case 6, a forward/reverse switching device 9 for switching the traveling direction of the machine body, main transmission devices 10 and 11 capable of 8-speed shifting, and an auxiliary transmission device 12 capable of 3-speed shifting are connected in series. ing.

In FIG. 1, a hydraulic cylinder case 14 is provided on the upper part of the transmission case 6, and lift arms 15 and 15 are rotatably pivoted on both left and right sides of the hydraulic cylinder case 14. Lift rods 17 and 17 are interposed between the lift arms 15 and 15 and the lower links 16 and 16, and a rotary tiller 18, which is a working machine, is connected to a rear portion of the lower links 16 and 16.

When hydraulic oil is supplied to the hydraulic cylinder 14a housed in the hydraulic cylinder case 14 by operating the hydraulic operating lever 28, the lift arms 15 and 15 are rotated upward, and the lift rods 17 and the lower link 16 are used. The rotary tiller 18 is raised. On the contrary, when the hydraulic operating lever 28 is operated to the lower side, the hydraulic oil in the hydraulic cylinder 14a is discharged into the mission case 6 which also serves as a hydraulic tank, and the lift arms 15 and 15 are lowered.

The rotary cultivator 18 has a cultivating part 19, a main cover 20 covering the upper part of the cultivating part 19, and a rear cover 22 pivotally attached to the rear part of the main cover 20.

Further, a forward/reverse switching lever 27 for operating the forward/reverse switching device 9 is provided on the upper left side of the handle post 25 supporting the steering handle 24. However, on the contrary, if you pull it to the rear side, the aircraft will move backward.

Next, the power transmission system will be described based on the power diagram shown in FIG.

A main clutch 30 is provided at a rear portion of the engine 5, and a forward/reverse switching device 9 is provided at a rear position of transmission of the main clutch 30. The forward/reverse switching device 9 is composed of multi-disc friction type hydraulic clutches 9a and 9b, which is normally maintained in a neutral position, and the forward/reverse switching lever 27 is operated in the forward/rearward direction to connect the forward hydraulic clutch 9a. Alternatively, the reverse hydraulic clutch 9b is connected.

At the rear of the forward/reverse switching device 9, there is provided a synchromesh type first main transmission device 10 capable of shifting four stages, and when the actuators 31, 31 expand and contract in response to a command from the controller C, the shifters 32, 32 are moved. It is moved back and forth to shift gears. In FIG. 2, when the front shifter 32 moves forward and backward, fourth and third speeds are obtained, and when the rear shifter 32 moves forward and backward, second and first speeds are obtained. In this case, when the main shift is switched, the hydraulic clutch of the hydraulic forward/reverse switching device 9 is first returned to neutral, and the hydraulic clutch of the forward/reverse switching device 9 is connected again after the shift. I am configuring.

A hydraulic second main transmission 11 that can switch between high and low stages is provided at the rear of the first main transmission 10. The front hydraulic clutch 11a is a high speed clutch, and the rear hydraulic clutch 11b is a low speed hydraulic clutch. Therefore, in the main transmissions 10 and 11 of this embodiment, a total of 4×2 and a total of eight shifts are possible.

Further, at the rear of the second main transmission device 11, there is provided an auxiliary transmission device 12 which is capable of shifting in three stages and has a reduction ratio that is relatively larger than those of the main transmission devices 10 and 11. As shown in FIG. 2, when the auxiliary shift lever 34 is operated to move the front shifter 35 forward and backward, high speed (H) and medium speed (M) are obtained, and the rear shifter 35 is moved rearward. And low speed (L) is obtained.

When operating the sub transmission 12, it is necessary to turn on/off the main clutch 30. That is, the main clutch pedal 29 is depressed to operate the auxiliary transmission lever 34 in the front-rear direction or the left-right direction, and after the gear shifting operation, the main clutch pedal 29 is released to transmit the engine rotational power to the transmission side.

Regarding the main transmissions 10 and 11, the speed-up switch 37 and the deceleration switch 38 provided on the knob of the sub-transmission lever 34 are pushed in to shift gears (see FIG. 2). When the speed increase switch 37 or the deceleration switch 38 is pressed, the gears are shifted one by one, and the main transmissions 10, 11 are shifted in the range from the slow first speed to the fast eight speed. Then, the power reduced by the sub transmission 12 is transmitted to the drive pinion shaft 40, and the rear wheels 3, 3 are driven through the rear wheel differential device 41 and the final speed reducer 42 in order.

The power branched from the rear wheel drive system before the rear wheel differential device 41 is used as a front wheel drive system. In the front wheel drive system, the front wheels 2 and 2 are driven at a constant speed with the rear wheels 3 and 3, or the front wheels are driven. A front wheel speed increasing device 44 is provided for rotating the second wheels 2 and 2 at a speed higher than that of the rear wheels 3 and 3. When the front side hydraulic clutch 44a of the front wheel speed increasing device 44 is connected, the front wheel speed increasing state is established, and when the rear side hydraulic clutch 44b is connected, the constant speed four-wheel drive state is established and both hydraulic clutches 44a and 44b are connected. When is turned off, it becomes a two-wheel drive state in which only the rear wheels 3 and 3 are driven. A front wheel differential device 46 and a front wheel final reduction gear device 47 are provided on the front wheel drive shaft.

The PTO output shaft 83 is driven as follows.

Power is transmitted from the input gear 60 to the drive gear 75 of the PTO clutch 70 via the gear 62 of the counter shaft 61, and is transmitted to the PTO clutch 70. When the PTO clutch 70 is in the engaged state, the PTO drive shaft 71 is driven at the shift speed selected by the four-speed shift gear mechanism that is slide-controlled by the two hydraulic cylinders 76 and 77.

FIG. 3 shows a usage mode of the information communication control used in the tractor 1.

The tractor 1 includes an information communication control device 90 having a built-in GPS antenna, and the information communication control device 90 is a vehicle control device 91 for controlling and outputting to a work machine lifting drive device and a travel drive device, and a work machine to be connected (illustration example). Then, the work machine control device 92 and the engine control device 93 of the tilling work machine are connected to each other by CAN (Controller Area Network) communication. 94 is an external memory.

The vehicle control device 91 uses an infrared or ultrasonic sensor 95f, 95r detection signal for irradiating the front of the tractor 1 body to detect the front and rear field edges, and a frame of a cabin 89 equipped with an opening/closing door 88. Imaging signals and the like around the fuselage can be input from four imaging cameras 96f, 96r, 96L, and 96R arranged in the front, rear, left, and right. Further, the information communication control device 90 is provided with a mobile terminal 97 capable of communicating by short-range wireless communication means, and is configured to be able to input position information from a GPS 98. The ultrasonic sensor 95 can detect whether or not the front of the machine body has reached the field edge, and the front, rear, left and right imaging cameras 96f, 96r, 96L, 96R can confirm the presence or absence of an obstacle.
The mobile terminal 97 is configured to be capable of wireless communication with a base station 99, the base station 99 is capable of communicating with a server 100 of a server administrator, and the server 100 is a tractor user, a tractor manufacturer, or a tractor manufacturer. It is configured to be able to communicate with the terminals 101, 101...

The mobile terminal 97 is provided so as to be able to communicate the data of the base station 99, and is configured to display, for example, field data such as field map information, field information, and work plans.

Further, farmland information is output to the base station 99 from the terminals 101, 101... Arranged at the tractor user, the tractor manufacturer, the dealer, and the like. For example, the longitude/latitude information of the four corners a, b, c and d designated as the field outside information in the fields A, B,..., A plurality of operation patterns described later,.

The function of the mobile terminal 97 will be described below. However, the information can be appropriately input regardless of whether the information is from the information communication control device 90 or the communication information from the base station 99.

Regarding the function of the information communication control device 90 or the mobile terminal 97, the driving route calculation means KJ based on the individual farm field registration information will be described first. Information communication control device 90, for each of a plurality of fields A~F owned stores individual field registration information _KH A _{~KH F.} That is, in the external memory 94, the field outside information, the invasion path information to the field, and the obstacle information are stored for each of the fields A to F, and any one of the plurality of fields A to F is stored in the mobile terminal 97. When selected set, call the field registration information selected among these individual fields registration information KH _a ~KH _F, at the same time by inputting the current position information of the tractor 1 from GPS98, executes driving directions calculating unit KJ.

An example of plowing work will be described. The calculation of the operation route calculation means KJ is performed by inputting conditions such as the work type, the work width w, the work lap width δ, the operation pattern, and the GPS antenna installation position information, as well as the sequential execution of the following generation modes that are preset and stored. The details of the generation mode are parallel to the sides a-b, b-c, cd, and d-a of a-b-c-d that connect the four corners of the field outside information of the rectangular field, and this a-b. Adjacent tillage area generation mode (A) obtained by subtracting the number of pillow turns S (S is assumed to be 3 times) from −c−d, parallel to the outermost side a−b, and pillowed from the outermost side a−b Operation path reference line generation mode (a) obtained by subtracting 3 times of turning and 1/2 of tilling width, parallel to the operation path reference line, and "plow width w-lap width δ" with respect to the operation path reference line. Operation path adjacent line generation mode (C) in which the advancing direction is 180° with respect to the previous stroke, which is obtained at positions separated by dimensions, and the adjacent lines are sequentially separated from the previous stroke line by "plowing width w-lap width δ". Located on the center side for three pillow turns from the outermost a-d line, the operation start starting point generation mode (d) by the intersection of the adjacent tilling area and the operation route reference line, and the traveling direction line of the operation route reference line. There is an adjacent turning operation line generation mode (e) (f) for calculating a target position that matches an adjacent line of the next travel operation route, where the adjacent tilling areas intersect, and these generation modes are sequentially executed. It should be noted that the case where the outward advancing turn operation line is generated is indicated by reference numeral (e), and the case where the return pass adjacent turn operation line is generated is indicated by reference numeral (f).

Execution of the automatic operation mode M1 will be described based on the flowchart of FIG. At the same time as or before the start of the engine, the terminal switch 97a of the portable terminal 97 is first turned on (step 101) to display the start screen (not shown). Then, one of the predetermined fields A to F is selected from the field map information (FIG. 5) displayed by the preset screen switching operation (step 102). The field setting at this time has a configuration that can be selected by, for example, touching the screen (FIG. 5A).

After the farm field is selected in step 102, various conditions of the selected farm field (A in the illustrated example) are selectively set and input as required (steps 103 and 104). The conditions set here include work types such as “cultivation”, “scraping”, “row raising”, and “seed bed making”, or operation patterns. The operation patterns are “adjacent pattern”, “one-row tobashi”, “straight back tillage/adjacent” after “field end abutment” (hereinafter referred to as “don abut”), “don abut curve back tillage/adjacent”, and It is possible to select from five types of "don't push back specified width" (operation pattern selection means KP) (FIG. 7). The input information includes the work width w, the work lap width δ, the linear distance L from the GPS antenna point AP to the work machine rear end, and the distance H from the GPS antenna point to the work machine side end (FIG. 4). ..

This is a configuration in which the mobile terminal 97 is prepared with these selection setting and input setting screens, and the selection setting and input are respectively performed based on a predetermined operation.

Then, the registration status of the selected individual farm A is read (step 105). Here, the individual field registration status includes, for example, field outside information, that is, each outermost abcd point information of the rectangular field, field approach information, and obstacle information (FIG. 5(B)), Both are stored by linking to GPS position information. When the information from step 103 to step 105 is read, the adjacent tillage area generation mode (a), the driving route reference line generation mode (a), the driving route adjacent line generation mode (c), the driving start point generation mode (d) , And the outward advancing turning operation line generation mode (e) and the returning adjoining turning operation line generation mode (f) are sequentially executed (FIG. 8). Thereby, the driving route can be automatically calculated (steps 106 to 111) (driving route calculation means KJ). The automatic operation of the machine body is continued based on this operation route (steps 112 to 114). Although position information by GPS is acquired for automatic driving, the deviation between the current position and the automatic driving route is set so that the current position of the tractor 1 travels along the automatic driving route set as described above. A means for detecting the amount and an automatic traveling direction correcting means for outputting a left-right direction correcting signal to the steering mechanism based on the deviation amount are provided.

When the automatic driving mode M1 is canceled and the operator runs the manual driving mode M2, the automatic driving mode M1 is switched to the manual driving mode M2 by operating the mode changeover switch 102 of the mobile terminal. In this way, the automatic traveling correction means is turned off, and the traveling route of the tractor 1 is corrected by the operator riding on the tractor operating the steering handle to correct the traveling direction. During the manual operation mode M2, the travel in the manual operation mode M2 can be assisted by displaying the travel route and the current position of the tractor on a monitor (not shown) provided in the operation unit of the mobile terminal 97 or the tractor 1.

The image pickup signals of the image pickup cameras 96f, 96r, 96L and 96R on the front, rear, left and right, which are provided on the vehicle body, can be displayed on a monitor (not shown) arranged in the operation section of the portable terminal 97 and the tractor. As shown in FIG. 9, the "front screen" and "rear screen" are displayed in the upper left and lower areas of the screen of the display screen 97a of the mobile terminal 97, and the "left screen" and the "right screen" are displayed in the upper and lower areas of the screen center. Further, in the illustrated example, the "basic information" and "safety sensor information" can be displayed in the upper and lower right areas of the screen (hereinafter, referred to as the first pattern).

Here, the "basic information" includes tractor machine information, work information, and automatic operation state information. Among these, tractor machine information includes vehicle speed, engine speed, engine cooling water temperature, remaining fuel amount, tractor running state. (Stops forward and backward), the number of main gears, and the sub gear. The work information includes traveling modes such as four-wheel drive and front wheel acceleration, lift arm height, automatic braking set braking force, PTO on/off, PTO rotation speed, and the like. Examples of the automatic driving state information include automatic driving stoppage, automatic driving traveling, and obstacle detection. An example of the “safety sensor information” is an image sensor arranged in the peripheral part of the tractor, and the method of screen display can be indicated by the tractor plane icon and the image sensor position.

Further, the configuration of the mobile terminal 97 will be described with reference to FIG. 9. An automatic operation start switch 103 is provided below the display screen 97a in addition to the mode changeover switch 102. It should be noted that the operation mode is configured to sequentially switch between the automatic operation mode M1, the manual operation mode M2, and the automatic operation standby mode M0 each time the mode switch 102 is pressed. When the portable terminal 97 is activated, the operation mode is initially set to the automatic operation standby mode M0. In the automatic operation standby mode M0, the "front screen" and the "rear screen" are displayed in the left upper and lower areas from the first pattern. , A second pattern that displays "basic information" and "safety sensor information" in the central upper and lower areas, and "operation information" in the right area, or "front screen" (or "rear screen", "left" in the left and center areas). One of the "screens" and the "right screen"), and a third pattern that can display "basic information" and "safety sensor information" in the upper and lower right areas are provided so that they can be selectively switched (FIG. 10).

Note that FIG. 11 shows an example of the second pattern, and a specific example of the “basic information” display is the engine speed, gear shift position, fuel tank remaining amount, cooling water temperature, vehicle speed, and lift arm height as work information. And the PTO rotation speed, and a specific example of the "safety sensor information" display is the operating status of the front and rear confirmation cameras and the front and rear and left and right obstacle detection imaging cameras. Specific examples of the "operation information" display are the engine speed and the "+" and "-" switches, the main shift speed and the "+" and "-" switches, and the "4WD switching" (various combinations of 4WD and front wheel acceleration) mode. These are switches and the like, and the settings can be changed by tapping these switches.

Then, when the automatic operation standby mode M0 that displays any one of the first pattern to the third pattern is shifted to the automatic operation mode M1, it is possible to switch and display either the first pattern or the second pattern. There is.

Next, in the automatic driving mode M1 and the manual driving mode M2, traveling control when an obstacle is detected will be described. As shown in FIG. 12, when the key switch 105 is turned on and the portable terminal 97 is turned on (S201, S202), work travel output is performed in the set operation mode (S203). Then, when the tractor 1 is working, the image pickup signals of the image pickup cameras 96f, 96r, 96L, 96R on the front, rear, left and right of the machine body are output and transmitted to the portable terminal 97 (S204). When the image pickup signal is processed and an obstacle is detected, a buzzer alarm is issued together with a warning display, for example, a warning display of "Attention of obstacle" on the display screen 97a of the mobile terminal 97 (S206). Then, the operation mode is determined (S207), and when it is the automatic operation mode M1, the obstacle avoidance traveling control is output (S208) and the work is continued while automatically avoiding traveling. Here, the timer is activated along with the execution of S208, the elapsed time is counted, the predetermined time t1 has passed in advance (S209, S210), it is determined whether or not the obstacle is avoided, and if it is determined that the obstacle is avoided (S211), It returns to the automatic operation mode (S212). If the obstacle cannot be avoided in S211, the traveling of the tractor 1 is stopped (213). As described above, when the obstacle avoidance cannot be performed in the automatic operation mode M1, it is necessary to switch to the manual operation mode M2 and operate the tractor to perform obstacle avoidance. Even when the manual operation mode M2 is determined in S207, the operator can avoid the obstacle by the tractor traveling operation (S214).

When the above operation is repeated and it is determined that the work is completed (S215), the key switch is turned off and the portable terminal 97 is also turned off (S216, S217), so that the tractor machine body is stopped.

Next, erroneous determination preventing means for preventing erroneous determination of an operator as an obstacle will be described. In FIG. 12, the portable terminal 97 is turned on and the mode changeover switch 102 is pressed to set a desired operation mode (S301, S302). The operation of the mode changeover switch 102 is provided so that the aircraft can be stopped under the condition that the machine is stopped. When the mode changeover switch 102 is operated while the machine is traveling, a warning is displayed on the operation screen 97a of the mobile terminal 97 together with a warning. Good. Then, when the tractor 1 is working, the image pickup signals of the image pickup cameras 96f, 96r, 96L, 96R on the front, rear, left and right of the machine body are output and transmitted to the portable terminal 97 (S303). Although the image pickup signal is processed and the obstacle detection is determined (S304), it is not immediately displayed as a warning but it is determined whether the operation mode is the automatic operation mode M1 or the manual operation mode M2 (S305). If it is the automatic operation mode M1, the elapsed time from the latest door 88 opening operation to the obstacle detection output of S304 is measured (S306). If the predetermined time t2 has not elapsed, the obstacle determination of S304 is canceled. If the predetermined time t2 is exceeded in S307 (S307, S308), it is determined as an obstacle (S309) and a warning is displayed (S310). With this configuration, when the operator who is on board operates the opening/closing door 88 and gets on the ground, even if the operator is detected as an obstacle, it can be canceled as a false detection and no warning is displayed. It is possible to continue working.

It should be noted that the canceling process in S308 may have the same configuration, and when it is detected that the opening/closing door 88 has been opened, the obstacle determining process may not be performed for a predetermined time t2.

The steps S306 to S308 can be performed by the open/close detection switch 88a of the open/close door 88 and the timer means. A combination of the opening/closing detection switch 88a of the opening/closing door 88 and the vehicle speed sensor 106 is used to operate the mode changeover switch 102 while the vehicle is stopped or to detect the opening/closing of the opening/closing door 88. be able to.

After the execution of S308, when the operator operates the automatic operation start switch 103, if the predetermined time t2 has not yet elapsed, the ON output of the automatic operation start switch 103 cannot be accepted. According to this structure, the tractor traveling does not start in a situation where the operator is not far from the tractor body, and the execution of the automatic traveling mode can be safely operated.

In the above embodiment, the portable terminal 79 is provided with the automatic driving mode M1 as the driving mode, and the work traveling can be performed at the place away from the tractor 1 by the operation of the automatic driving start switch 103. However, it is displayed in the second pattern. When set, the switches of "operation information" can be remotely operated (remote operation mode M3). The selection of the remote operation mode M3 is made by operating the mode changeover switch 102, and the work traveling in the remote operation mode M3 can be started by the automatic operation start switch 103.

88 Open/close door 90 Information communication control device (control device)
91 Vehicle control device (control device)
92 Working machine control device (control device)
93 Engine control device (control device)
96 image pickup means 97 mobile terminal 102 mode changeover switch (mode changeover switch means)
103 Automatic operation start switch (Automatic operation start switch means)
M1 Automatic operation mode M2 Manual operation mode t2 Predetermined time

Claims (2)

An automatic driving mode (M1), which includes a mobile terminal (97) capable of communication control with a control device (90, 91, 92, 93) on the machine side, allows an operator to get off and perform work traveling by operating the mobile terminal (97). And a mode changeover switch means (102) for switching to a manual operation mode (M2) in which an operator boards and carries out work traveling operation, and the control device (90, 91, 92, 93) on the machine side is provided with the machine. In a work vehicle configured to receive an image pickup signal of an image pickup means (96) provided and detect an obstacle around the body to perform warning processing,
A work vehicle configured to cancel obstacle detection when a predetermined time (t2) has not elapsed from the opening operation of the opening/closing door (88) to the output of the image pickup signal of the image pickup means (96). The portable terminal (97) is provided with an automatic operation start switch means (103), and the aircraft does not start traveling even if the automatic operation start switch means (103) is operated within the predetermined time (t2). The work vehicle according to claim 1.

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