JP6926021B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle provided with a position information measuring sensor that measures position information about a measurement object around the work vehicle.

A work vehicle as described above is provided with a camera as a position information measurement sensor, detects a work position such as an excavation position or a discharge position based on the image pickup information of the camera, and moves the work vehicle to the work position to determine a predetermined value. (See, for example, Patent Document 1).

Since the work position is detected from the image information of the camera, if the installation state such as the camera installation position and installation direction deviates from the desired state, the position and direction at the detected work position deviates from the original one. Become. Therefore, in the work vehicle described in Patent Document 1, the position information measurement sensor (camera) is calibrated so as to be installed in a desired state. By attaching the calibration jig to the work equipment (bucket) of the work vehicle and imaging the calibration jig with the camera, the deviation between the camera installation position and installation direction and the desired installation position and installation direction is detected. The installation state of the camera is calibrated to the desired state. In addition, instead of attaching the calibration jig to the bucket, the camera is used to image the bucket, and the feature points of the bucket itself, such as the tip of the bucket's claws and the edge of the bucket, are extracted to show the camera's installation status. It is described that it can be calibrated to a desired state.

Japanese Patent No. 3827480

In the work vehicle described in Patent Document 1, a calibration jig is attached to the bucket of the work vehicle to calibrate the position information measurement sensor, but the work is not limited to the work of attaching the calibration jig to the bucket. , The work of removing the calibration jig from the bucket must also be performed. Therefore, laborious work is required, which leads to a decrease in work efficiency.

Further, when the position information measurement sensor is calibrated using the bucket, the bucket is used only for calibration, and the bucket is a dedicated member for calibration. As the work related to the position information measurement sensor, it is conceivable to perform not only calibration but also other work. Therefore, for example, it is desired to improve work efficiency by using the member used for calibration for other work.

In view of this situation, the main subject of the present invention is not only calibration but also other purposes regarding the position information measurement sensor while improving work efficiency by utilizing the member used for calibration for other purposes. The point is to provide a work vehicle that can also perform work.

The first feature configuration of the present invention includes a position information measurement sensor that measures position information about a measurement object around a work vehicle body, and a position information measurement sensor.
A calibration processing unit that performs calibration processing for calibrating the installation state of the position information measurement sensor in the work vehicle body to a desired state, and
Among the measurement ranges of the position information measurement sensor, a masking range setting unit for setting a masking range excluding the measurement of position information is provided.
The position information measurement sensor is arranged in a state in which a part of the work vehicle main body or a member provided in the work vehicle main body is included in the measurement range.
The calibration processing unit calibrates the work vehicle main body or a part of the members provided in the work vehicle main body included in the measurement range of the position information measurement sensor based on the measurement information of the position information measurement sensor. Process and
The masking range setting unit includes the work vehicle body included in the measurement range of the position information measurement sensor based on the measurement information of the position information measurement sensor after calibrating the installation state of the position information measurement sensor to a desired state. Alternatively, the masking range is set by using a part of the members provided in the work vehicle body.

According to this configuration, the work vehicle body or a part of the members provided in the work vehicle body is included in the measurement range of the position information measurement sensor. Therefore, the calibration processing unit performs the calibration process to obtain the position information measurement sensor. In the measurement range, the user or the like can grasp the position of the work vehicle main body or a part of the member provided in the work vehicle main body. Since a part of the work vehicle body or the member provided in the work vehicle body is located at a predetermined position, the user or the like can use the position where the part of the work vehicle body or the member provided in the work vehicle body exists from the default position. It is possible to determine whether or not the vehicle is misaligned and the amount of the misalignment. Therefore, the user or the like can adjust the installation state (installation position, installation direction, etc.) of the position information measurement sensor and perform calibration to make the installation state of the position information measurement sensor a desired state. Moreover, since a part of the work vehicle body or the members provided in the work vehicle body is used for the calibration of the position information measurement sensor, for example, it is necessary to attach and remove the calibration jig to the work vehicle body and the like. It is possible to reduce the labor required for the work.

Since the work vehicle body or the member provided in the work vehicle body is not a measurement object around the work vehicle body, the masking range setting unit is used for the work vehicle body or the work vehicle body in the measurement range of the position information measurement sensor. The range corresponding to the provided member is set as the masking range. The masking range setting unit can acquire accurate position information from the measurement information of the position information measurement sensor after calibration, and sets an appropriate masking range using the work vehicle body or the members provided in the work vehicle body. can do. Moreover, since the work vehicle body or the members provided in the work vehicle body can be used not only for calibrating the position information measurement sensor but also for setting the masking range of the position information measurement sensor, the work vehicle body or the members can be used. It is possible to calibrate the position information measurement sensor and set the masking range of the position information measurement sensor while effectively utilizing the members provided in the work vehicle body to improve the work efficiency.

The second feature configuration of the present invention is that the position information measurement sensor is a first position information measurement sensor arranged in a state where a part of the work vehicle main body or a member provided in the work vehicle main body is included in the measurement range. , A plurality of the work vehicle main body or a second position information measurement sensor which is arranged so that a part of the members provided in the work vehicle main body is not included in the measurement range.
A calibration jig that can be placed within the measurement range of the second position information measurement sensor is provided.
The calibration processing unit performs calibration processing using the calibration jig included in the measurement range of the second position information measurement sensor based on the measurement information of the second position information measurement sensor.

The work vehicle body is provided not only with the first position information measurement sensor arranged so that a part of the work vehicle body or the members provided with the work vehicle body is included in the measurement range, but also with the work vehicle body or the work vehicle body. A second position information measurement sensor may also be provided, which is arranged so that a part of the members to be mounted is not included in the measurement range. In this case, the calibration processing unit of the second position information measurement sensor cannot perform the calibration processing using the work vehicle main body or a part of the members provided in the work vehicle main body.

Therefore, according to this configuration, a calibration jig that can be arranged in a state of being included in the measurement range of the second position information measurement sensor is provided. As a result, the calibration processing unit can perform the calibration process using the calibration jig included in the measurement range of the second position information measurement sensor, and can appropriately calibrate the second position information measurement sensor. ..

The third characteristic configuration of the present invention is that the calibration jig is detachably configured with respect to the work vehicle main body.

According to this configuration, since the calibration jig is detachable from the work vehicle main body, it can be provided on the work vehicle main body in a state where the positional deviation does not occur as much as possible with respect to the work vehicle main body. As a result, the calibration processing unit can perform appropriate calibration processing using the calibration jig included in the measurement range of the second position information measurement sensor, and accurately calibrate the second position information measurement sensor. Can be done.

In the fourth feature configuration of the present invention, the position information measurement sensor is composed of a distance sensor that measures the distance to the measurement object in three dimensions as position information.
An obstacle detection unit that detects an object to be measured within a predetermined distance as an obstacle based on the measurement information of the distance sensor is provided.
The masking range setting unit sets a range in which the obstacle detection unit does not detect an obstacle as the masking range.

When a part of the work vehicle body or the member provided in the work vehicle body is included in the measurement range of the distance sensor, the obstacle detection unit obstructs the part of the work vehicle body or the member provided in the work vehicle body. There is a possibility that it will be falsely detected as an object. Therefore, according to this configuration, the masking range setting unit sets the range in which the obstacle detection unit does not detect as an obstacle as the masking range. As a result, the obstacle can be detected while preventing the work vehicle body or a part of the members provided in the work vehicle body from being erroneously detected as an obstacle. The work vehicle body can be driven while avoiding the collision.

The figure which shows the schematic structure of the automatic driving system Block diagram showing the schematic configuration of the autonomous driving system Diagram showing the target driving route The figure which shows the upper part of the tractor in the front view The figure which shows the upper part of the tractor in the rear view The figure which shows the antenna unit and the front rider sensor at the use position in the side view. Perspective view showing the support structure of the antenna unit and the front rider sensor The figure which shows the antenna unit and the front rider sensor in the non-use position in the side view. The figure which shows the roof, the antenna unit, the front rider sensor, and the rear rider sensor in the side view in the used position and the non-used position. Perspective view showing the support structure of the rear rider sensor The figure which shows the measurement range of the front rider sensor and the rear rider sensor in the side view. The figure which shows the measurement range of the front rider sensor, the rear rider sensor and a sonar unit in a plan view. The figure which shows the 3D image generated from the measurement information of the front rider sensor when calibrating the front rider sensor. The figure which shows the 3D image generated from the measurement information of a rear rider sensor in a state where a working apparatus is positioned in a descending position at the time of calibrating a rear rider sensor. The figure which shows the 3D image generated from the measurement information of the front rider sensor when setting the masking range of the front rider sensor. The figure which shows the 3D image generated from the measurement information of a rear rider sensor in a state where a working apparatus is positioned in a descending position when setting a masking range of a rear rider sensor. The figure which shows the 3D image generated from the measurement information of a rear rider sensor in a state where a work apparatus is positioned in an ascending position when setting a masking range of a rear rider sensor. Flowchart showing the flow of operation in calibration processing and masking processing The figure which shows the measurement range of the front rider sensor and the rear rider sensor in the side view with the front side calibration jig and the rear side calibration jig attached. The figure which shows the 3D image generated from the measurement information of a rear rider sensor when calibrating the rear rider sensor. The figure which shows the 3D image generated from the measurement information of the front rider sensor when calibrating the front rider sensor.

An embodiment when the work vehicle according to the present invention is applied to an automatic traveling system will be described with reference to the drawings.
In this automatic traveling system, as shown in FIG. 1, the tractor 1 is applied as the work vehicle according to the present invention, but other than the tractor, a passenger rice transplanter, a combine, a passenger mower, a wheel loader, a snowplow, etc. And unmanned work vehicles such as unmanned mowers can be applied.

As shown in FIGS. 1 and 2, this automatic traveling system includes an automatic traveling unit 2 mounted on a tractor 1 and a mobile communication terminal 3 set to communicate with the automatic traveling unit 2. As the mobile communication terminal 3, a tablet-type personal computer, a smartphone, or the like having a touch-operable display unit 51 (for example, a liquid crystal panel) or the like can be adopted.

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

The tractor 1 can be configured to the rotary tillage specification by connecting the rotary tillage device, which is an example of the work device 12, to the rear part of the traveling machine body 7 via a three-point link mechanism 11 so as to be able to move up and down and roll. can. Instead of the rotary tillage device, a working device 12 such as a plow, a sowing device, a spraying device, etc. can be connected to the rear part of the tractor 1.

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

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

As shown in FIGS. 4 and 5, the cabin 10 includes a cabin frame 31 forming the framework of the cabin 10, a windshield 32 covering the front side, a rear glass 33 covering the rear side, and an axial center circumference along the vertical direction. It is configured in a box shape with a pair of left and right doors 34 (see FIG. 1) that can be oscillated and opened and closed, and a roof 35 on the ceiling side. The cabin frame 31 includes a pair of left and right front columns 36 arranged at the front end and a pair of left and right rear columns 37 arranged at the rear end. In a plan view, the front columns 36 are arranged at the left and right corners on the front side, and the rear columns 37 are arranged at the left and right corners on the rear side. The cabin frame 31 is supported on the traveling machine body 7 via a vibration-proof member such as an elastic body, and anti-vibration measures are taken to prevent vibration from the traveling machine body 7 or the like from being transmitted to the cabin 10. In the state, the cabin 10 is provided.

Inside the cabin 10, as shown in FIG. 1, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for passengers, and a touch panel It is equipped with an expression display unit and various operating tools. Both lateral sides of the front side portion of the cabin 10 are provided with step 41 for getting on and off the cabin 10 (driver's seat 39).

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

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

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

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

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

When the travel route generation unit 53 generates the target travel route P, a user such as a driver or an administrator can use the work vehicle or the like according to the input guide for setting the target travel route displayed on the display unit 51 of the mobile communication terminal 3. Vehicle body information such as the type and model of the work device 12 is input, and the input vehicle body information is stored in the terminal storage unit 54. The travel area S (see FIG. 3) for which the target travel route P is to be generated is set as a field, and the terminal electronic control unit 52 of the mobile communication terminal 3 acquires field information including the shape and position of the field and is a terminal storage unit. I remember it in 54.

Explaining the acquisition of field information, when a user or the like drives and actually runs the tractor 1, the terminal electronic control unit 52 obtains the shape and position of the field from the current position of the tractor 1 acquired by the positioning unit 21. It is possible to acquire the position information for specifying the above. The terminal electronic control unit 52 specifies the shape and position of the field from the acquired position information, and acquires the field information including the traveling area S specified from the shape and position of the specified field. FIG. 3 shows an example in which the rectangular traveling region S is specified.

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

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

As shown in FIG. 3, the travel route generation unit 53 generates the target travel route P by using the vehicle body information, the field information, and the like. For example, the target travel path P includes a plurality of work paths P1 having the same straight-line distance in the central region R1 and arranged in parallel with a certain distance corresponding to the work width, and the start ends of adjacent work paths P1. It has a connecting path P2 that connects the ends and a circular path P3 (indicated by a dotted line in the figure) that orbits in the outer peripheral region R2. The plurality of work paths P1 are routes for performing a predetermined work while traveling the tractor 1 in a straight line. The connecting path P2 is a U-turn path for changing the traveling direction of the tractor 1 by 180 degrees without performing a predetermined operation, and connects the end of the work path P1 and the start end of the next adjacent work path P1. ing. The orbital path P3 is a path for performing a predetermined operation while orbiting the tractor 1 in the outer peripheral region R2. The circuit path P3 switches the traveling direction of the tractor 1 by 90 degrees by switching the tractor 1 between forward traveling and reverse traveling at positions corresponding to the four corners of the traveling region S. Incidentally, the target travel route P shown in FIG. 3 is just an example, and what kind of target travel route is set can be changed as appropriate.

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

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

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

When starting the automatic traveling of the tractor 1, for example, when the user or the like moves the tractor 1 to the starting point and various automatic traveling start conditions are satisfied, the user displays the display unit 51 on the mobile communication terminal 3. By instructing the start of automatic traveling, the mobile communication terminal 3 transmits the instruction to start automatic traveling to the tractor 1. As a result, in the tractor 1, the in-vehicle electronic control unit 18 receives an instruction to start automatic driving, and while the positioning unit 21 acquires its own current position (current position of the tractor 1), the vehicle-mounted electronic control unit 18 sets the target traveling path P. The automatic running control for automatically running the tractor 1 along the line is started. Automatic traveling control in which the in-vehicle electronic control unit 18 automatically travels the tractor 1 along the target traveling route P in the traveling region S based on the positioning information of the tractor 1 acquired by the positioning unit 21 using the satellite positioning system. It is configured as an automatic driving control unit that performs the above.

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

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

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

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

In the automatic work control, the work device control unit 183 performs work such as the start end of the work path P1 (see, for example, FIG. 3) by the tractor 1 based on the route information of the target travel path P and the output of the positioning unit 21. A predetermined work (for example, tilling work) by the work device 12 is started as the work device 12 reaches the start point, and the tractor 1 reaches the work end point such as the end of the work path P1 (for example, see FIG. 3). Along with this, the operations of the clutch operating mechanism 16 and the elevating drive mechanism 17 are automatically controlled so that the predetermined work by the working device 12 is stopped.

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

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

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

As shown in FIGS. 1 and 2, the tractor 1 is provided with an obstacle detection system 100 for detecting an obstacle around the tractor 1 (traveling machine 7) and avoiding a collision with the obstacle. ing. The obstacle detection system 100 includes a plurality of lidar sensors (corresponding to distance sensors) 101 and 102 capable of measuring the distance to the measurement target in three dimensions using a laser, and ultrasonic waves to the measurement target. The sonar units 103 and 104 having a plurality of sonars capable of measuring a distance, an obstacle detection unit 110, and a collision avoidance control unit 111 are provided. Here, the measurement objects to be measured by the rider sensors 101 and 102 and the sonar units 103 and 104 are objects, people, and the like.

The obstacle detection unit 110 performs obstacle detection processing for detecting an object to be measured such as an object or a person within a predetermined distance as an obstacle based on the measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104. It is configured in. The collision avoidance control unit 111 is configured to perform collision avoidance control when the obstacle detection unit 110 detects an obstacle. The obstacle detection unit 110 repeatedly performs obstacle detection processing based on the measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104 in real time to appropriately detect obstacles such as objects and people, and avoids collisions. The control unit 111 performs collision avoidance control for avoiding a collision with an obstacle detected in real time.

The obstacle detection unit 110 and the collision avoidance control unit 111 are provided in the vehicle-mounted electronic control unit 18. The in-vehicle electronic control unit 18 is communicably connected to the electronic control unit for the engine, the rider sensors 101, 102, the sonar units 103, 104, etc. included in the common rail system via CAN (Controller Area Network). ing.

The lidar sensors 101 and 102 measure the distance from the measurement object from the round-trip time until the laser beam (for example, pulsed near-infrared laser light) hits the measurement object and bounces off (Time Of Flight). .. The lidar sensors 101 and 102 scan the laser beam in the vertical and horizontal directions at high speed, and sequentially measure the distance to the measurement target at each scanning angle to measure the distance to the measurement target in three dimensions. I'm measuring. The lidar sensors 101 and 102 repeatedly measure the distance to the object to be measured within the measurement range in real time. The lidar sensors 101 and 102 are configured to generate a three-dimensional image from the measurement information and output it to the outside. The three-dimensional image generated from the measurement information of the rider sensors 101 and 102 is displayed on a display device such as a display unit of the tractor 1 or a display unit 51 of the mobile communication terminal 3 so that the user or the like can visually recognize the presence or absence of an obstacle. be able to. By the way, in the three-dimensional image, for example, the distance in the perspective direction can be indicated by using a color or the like.

As the rider sensors 101 and 102, as shown in FIGS. 11 and 12, the front side of the tractor 1 (traveling machine 7) is set as the measurement range C, and the front rider used to detect an obstacle on the front side of the tractor 1 is used. The sensor 101 and the rear rider sensor 102 used for detecting an obstacle on the rear side of the tractor 1 with the measurement range D on the rear side of the tractor 1 (traveling machine body 7) are provided.

Hereinafter, the front rider sensor 101 and the rear rider sensor 102 will be described. Of the support structure of the front rider sensor 101, the support structure of the rear rider sensor 102, the measurement range C of the front rider sensor 101, and the measurement range D of the rear rider sensor 102. It will be explained in order.

The support structure of the front rider sensor 101 will be described.
As shown in FIGS. 1 and 7, the front rider sensor 101 is attached to the bottom of the antenna unit 80 arranged at the upper position on the front side of the cabin 10. Therefore, first, the support structure of the antenna unit 80 will be described. Next, the mounting structure of the front rider sensor 101 to the bottom of the antenna unit 80 will be described.

As shown in FIGS. 4, 6 and 7, the antenna unit 80 is attached to a pipe-shaped antenna unit support stay 81 over the entire length of the cabin 10 in the left-right direction of the traveling machine body 7. The antenna unit 80 is arranged at a position corresponding to the central portion of the cabin 10 in the left-right direction of the traveling machine body 7. The antenna unit support stay 81 is fixedly connected to the left and right mirror mounting portions 45 located diagonally forward to the left and right of the cabin 10. The mirror mounting portion 45 includes a mirror mounting base material 46 fixed to the front support column 36, a mirror mounting bracket 47 fixed to the mirror mounting base material 46, and a hinge portion 49 provided on the mirror mounting bracket 47. A mirror mounting arm 48 that is rotatable by the mirror is provided. As shown in FIG. 7, the antenna unit support stay 81 is formed in a bridge shape in which the left and right end side portions thereof are curved downward. The left and right ends of the antenna unit support stay 81 are fixedly connected to the upper end side portion of the mirror mounting bracket 47 via the first mounting plate 201. As shown in FIGS. 6 and 7, a horizontal mounting surface is formed on the upper end side portion of the mirror mounting bracket 47, and a horizontal horizontal mounting surface is also formed on the lower end side portion of the first mounting plate 201. Has been done. The antenna unit support stay 81 is fixedly connected in a posture extending in the horizontal direction by fastening with a connecting tool 50 such as a bolt and nut in a state where both mounting surfaces are overlapped vertically. Since the antenna unit 80 is supported by the front support column 36 constituting the cabin frame 31 via the antenna unit support stay 81 and the mirror mounting portion 45, the antenna is prevented from transmitting vibration to the antenna unit 80 and the like. The unit 80 is firmly supported.

Regarding the mounting structure of the antenna unit 80 to the antenna unit support stay 81, as shown in FIGS. 6 and 7, the second mounting plate 202 fixed to the antenna unit 80 side and the second mounting plate 202 fixed to the antenna unit support stay 81 side. 3 The antenna unit 80 is attached to the antenna unit support stay 81 by fastening the mounting plate 203 to the connecting tool 50 such as bolts and nuts.

As shown in FIG. 7, a pair of left and right second mounting plates 202 are provided in the left-right direction of the traveling machine body 7 at predetermined intervals. The second mounting plate 202 is formed of an L-shaped bent plate-like body having a stay-side mounting portion 202b extending downward from the outer end portion of the unit-side mounting portion 202a extending in the left-right direction. The second mounting plate 202 is mounted so that the unit-side mounting portion 202a is fixedly connected to the bottom of the antenna unit 80 by a connector 50 or the like, and the stay-side mounting portion 202b extends downward. Although not shown, the stay-side mounting portion 202b of the second mounting plate 202 is formed with a pair of front and rear round holes for connecting with a connecting tool or the like.

As shown in FIGS. 6 and 7, the third mounting plate 203 is formed of an L-shaped plate-like body in which the front side portion extends downward from the rear side portion. Similar to the second mounting plate 202, the third mounting plate 203 is provided in pairs on the left and right sides of the traveling machine body 7 at predetermined intervals in the left-right direction. The third mounting plate 203 is mounted in such a posture that the lower end edge of the rear side portion is fixedly connected to the upper portion of the antenna unit support stay 81 by welding or the like, and the front side portion is located on the front side of the antenna unit support stay 81. .. The third mounting plate 203 is formed with a long elongated hole 203a extending in the front-rear direction of the traveling machine body 7 from the front side portion to the rear side portion, and a round hole for connection is formed on the lower side of the front side portion. 203b is formed.

When the antenna unit 80 is attached to the antenna unit support stay 81, as shown in FIGS. 6 and 7, the antenna unit 80 is arranged above the antenna unit support stay 81, and the antenna of the communication module 25 is moved upward. Position it in a position where it extends to the side. The second mounting plate 202 is placed in the third mounting plate 202 so that the front and rear round holes in the stay-side mounting portion 202b of the second mounting plate 202 are aligned with the front side end portion and the rear side end portion in the elongated hole 203a of the third mounting plate 203. The second mounting plate 202 and the third mounting plate 203 are overlapped with each other so as to be positioned inward of the mounting plate 203. By inserting and fastening the connecting tool 50 through the round holes in the front and rear of the second mounting plate 202 and the elongated holes 203a of the third mounting plate 203, the antenna unit 80 is attached to the antenna unit support stay 81 at the position of use. Can be attached. At this time, the portion corresponding to the front side end portion and the rear side end portion in the elongated hole 203a is set as the connection portion by the connecting tool 50, and in each of the pair of left and right second mounting plates 202 and the third mounting plate 203. A total of four locations, the front side portion and the rear side portion, are the connecting portions by the connecting tool 50.

As shown in FIG. 6, the antenna unit 80 is positioned not only in the used position but also in the front side of the antenna unit support stay 81 as shown in FIG. 8, and the antenna of the communication module 25 is located on the front side. It is configured so that it can be freely attached to the antenna unit support stay 81 even in the unused position extending to.

When the antenna unit 80 is attached to the antenna unit support stay 81 in the unused position, the antenna unit 80 is positioned in the unused position as shown in FIG. With the second mounting plate 202 positioned inward of the third mounting plate 203 so that the front and rear round holes match the round hole 203b of the third mounting plate 203 and the front end of the elongated hole 203a. The second mounting plate 202 and the third mounting plate 203 are overlapped with each other. The connecting tool 50 is inserted through the round hole on the front side of the stay-side mounting portion 202b of the second mounting plate 202 and the round hole 203b of the third mounting plate 203, and the rear of the second mounting plate 202 in the stay-side mounting portion 202b. The antenna unit 80 can be attached to the antenna unit support stay 81 in an unused position by inserting and fastening the connecting tool 50 over the round hole on the side and the front end portion of the elongated hole 203a.

For example, when changing the antenna unit 80 from the used position (see FIG. 6) to the non-used position (see FIG. 8), as shown in FIG. 6, the front end portion of the elongated hole 203a of the third mounting plate 203. The connector 50 located at is removed, the connector 50 located at the rear end of the elongated hole 203a of the third mounting plate 203 is loosened, and the state in which the connector 50 is inserted into the elongated hole 203a is maintained. By moving the connector 50 forward along the elongated hole 203a from the rear end to the front end, and suspending the antenna unit 80 forward and downward with the connector 50 as the pivot axis, FIG. As shown in 8, the antenna unit 80 is repositioned to an unused position. Therefore, the connector 50 is inserted through the round hole on the front side of the second mounting plate 202 and the round hole 203b of the third mounting plate 203, and the round hole on the rear side of the second mounting plate 202 and the front of the elongated hole 203a are inserted. The connecting tool 50 can be inserted and fastened with the side end portion, and the position of the antenna unit 80 can be changed from the used position to the non-used position.

When the antenna unit 80 is attached at the used position, as shown in FIG. 9A, a part of the antenna unit 80 protrudes upward from the highest line Z passing through the highest portion 35a of the roof 35. , The antenna of the communication module 25 can be arranged on the upper side so that the wireless communication of the communication module 25 can be appropriately performed. On the other hand, when the antenna unit 80 is attached in the unused position, as shown in FIG. 9B, the upper end of the antenna unit 80 is located at the same height as the highest line Z or from the highest line Z. Is also placed in a low position. As a result, when transporting the tractor 1 or storing the tractor 1 in a storage location such as a barn, the antenna unit 80 does not protrude upward from the highest line Z, and the antenna unit 80 becomes an obstacle. , It is possible to prevent the antenna unit 80 from being damaged due to contact with an obstacle or the like.

As shown in FIG. 7, the mounting structure of the front rider sensor 101 to the antenna unit 80 is fastened with a connecting tool 50 such as a bolt and nut via the fourth mounting plate 204 and the fifth mounting plate 205, whereby the front rider is mounted on the front rider. The sensor 101 is attached to the bottom of the antenna unit 80. The fourth mounting plate 204 has a mounting surface portion 204a extending in the left-right direction, and both ends of the mounting surface portion 204a are formed in a bridge shape extending downward. The fifth mounting plate 205 has a pair of left and right mounting surface portions 205a facing each other in the left-right direction, and is formed in a bridge shape in which the upper end portions of the mounting surface portions 205a are connected to each other. The mounting surface portion 204a of the fourth mounting plate 204 is fixedly connected to the bottom portion of the antenna unit 80 by the connecting tool 50. The front side portion of the fourth mounting plate 204 and the rear side portion of the fifth mounting plate 205 are fixedly connected by the connecting tool 50. A pair of left and right mounting surface portions 205a of the fifth mounting plate 205 are fixedly connected to both lateral sides of the front rider sensor 101 by a connector 50. The front rider sensor 101 is mounted in a state of being sandwiched between the left and right mounting surface portions 205a of the fifth mounting plate 205 in the left-right direction.

As shown in FIG. 7, the front rider sensor 101 is detachably configured on the antenna unit 80 via the fourth mounting plate 204 and the fifth mounting plate 205. It is also possible to retrofit the front rider sensor 101, and it is also possible to remove only the front rider sensor 101. Further, since the antenna unit 80 is also detachably configured to be attached to and detached from the mirror mounting portion 45 via the antenna unit support stay 81, the front rider sensor 101 is attached to and detached from the traveling machine body 7 by itself. At the same time, it can be attached to and detached from the traveling machine body 7 together with the antenna unit 80. The front rider sensor 101 uses the antenna unit support stay 81 and the like that support the antenna unit 80 as a common support stay, and like the antenna unit 80, while preventing vibration transmission to the front rider sensor 101 and the like. It is strongly supported.

Since the front rider sensor 101 is integrally provided with the antenna unit 80, the front rider sensor 101 is as shown in FIG. 6 by changing the position of the antenna unit 80 between the used position and the non-used position. Also, the used position facing the front side of the traveling machine 7 and used for obstacle detection on the front side of the traveling machine 7, and the non-use position facing downward and not used for obstacle detection as shown in FIG. It is configured so that the position can be changed freely.

When the front rider sensor 101 is located at the position of use, as shown in FIGS. 6 and 9 (a), the front rider sensor 101 is a step of getting on and off the cabin 10 (driver's seat 39) in the vertical direction. It is located higher than 41 (see FIG. 1) and corresponds to the roof 35. The front rider sensor 101 is attached in a front-down posture, which is located on the lower side toward the front side portion. The front rider sensor 101 is provided so as to measure the front side of the traveling machine body 7 in a state of looking down from an obliquely upper side. Since the antenna unit support stay 81 is arranged at a position overlapping the front end portion 35b of the roof 35 in the front-rear direction of the traveling machine body 7 and near the front end portion 35b of the roof 35 in the vertical direction, the front rider sensor The 101 is arranged at a position near the front end portion 35b of the roof 35 on the diagonally upper front side by utilizing the space on the lower side of the antenna unit 80. As a result, as shown in FIG. 11, at least a part of the front rider sensor 101 overlaps with the front end portion 35b of the roof 35 from the line of sight of the passenger T seated in the driver's seat 39. The position of the front rider sensor 101 is such that at least a part of the front rider sensor 101 is hidden by the front end portion 35b of the roof 35. A part of the front rider sensor 101 is located outside the visible range B1 on the front side of the passenger T seated in the driver's seat 39, and the field of view of the passenger T seated in the driver's seat 39 is the front rider sensor 101. It can be suppressed from being blocked by.

When the front rider sensor 101 is located in the unused position, as shown in FIGS. 8 and 9 (b), the upper end of the front rider sensor 101 is set to the highest line Z (FIG. 9 (b)) as in the antenna unit 80. )) It is placed at a lower position. This prevents not only the antenna unit 80 but also the front rider sensor 101 from protruding above the highest line Z when transporting the tractor 1 or storing the tractor 1 in a storage location such as a barn. doing.

Regarding the arrangement position of the front rider sensor 101, in the left-right direction of the traveling machine body 7, the front rider sensor 101 is arranged at the center of the antenna unit 80 in the left-right direction. Since the antenna unit 80 is arranged at a position corresponding to the central portion of the cabin 10 in the left-right direction of the traveling aircraft 7, the front rider sensor 101 is also located at a position corresponding to the central portion of the cabin 10 in the left-right direction of the traveling aircraft 7. Is located in.

As shown in FIGS. 6 and 7, in addition to the front rider sensor 101, a front camera 108 having an imaging range on the front side of the traveling machine body 7 is attached to the fifth mounting plate 205 by a connector or the like. The front camera 108 is arranged above the front rider sensor 101. Like the front rider sensor 101, the front camera 108 is attached in a front-down posture, which is located on the lower side toward the front side portion. The front camera 108 is provided so as to take an image of the front side of the traveling machine body 7 in a state of looking down from an obliquely upper side. It is configured so that the captured image captured by the front camera 108 can be output to the outside. The captured image of the front camera 108 can be displayed on a display device such as a display unit of the tractor 1 or a display unit 51 of the mobile communication terminal 3 so that the user or the like can visually recognize the situation around the tractor 1.

Next, the support structure of the rear rider sensor 102 will be described.
As shown in FIGS. 5 and 10, the rear rider sensor 102 is attached to a pipe-shaped sensor support stay 301 over the entire length of the cabin 10 in the left-right direction of the traveling machine body 7. The rear rider sensor 102 is arranged at a position corresponding to the central portion of the cabin 10 in the left-right direction of the traveling machine body 7.

As shown in FIGS. 5 and 10, the sensor support stays 301 are fixedly connected to the left and right rear columns 37 located at both left and right ends of the cabin 10. The sensor support stay 301 is formed in a bridge shape in a plan view in which the left and right ends of the sensor support stay 301 are curved diagonally forward. The left and right ends of the sensor support stay 301 are fixedly connected to the mounting members provided at the upper end side portions of the left and right rear columns 37 via the sixth mounting plate 206. A sixth mounting plate 206 is fixedly connected to both left and right ends of the sensor support stay 301 by welding or the like. By fastening the sixth mounting plate 206 and the mounting member provided at the upper end side portion of the rear support column 37 with the connecting tool 50, the sensor support stay 301 is fixedly connected in a posture extending in the horizontal direction.

As shown in FIG. 10, the rear rider sensor 102 is attached to the sensor support stay 301 via the seventh attachment plate 207 and the eighth attachment plate 208. .. The seventh mounting plate 207 has a pair of left and right side wall surface portions 207a facing each other in the left-right direction, and is formed in a bridge shape in which the upper end portions of the side wall surface portions 207a are connected to each other. The eighth mounting plate 208 has a pair of left and right mounting surface portions 208a facing each other in the left-right direction, and is formed in a bridge shape in which the upper end portions of the mounting surface portions 208a are connected to each other. The lower end edge of the side wall surface portion 207a of the seventh mounting plate 207 is fixedly connected to the sensor support stay 301 by welding or the like. The rear side portion of the seventh mounting plate 207 and the front side portion of the eighth mounting plate 208 are fixedly connected by the connecting tool 50. A pair of left and right mounting surface portions 208a of the eighth mounting plate 208 are fixedly connected to both lateral sides of the rear rider sensor 102 by a connecting tool 50. The rear rider sensor 102 is mounted in a state of being sandwiched between the left and right mounting surface portions 208a of the eighth mounting plate 208 in the left-right direction. A reinforcing plate 302 is fixedly connected to the front portion of the seventh mounting plate 207 by a connecting tool or the like. The front side portion of the reinforcing plate 302 is fixedly connected to the upper surface portion of the roof 35 by the connecting tool 50. The reinforcing plate 302 extends in the front-rear direction in a U-shape having standing walls with both left-right ends bent upward, and extends over the roof 35, the seventh mounting plate 207, and the sensor support stay 301. It is prepared.

As shown in FIGS. 9B and 10, the rear rider sensor 102 is arranged at a position higher than the boarding / alighting step 41 (see FIG. 1) in the vertical direction and corresponding to the roof 35. The rear rider sensor 102 is attached to the sensor support stay 301 in a rearward lowering posture, which is located on the lower side toward the rear side portion. The rear rider sensor 102 is provided so as to measure the rear side of the traveling machine body 7 in a state of looking down from an obliquely upper side. Since the sensor support stay 301 is arranged at a position near the rear end portion 35c of the roof 35 in the front-rear direction of the traveling machine body 7 and at a position overlapping the rear end portion 35c of the roof 35 in the vertical direction, the rear rider The sensor 102 is arranged at substantially the same height as the rear end portion 35c of the roof 35 or at a position near the rear diagonally upper side. As a result, as shown in FIG. 11, at least a part of the rear rider sensor 102 overlaps with the rear end portion 35c of the roof 35 from the line of sight of the passenger T seated in the driver's seat 39. The rear rider sensor 102 is arranged at a position where at least a part of the rear rider sensor 102 is hidden by the rear end portion 35c of the roof 35. In the passenger T seated in the driver's seat 39, a part of the rear rider sensor 102 exists at a position outside the visible range B2 on the rear side, and the field of view of the passenger T seated in the driver's seat 39 is the rear rider sensor. It can be suppressed from being blocked by 102.

As shown in FIG. 10, the rear rider sensor 102 is detachably configured on the rear support column 37 via the sensor support stay 301, the seventh mounting plate 207, and the eighth mounting plate 208. The rear rider sensor 102 can be retrofitted, and the rear rider sensor 102 can be removed. Since the rear rider sensor 102 is supported by the rear support column 37 constituting the cabin frame 31 via the sensor support stay 301, the rear rider sensor 102 is firmly supported while preventing vibration transmission to the rear rider sensor 102. There is.

As shown in FIG. 10, a rear camera 109 whose imaging range is the rear side of the traveling machine body 7 is attached to the eighth mounting plate 208 by means of a connector or the like, in addition to the rear rider sensor 102. The rear camera 109 is arranged above the rear rider sensor 102. Like the rear rider sensor 102, the rear camera 109 is attached in a rear-down posture, which is located on the lower side toward the rear side portion. The rear camera 109 is provided so as to take an image of the rear side of the traveling machine body 7 in a state of looking down from an obliquely upper side. The image captured by the rear camera 109 can be output to the outside. The captured image of the rear camera 109 can be displayed on a display device such as a display unit of the tractor 1 or a display unit 51 of the mobile communication terminal 3 so that the user or the like can visually recognize the situation around the tractor 1.

The measurement range C of the front rider sensor 101 will be described.
The front rider sensor 101 has a left-right measurement range C1 in the left-right direction as shown in FIG. 12, and has a up-down measurement range C2 in the up-down direction as shown in FIG. As a result, the front rider sensor 101 has a quadrangular pyramid in the vertical, horizontal, and front-rear directions included in the left-right measurement range C1 and the top-bottom measurement range C2 in a range up to a position separated from itself by the first set distance X1 (see FIG. 12). The shape measurement range C is set.

As shown in FIG. 12, the left-right measurement range C1 of the front rider sensor 101 is a bilaterally symmetric range with the left-right center line of the traveling machine 7 as the axis of symmetry in the left-right direction of the traveling machine 7. The left-right measurement range C1 is set in the range of the first set angle α1 between the first boundary line E1 and the second boundary line E2 extending from the front rider sensor 101. The left-right measurement range C1 is set to a range larger than the width of the tractor 1 and the width of the work device 12 in the width direction of the traveling machine body 7. The size of the left and right measurement range C1 can be changed as appropriate.

As shown in FIG. 11, the vertical measurement range C2 of the front rider sensor 101 is set to the range of the second set angle α2 between the third boundary line E3 and the fourth boundary line E4 extending from the front rider sensor 101. There is. The third boundary line E3 is set to a horizontal line extending in the horizontal direction from the front rider sensor 101 to the front side, and the fourth boundary line E4 is from the first tangent line G1 from the front rider sensor 101 to the front upper part of the front wheel 5. Is also set to a straight line located on the lower side. The vertical measurement range C2 is set so that the first center line F1 between the third boundary line E3 and the fourth boundary line E4 is located above the bonnet 8 and is located above the bonnet 8. A sufficiently large measurement range is secured. By setting the fourth boundary line E4 below the first tangent line G1, the object to be measured such as an object or a person is located near the front end portion (front end portion of the bonnet 8) of the traveling machine body 7. Even if there is, it is possible to measure the object to be measured.

As shown in FIG. 11, a part of the bonnet 8 and a part of the front wheel 5 are included in the vertical measurement range C2 of the front rider sensor 101, so that the obstacle detection unit 110 is the front rider sensor 101. If the obstacle detection process is performed based on the measurement information, a part of the bonnet 8 or a part of the front wheel 5 may be erroneously detected as an obstacle. Therefore, a first masking process (corresponding to the masking process) is performed to prevent the false detection. In the first masking process, a masking range L in which a part of the bonnet 8 and a part of the front wheel 5 exists within the measurement range C of the front rider sensor 101 is not detected as an obstacle (see FIG. 13). Is preset as. This first masking process will be described later.

In this way, the obstacle detection unit 110 is included in the left-right measurement range C1 (see FIG. 12) in the left-right direction by performing the obstacle detection process based on the measurement information of the front rider sensor 101, and is up and down. The presence or absence of an obstacle is detected in a range excluding the masking range L in the range included in the vertical measurement range C2 (see FIG. 11) in the direction.

The measurement range D of the rear rider sensor 102 will be described.
Like the front rider sensor 101, the rear rider sensor 102 has a left-right measurement range D1 in the left-right direction as shown in FIG. 12, and a vertical measurement range D2 in the up-down direction as shown in FIG. Have. As a result, the rear rider sensor 102 has the vertical, horizontal, and front-rear quadrangular pyramids included in the left-right measurement range D1 and the top-bottom measurement range D2 in a range up to a position separated from itself by a third set distance X3 (see FIG. 12). The shape measurement range D is set. By the way, X1 and X3 can be set to the same distance or different distances.

As shown in FIG. 12, the left and right measurement range D1 of the rear rider sensor 102 is a third setting between the fifth boundary line E5 and the sixth boundary line E6 extending from the rear rider sensor 102, similarly to the front rider sensor 101. It is set in the range of the angle α3. The left-right measurement range D1 is set to a range larger than the width of the tractor 1 and the width of the work device 12 in the width direction of the traveling machine body 7, similarly to the front rider sensor 101. The size of the left and right measurement range D1 can be changed as appropriate.

As shown in FIG. 11, the vertical measurement range D2 of the rear rider sensor 102 is set to the range of the fourth set angle α4 between the seventh boundary line E7 and the eighth boundary line E8 extending from the rear rider sensor 102. There is. Since the work device 12 is provided so as to be able to move up and down between the ascending position and the lowering position, in FIG. 11, the working device 12 located in the lowering position is shown by a solid line, and the working device located in the ascending position is shown. 12 is shown by a dotted line. The seventh boundary line E7 is set to a horizontal line extending in the horizontal direction from the rear rider sensor 102 to the rear side, and the eighth boundary line E8 is located at the rear upper part of the working device 12 located at a descending position from the rear rider sensor 102. It is set to a straight line located below the second tangent line G2. In the vertical measurement range D2, the second center line F2 between the seventh boundary line E7 and the eighth boundary line E8 is located above the working device 12 (indicated by the middle dotted line in FIG. 11) in the ascending position. The measurement range is sufficiently large on the upper side of the work device 12 in the ascending position. By setting the eighth boundary line E8 below the second tangent line G2, even if an object or a person or the like is present at a position near the rear end of the working device 12 at the descending position. , The object to be measured can be measured.

Since a part of the work device 12 is in the vertical measurement range D2 of the rear rider sensor 102, when the obstacle detection unit 110 performs the obstacle detection process based on the measurement information of the rear rider sensor 102, the work is performed. There is a possibility that a part of the device 12 will be erroneously detected as an obstacle. Therefore, a second masking process is applied to prevent the false detection. In the second masking process, within the measurement range D of the rear rider sensor 102, the range in which a part of the working device 12 exists is set in advance as the masking range L (see FIGS. 14 and 15) that does not detect as an obstacle. It is set.

As shown in FIG. 12, the working device 12 is moved up and down between the lowered position and the raised position (the position indicated by the dotted line in the figure). The tractor 1 lowers the work device 12 to the lowering position and travels while performing a predetermined work, and raises the work device 12 to the ascending position to perform only the traveling without performing the predetermined work. Therefore, in the second masking process, as the masking range L, a masking range L1 for the descending position and a masking range L2 for the ascending position are set as shown in FIG. The second masking process will be described later.

In this way, the obstacle detection unit 110 is included in the left-right measurement range D1 (see FIG. 12) in the left-right direction by performing the obstacle detection process based on the measurement information of the rear rider sensor 102, and is up and down. The presence or absence of an obstacle is detected in the range excluding the masking ranges L1 and L2 in the range included in the vertical measurement range D2 (see FIG. 11) in the direction. When the work device 12 is located in the descending position, the obstacle detection unit 110 performs obstacle detection processing using the masking range L1 for the descending position, and when the work device 12 is located in the ascending position, the obstacle detection unit 110 is in the ascending position. Obstacle detection processing is performed using the masking range L2 for.

Hereinafter, the sonar units 103 and 104 will be described.
The sonar units 103 and 104 are configured to measure the distance from the object to be measured from the round-trip time until the projected ultrasonic wave hits the object to be measured and bounces off. When any object exists as a measurement object within the measurement range, the sonar units 103 and 104 are configured to detect the measurement object as an obstacle and measure the distance to the obstacle.

As the sonar units 103 and 104, as shown in FIG. 12, the sonar unit 103 on the right side having the right side of the tractor 1 (traveling machine 7) as the measurement range, and the sonar unit 103 on the right side as shown in FIG. A sonar unit 104 on the left side having a measurement range on the left side is provided.

As shown in FIG. 12, the measurement range N of the sonar unit 103 on the right side and the measurement range N of the sonar unit 104 on the left side differ only in that the directions extending from the traveling machine body 7 are opposite to each other. , The right and left sides have symmetrical measurement ranges N.

The sonar units 103 and 104 measure the outside of the traveling machine body 7. The sonar units 103 and 104 are attached to the traveling machine body 7 so as to project ultrasonic waves downward by a predetermined angle from the horizontal direction, and extend downward from the sonar units 103 and 104 by a predetermined angle. The measurement range N is set in. The measurement range N of the sonar units 103 and 104 is a range in which the distance from the sonar units 103 and 104 to a predetermined distance toward the outer side of the traveling machine body 7 is a radius, and the front rider is in the front-rear direction of the traveling machine body 7. It is set between the left and right measurement range C1 of the sensor 101 and the left and right measurement range D1 of the rear rider sensor 102.

In this way, the obstacle detection unit 110 detects the presence or absence of obstacles in the left and right measurement ranges N by performing obstacle detection processing based on the measurement information of the sonar units 103 and 104.

Hereinafter, the obstacle detection process by the obstacle detection unit 110 and the collision avoidance control by the collision avoidance control unit 111 will be described. First, the obstacle is detected by the obstacle detection process based on the measurement information of the rider sensors 101 and 102. The collision avoidance control when an obstacle is detected will be described, and then the collision avoidance control when an obstacle is detected in the obstacle detection process based on the measurement information of the sonar units 103 and 104 will be described.

Two rider sensors, a front rider sensor 101 and a rear rider sensor 102, are provided as rider sensors, and the obstacle detection unit 110 switches forward / backward movement at a forward / backward movement switching point included in the target travel path P. Or, the obstacle detection state is switched based on the switching of forward / backward movement by the reverser lever for switching forward / backward movement provided inside the cabin 10. When the tractor 1 travels forward, the front rider sensor 101 measures the measurement, the obstacle detection unit 110 switches to the forward detection state in which the obstacle detection process is performed based on the measurement information of the front rider sensor 101, and the tractor 1 moves backward. When traveling, the measurement is performed by the rear rider sensor 102, and the obstacle detection unit 110 switches to the reverse detection state in which the obstacle detection process based on the measurement information of the rear rider sensor 102 is performed. In this way, depending on whether the tractor 1 is traveling forward or backward, the processing load can be changed by switching which of the front rider sensor 101 and the rear rider sensor 102 is used to detect obstacles. Obstacles are detected while reducing the number of obstacles.

In the forward detection state, the obstacle detection unit 110 performs obstacle detection processing based on the measurement information of the front rider sensor 101, is included in the left-right measurement range C1 (see FIG. 12) in the left-right direction, and is included in the left-right measurement range C1 (see FIG. 12) in the up-down direction. In the range included in the vertical measurement range C2 (see FIG. 11), the presence or absence of obstacles is detected in the range excluding the masking range L (see FIG. 13). In the reverse detection state, when the work device 12 is located in the lowered position, the obstacle detection unit 110 performs obstacle detection processing based on the measurement information of the rear rider sensor 102, and the left / right measurement range D1 in the left-right direction (FIG. Detects the presence or absence of obstacles in the range included in (see FIG. 12) and included in the vertical measurement range D2 (see FIG. 11) in the vertical direction, except for the masking range L1 (see FIG. 14) for the descending position. doing. In the reverse detection state, when the work device 12 is located in the ascending position, the obstacle detection unit 110 performs obstacle detection processing based on the measurement information of the rear rider sensor 102, and the left and right measurement range D1 (FIG. Detects the presence or absence of obstacles in the range included in (see FIG. 12) and included in the vertical measurement range D2 (see FIG. 11) in the vertical direction, except for the masking range L2 (see FIG. 15) for the ascending position. doing.

When an obstacle is detected using the front rider sensor 101 or the rear rider sensor 102, as shown in FIG. 12, in which range of the detection ranges for obstacle detection, which are the measurement ranges C and D, the obstacle is detected. The control content of the collision avoidance control by the collision avoidance control unit 111 is set to be different depending on whether or not an object is detected. The measurement ranges C and D (detection ranges) include three ranges of a first detection range J1, a second detection range J2, and a third detection range J3, depending on the distance from the front rider sensor 101 or the rear rider sensor 102. It is set. The first detection range J1 is set so that the distance from the front rider sensor 101 or the rear rider sensor 102 is in the range from the fourth set distance X4 to the first set distance X1 or from the fourth set distance X4 to the third set distance X3. Has been done. The second detection range J2 is set so that the distance from the front rider sensor 101 or the rear rider sensor 102 is in the range from the fifth set distance X5 to the fourth set distance X4. The third detection range J3 is set so that the distance from the front rider sensor 101 or the rear rider sensor 102 is within the range up to the fifth set distance X5. Therefore, the first detection range J1, the second detection range J2, and the third detection range J3 are set to be close to each other in this order with respect to the tractor 1 including the front rider sensor 101, the rear rider sensor 102, and the work device 12. Has been done.

The control content of the collision avoidance control when an obstacle is detected by using the front rider sensor 101 or the rear rider sensor 102 is the same regardless of whether the tractor 1 is traveling forward or backward. , The case where the tractor 1 is traveling forward will be described.

As shown in FIG. 12, when the tractor 1 is traveling forward and an obstacle is detected within the first detection range J1 in the obstacle detection process, the collision avoidance control unit 111 performs the collision avoidance control. , The notification device 26 such as the notification buzzer and the notification lamp is controlled to perform the first notification control to notify that an obstacle exists in the first detection range J1. In the first notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is intermittently operated at a predetermined frequency and the notification lamp is turned on in a predetermined color.

When an obstacle is detected within the second detection range J2 in the obstacle detection process, the collision avoidance control unit 111 controls the notification device 26 such as the notification buzzer and the notification lamp as the collision avoidance control, and the second The second notification control for notifying the existence of an obstacle in the detection range J2 is performed, and the first deceleration control for decelerating the vehicle speed of the tractor 1 is performed. In the second notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is intermittently operated at a predetermined frequency and the notification lamp is turned on in a predetermined color. In the first deceleration control, for example, the collision avoidance control unit 111 obtains a collision prediction time until the tractor 1 collides with an obstacle based on the current vehicle speed of the tractor 1, the distance to the obstacle, and the like. The collision avoidance control unit 111 sets the engine 9, the transmission 13, the brake operation mechanism 15, and the like so as to reduce the vehicle speed of the tractor 1 while the obtained collision prediction time is maintained at the set time (for example, 3 seconds). I'm in control.

When an obstacle is detected within the third detection range J3 in the obstacle detection process, the collision avoidance control unit 111 controls the notification device 26 such as the notification buzzer and the notification lamp as the collision avoidance control, and the third A third notification control for notifying the existence of an obstacle in the detection range J3 is performed, and a stop control for stopping the tractor 1 is performed. In the third notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is continuously operated and the notification lamp is turned on in a predetermined color. In the stop control, for example, the collision avoidance control unit 111 controls the brake operation mechanism 15 and the like so as to stop the tractor 1.

Incidentally, the predetermined frequencies for interrupting the notification buzzer in the first notification control and the second notification control may be the same frequency or different frequencies. Further, the predetermined color for lighting the notification lamp in the first to third notification controls may be the same color or different colors. In the first to third notification controls, the collision avoidance control unit 111 indicates that an obstacle exists in any of the first to third detection ranges J1 to J3 in addition to the control of the notification device 26 of the tractor 1. The terminal electronic control unit 52 can also be controlled so that the display content is displayed on the display unit 51 of the mobile communication terminal 3.

For example, when an obstacle is detected in the first detection range J1, the collision avoidance control unit 111 performs the first notification control to notify the user that the obstacle exists in the first detection range J1. Can be notified to. When the traveling of the tractor 1 is continued as it is and the obstacle detection range approaches from the first detection range J1 to the second detection range J2, the collision avoidance control unit 111 performs the first deceleration control in addition to the second notification control. By performing the above, the vehicle speed of the tractor 1 can be decelerated in order to avoid a collision between the tractor 1 and an obstacle. Even if the tractor 1 is decelerated, when the obstacle detection range approaches from the second detection range J2 to the third detection range J3, the collision avoidance control unit 111 performs stop control in addition to the third notification control. , The tractor 1 can be stopped, and the collision between the tractor 1 and the obstacle can be appropriately avoided.

When the rider sensors 101 and 102 are used, a moving measurement object such as a person is also detected as an obstacle. Therefore, even if an obstacle is detected within the detection range J, the obstacle itself may move and the obstacle may deviate from the detection range J. Therefore, when the obstacle deviates from the first detection range J1, the collision avoidance control unit 111 ends the first notification control. When an obstacle deviates from the second detection range J2, the collision avoidance control unit 111 ends the second notification control and increases the vehicle speed of the tractor 1 to the set vehicle speed. Vehicle speed recovery control that controls 13 mag is performed. When the obstacle deviates from the third detection range J3, the collision avoidance control unit 111 ends the third notification control while maintaining the tractor 1 in the traveling stopped state. In this case, the automatic running of the tractor 1 can be restarted by instructing the user or the like to restart the automatic running of the tractor 1.

Next, collision avoidance control when an obstacle is detected by the obstacle detection process based on the measurement information of the sonar units 103 and 104 will be described.
The sonar units 103 and 104 are provided on the left and right sides, but the obstacle detection unit 110 detects all of the sonar units 103 and 104 on both the left and right sides regardless of whether the tractor 1 travels forward or the tractor 1 travels backward. Obstacle detection processing is performed based on the measurement information.

When an obstacle is detected by the obstacle detection process based on the measurement information of the sonar units 103 and 104, the collision avoidance control unit 111 controls the notification device 26 such as the notification buzzer and the notification lamp as the collision avoidance control. Therefore, the fourth notification control for notifying the existence of an obstacle within the measurement range N of any of the sonar units 103 and 104 is performed, and the second deceleration control for decelerating the vehicle speed of the tractor 1 is performed. In the fourth notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is intermittently operated at a predetermined frequency and the notification lamp is turned on in a predetermined color. In the second deceleration control, for example, the collision avoidance control unit 111 controls the engine 9, the transmission 13 and the brake operation mechanism 15 and the like so as to reduce the vehicle speed of the tractor 1 to the set vehicle speed.

In this way, the obstacle detection system 100 detects the presence or absence of obstacles on the front side and the rear side of the traveling machine body 7 by using the front rider sensor 101 and the rear rider sensor 102, and also uses the sonar units 103 and 104. It is possible to detect the presence or absence of obstacles on the left and right sides of the traveling machine 7. When the obstacle detection system 100 detects the presence of an obstacle in the obstacle detection unit 110, the collision avoidance control unit 111 performs collision avoidance control to notify the user or the like of the existence of the obstacle, and the user or the like. Can be urged to avoid a collision with an obstacle, and even if there is a possibility of a collision between the tractor 1 and an obstacle, the tractor 1 is decelerated or stopped to cause the tractor 1 and the obstacle to collide with each other. Collisions can be avoided appropriately.

In the automatic driving state, the vehicle-mounted electronic control unit 18 performs automatic driving control. Therefore, the obstacle detection system 100 decelerates or stops the tractor 1 to automatically drive the tractor 1 while avoiding a collision with an obstacle. Can be made to. The obstacle detection system 100 notifies the driver of the presence of an obstacle and supports the driving to avoid a collision between the tractor 1 and the obstacle, both in the manual driving state and to the driving user and the like. Can be done.

Hereinafter, calibration for setting the installation state of the rider sensors 101 and 102 in the tractor 1 to a desired state will be described.
Since the distance to the object to be measured is measured three-dimensionally by the rider sensors 101 and 102, if the installation state such as the installation direction of the rider sensors 101 and 102 deviates from the desired state, the object to be measured is measured. The distance to is deviated from the original one. Therefore, the work of calibrating the installation state such as the installation direction of the rider sensors 101 and 102 to the desired state is performed so that the installation direction of the rider sensors 101 and 102 in the tractor 1 becomes the desired installation direction. Therefore, as shown in FIG. 2, the vehicle-mounted electronic control unit 18 is provided with a calibration processing unit 112 that performs calibration processing.

In the calibration process, the rider sensor 101.102 actually performs the measurement, and the calibration processing unit 112 displays the three-dimensional image generated from the measurement information at that time on the display unit of the tractor 1 as shown in FIGS. 13 and 14. Is displayed on a display device such as the display unit 51 of the mobile communication terminal 3.

As shown in FIG. 11, a part of the bonnet 8 of the tractor 1 and a part of the front wheels 5 (corresponding to a part of the work vehicle body) are included in the measurement range C of the front rider sensor 101. As shown in FIG. 13A, the three-dimensional image generated from the measurement information of the front rider sensor 101 includes a part of the bonnet 8 of the tractor 1 and a part of the front wheel 5. Therefore, the calibration processing unit 112 has a central portion H1 in the left-right direction of the measurement range C of the front rider sensor 101, a part of the bonnet 8, and a part of the front wheels 5 on the three-dimensional image displayed on the display device. The central portion in the left-right direction (the central portion in the left-right direction of the tractor 1) H2 is superimposed and displayed.

As the installation state of the front rider sensor 101, a state in which the central portion H1 of the measurement range C of the front rider sensor 101 coincides with the central portion of the tractor 1 in the left-right direction is a desired state. Therefore, as shown in FIG. 13A, the central portion H1 of the measurement range C of the front rider sensor 101, a part of the bonnet 8 included in the measurement range C of the front rider sensor 101, and a part of the front wheels 5. If it coincides with the central portion H2 of the above, the installation state (installation direction) of the front rider sensor 101 becomes a desired state (desired installation direction).

As shown in FIG. 13B, in the left-right direction, a part of the bonnet 8 included in the measurement range C of the front rider sensor 101 and a part of the front wheel 5 at the center H2 are measured by the front rider sensor 101. If the front rider sensor 101 is deviated to the left side of the central portion H1 of the range C, the installation direction of the front rider sensor 101 is deviated to the right side with respect to the desired installation direction. Therefore, the user or the like changes the installation direction of the front rider sensor 101 to the left side and calibrates the installation direction of the front rider sensor 101 to a desired installation direction. At this time, for example, the calibration processing unit 112 obtains the amount of deviation (deviation angle and deviation distance) between the central portion H1 and the central portion H2, and on the three-dimensional image displayed on the display device, the calculated central portion H1 and It is also possible to superimpose and display the amount of deviation (deviation angle and deviation distance) from the central portion H2.

As shown in FIG. 11, a part of the work device 12 provided in the tractor 1 (corresponding to a part of the members provided in the work vehicle body) is included in the measurement range D of the rear rider sensor 102. As shown in FIG. 14A, the three-dimensional image generated from the measurement information of the rear rider sensor 102 includes a part of the working device 12. FIG. 14A shows a state in which the working device 12 is located in the lowered position. Therefore, the calibration processing unit 112 superimposes the central portion H3 in the left-right direction of the measurement range D of the rear rider sensor 102 and the central portion H4 in the left-right direction of the work device 12 on the three-dimensional image displayed on the display device. Is displayed. In FIG. 14, with respect to the working device 12, the portion existing in the measurement range D of the rear rider sensor 102 is shown by a solid line, and the portion existing outside the measurement range D of the rear rider sensor 102 is shown by a dotted line. ..

As the installation state of the rear rider sensor 102, a state in which the central portion H3 of the measurement range D of the rear rider sensor 102 coincides with the central portion of the tractor 1 in the left-right direction is a desired state. Therefore, as shown in FIG. 14A, the central portion H3 of the measurement range D of the rear rider sensor 102 and the central portion H4 of a part of the working device 12 included in the measurement range D of the rear rider sensor 102 coincide with each other. Then, the installation state (installation direction) of the rear rider sensor 102 becomes a desired state (desired installation direction).

As shown in FIG. 14B, in the left-right direction, the central portion H4 of a part of the working device 12 included in the measurement range D of the rear rider sensor 102 is from the central portion H3 of the measurement range D of the rear rider sensor 102. If it is also shifted to the left side, the installation direction of the rear rider sensor 101 is shifted to the right side with respect to the desired installation direction. Therefore, the user or the like changes the installation direction of the rear rider sensor 102 to the left side and calibrates the installation direction of the rear rider sensor 102 to a desired installation direction. At this time, for example, the calibration processing unit 112 obtains the amount of deviation (deviation angle and deviation distance) between the central portion H3 and the central portion H4, and on the three-dimensional image displayed on the display device, the obtained central portion H3 and It is also possible to superimpose and display the amount of deviation (deviation angle and deviation distance) from the central portion H4.

In this way, as shown in FIGS. 13 and 14, the calibration processing unit 112 displays the three-dimensional image generated from the measurement information of the rider sensor 101.102 on the display unit of the tractor 1 and the display unit of the mobile communication terminal 3. By performing the calibration process of displaying on the display device such as 51, the user or the like adjusts the installation state such as the installation direction of the rider sensors 101 and 102, and calibrates the installation state of the rider sensors 101 and 102 to the desired state. I'm doing it.

Since the three-dimensional image generated from the measurement information of the rider sensors 101 and 102 by the calibration process by the calibration processing unit 112 is displayed on a display device such as the display unit of the tractor 1 or the display unit 51 of the mobile communication terminal 3. The first masking process and the second masking process are performed using the displayed three-dimensional image.

The first masking process and the second masking process will be described.
First, the masking range L (see FIGS. 15 to 17) will be described. In the masking range L, the collision avoidance control unit 111 executes collision avoidance control without detecting the obstacle as an obstacle. It is in the range to limit. The masking range L corresponds to the range excluding the measurement of the distance (corresponding to the position information) to the measurement target in the measurement ranges of the rider sensors 101 and 102. In the masking range L, even if some measurement object is measured by the rider sensors 101 and 102, the obstacle detection unit 110 does not detect the measurement object as an obstacle in the obstacle detection process.

As shown in FIG. 2, the in-vehicle electronic control unit 18 is provided with a masking range setting unit 113 for setting the masking range L in order to perform the first masking process and the second masking process.

First, the first masking process will be described.
When the calibration is performed so that the installation state of the front rider sensor 101 is a desired state, as shown in FIG. 13A, the central portion H1 of the measurement range C of the front rider sensor 101 and the measurement range C of the front rider sensor 101 A part of the bonnet 8 included in the above and a part of the central portion H2 of the front wheel 5 coincide with each other. Therefore, the three-dimensional image generated from the measurement information of the front rider sensor 101 after calibration becomes a three-dimensional image as shown in FIG. As shown in FIG. 15, the masking range setting unit 113 sets the masking range L based on the reference range including the range La where a part of the bonnet 8 exists and the range Lb where a part of the front wheel 5 exists. doing. As shown by the dotted line in the middle of FIG. 13, the front wheels 5 are steered to the left and right by operating the steering wheel 38, the power steering mechanism 14, and the like, so that the steering range (movable range) in which the front wheels 5 are steered to the left and right is also included. It is preferable to set the masking range L.

In the one shown in FIG. 15, the masking range setting unit 113 masks a chevron-shaped range larger than the reference range including the range La where a part of the bonnet 8 exists and the range Lb where the front wheels 5 exist. It is set as the range L. The masking range L may be set to a shape corresponding to the shape of the bonnet 8 or the front wheel 5 so as to include only the range La where a part of the bonnet 8 exists and the range Lb where the front wheel 5 exists. The range and shape of the masking range L can be changed as appropriate.

When the masking range setting unit 113 sets the masking range L, since the three-dimensional image is displayed on the display device, the masking range setting unit 113 sets the range specified on the display device by the user or the like as the masking range L. It can also be set. Since the display device displays a three-dimensional image including the range La where a part of the bonnet 8 exists and the range Lb where the front wheel 5 exists, the user or the like has a part of the bonnet 8. The range including the range La and the range Lb in which the front wheel 5 exists can be easily specified.

In this way, the masking range setting unit 113 includes the bonnet included in the measurement range C of the front rider sensor 101 based on the measurement information of the front rider sensor 101 after calibrating the installation state of the front rider sensor 101 to a desired state. The masking range L is set by using a part of 8 and a part of the front wheel 5. Therefore, a part of the bonnet 8 and a part of the front wheel 5 can be used not only for calibrating the front rider sensor 101 but also for setting the masking range L, and are effectively utilized. , Work efficiency can be improved.

The second masking process will be described.
When the rear rider sensor 102 is calibrated to the desired state, as shown in FIG. 14A, the central portion H3 of the measurement range C of the rear rider sensor 102 and the measurement range D of the rear rider sensor 102. Consistent with the central portion H4 of a part of the working device 12 included in the above. Therefore, the three-dimensional image generated from the measurement information of the rear rider sensor 102 after calibration becomes a three-dimensional image as shown in FIG. As shown in FIG. 16, the masking range setting unit 113 sets a rectangular range larger than the reference range including the range Lc in which a part of the working device 12 exists as the masking range L1.

In the second masking process, as the masking range L, not only the masking range L1 for the descending position as shown in FIG. 16 but also the masking range L2 for the ascending position is set as shown in FIG. By operating the lifting operation tool in the cabin 10, the work device 12 is positioned in the ascending position, and the masking range setting unit uses the three-dimensional image generated from the measurement information of the rear rider sensor 102 at that time. 113 sets the masking range L2 for the ascending position.

Incidentally, the masking ranges L1 and L2 are set to three-dimensional ranges in the front-rear direction, the left-right direction, and the up-down direction. The masking ranges L1 and L2 can be set to a shape corresponding to the shape of the working device 12 so as to include only the range Lc in which the working device 12 exists, and the masking ranges L1 and L2 can be set to any range. And the shape can be changed as appropriate.

When the masking range setting unit 113 sets the masking ranges L1 and L2, since the three-dimensional image is displayed on the display device, the masking range setting unit 113 sets the range specified on the display device by the user or the like as the masking range. It can also be set as L1 and L2. Since the display device displays a three-dimensional image including the range Lc in which a part of the work device 12 exists, the user or the like can easily set the range including the range Lc in which a part of the work device 12 exists. Can be specified.

In this way, the masking range setting unit 113 includes the work included in the measurement range D of the rear rider sensor 102 based on the measurement information of the rear rider sensor 102 after calibrating the installation state of the rear rider sensor 102 to a desired state. The masking range L is set by using a part of the device 12. Therefore, a part of the working device 12 can be used not only for calibrating the rear rider sensor 102 but also for setting the masking range L, and is effectively utilized to improve work efficiency. be able to.

Based on the flowchart of FIG. 18, the flow of operation in calibrating the installation state of the rider sensors 101 and 102 and setting the masking range L of the rider sensors 101 and 102 will be described.

First, measurement is performed by the rider sensors 101 and 102, and the calibration processing unit 112 performs calibration processing based on the measurement information of the rider sensors 101 and 102. , Calibrate the installation state of the rider sensors 101 and 102 (step # 1, step # 2).

The masking range setting unit 113 acquires a three-dimensional image generated from the measurement information of the rider sensors 101 and 102 after calibrating the installation state (step # 3). The masking range setting unit 113 sets the masking range L using the acquired three-dimensional image (step # 4).

In FIGS. 13 to 17, in both the front rider sensor 101 and the rear rider sensor 102, a part of the tractor 1 main body (bonnet 8 and front wheel 5) or the member (working device 12) provided on the tractor 1 is measured in the measurement range C. The case where the tractor 1 is installed in the state of being included in the D is described. For example, as shown in FIG. 19, the tractor 1 is not provided with the working device 12, and the working device 12 is in the measurement range D of the rear rider sensor 102. Even if a part of the rear rider sensor 102 is not included, the installation state of the rear rider sensor 102 can be calibrated to a desired state.

In this case, as shown in FIG. 19, the rear calibration jig (corresponding to the calibration jig) is included in the measurement range D of the rear rider sensor 102 on the tractor 1 main body (corresponding to the work vehicle main body). The 401 can be detachably provided. The rear calibration jig 401 is attached to the lower link 11b extending rearward from the upper link 11a in the three-point link mechanism 11 having the upper link 11a and the lower link 11b. The rear calibration jig 401 is formed in a pole shape extending upward from the lower link 11b, and the upper portion thereof is included in the measurement range D of the rear lidar sensor 102.

At this time, by executing the calibration process, the calibration processing unit 112 displays the three-dimensional image generated from the measurement information of the rear rider sensor 102 on the display unit of the tractor 1 or the mobile communication terminal 3 as shown in FIG. Is displayed on a display device such as the display unit 51 of. The calibration processing unit 112 superimposes and displays the central portion H5 in the left-right direction of the measurement range D of the rear rider sensor 102 and the central portion H6 in the left-right direction of the rear calibration jig 401. As a result, the user or the like can calibrate the installation state of the rear rider sensor 102 to a desired state so that the central portion H5 and the central portion H6 coincide with each other. Incidentally, FIG. 20 shows a state in which the central portion H5 in the left-right direction of the measurement range D of the rear rider sensor 102 and the central portion H6 in the left-right direction of the rear calibration jig 401 coincide with each other.

As described above, when the tractor 1 is not provided with the working device 12, the front rider sensor 101 corresponds to the first position information measurement sensor, and the rear rider sensor 102 corresponds to the second position information measurement sensor. In this case, the calibration processing unit 112 performs calibration processing on the front rider sensor 101 using a part of the bonnet 8 and a part of the front wheel 5 based on the measurement information of the front rider sensor 101, and sets the masking range. The unit 113 sets the masking range L by using a part of the bonnet 8 and a part of the front wheel 5 based on the measurement information of the front rider sensor 101 after calibrating the installation state of the front rider sensor 101 to a desired state. doing. The calibration processing unit 112 uses the rear calibration jig 401 to perform calibration processing on the rear rider sensor 101 based on the measurement information of the rear rider sensor 102.

Further, as shown in FIG. 19, a front calibration jig (corresponding to the calibration jig) 402 is attached to the tractor 1 main body (corresponding to the work vehicle main body) in a state of being included in the measurement range C of the front rider sensor 101. It can be detachably provided. The front calibration jig 402 is attached to the weight attachment portion 501 provided at the lower front end of the bonnet 8. The front calibration jig 402 is formed in a pole shape extending upward from the weight mounting portion 501, and the upper portion thereof is included in the measurement range C of the front rider sensor 101.

At this time, by executing the calibration process, the calibration processing unit 112 displays the three-dimensional image generated from the measurement information of the front rider sensor 101 on the display unit of the tractor 1 or the mobile communication terminal 3 as shown in FIG. Is displayed on a display device such as the display unit 51 of. The calibration processing unit 112 superimposes and displays the central portion H7 in the left-right direction of the measurement range C of the front rider sensor 101 and the central portion H8 in the left-right direction of the front calibration jig 402. As a result, the user or the like can calibrate the installation state of the front rider sensor 101 to a desired state so that the central portion H7 and the central portion H8 coincide with each other. Incidentally, FIG. 21 shows a state in which the central portion H7 in the left-right direction of the measurement range C of the front rider sensor 101 and the central portion H8 in the left-right direction of the front calibration jig 402 coincide with each other.

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

(1) The configuration of the work vehicle can be changed in various ways.
For example, the work vehicle may be configured to have a hybrid specification including an engine 9 and an electric motor for traveling, or may be configured to have an electric specification including an electric motor for traveling instead of the engine 9. ..
For example, the work vehicle may be configured as a semi-crawler specification in which left and right crawlers are provided instead of the left and right rear wheels 6 as a traveling portion.
For example, the work vehicle may be configured with rear wheel steering specifications in which the left and right rear wheels 6 function as steering wheels.

(2) In the above embodiment, the front rider sensor 101 and the rear rider sensor 102 are arranged at positions corresponding to the roof 35 in the vertical direction, but the arrangement positions can be changed as appropriate. For example, the front rider sensor 101 can be arranged at the front end of the bonnet 8 and the rear rider sensor 102 can be arranged at a position corresponding to the roof 35.

(3) In the above embodiment, an example in which two rider sensors, a front rider sensor 101 and a rear rider sensor 102, are provided is shown, but the number of rider sensors can be changed as appropriate, and one or three or more. can do.

(4) In the above embodiment, how to set the measurement range of the front rider sensor 101 and the rear rider sensor 102 can be appropriately changed.

(5) In the above embodiment, the obstacle detection unit 110 performs the obstacle detection process based on the measurement information of the rider sensors 101 and 102, but the rider sensors 101 and 102 are provided with a control unit. , The control unit can also perform obstacle detection processing. As described above, it is possible to appropriately change whether the obstacle detection process is performed on the sensor side or the work vehicle side.

(6) In the above embodiment, the tractor 1 is provided with the obstacle detection unit 110, the collision avoidance control unit 111, the calibration processing unit 112, and the masking range setting unit 113. It can also be provided in a device different from the tractor 1.

(7) In the above embodiment, the rider sensors 101 and 102 are exemplified as the position information measurement sensors, but for example, the position information measurement sensors can be the front camera 108 and the rear camera 109, and various positions other than the camera can be used. Information measurement sensors can be applied.

1 Tractor (work vehicle body)
101 Front rider sensor (position information measurement sensor)
102 Rear rider sensor (position information measurement sensor)
112 Calibration processing unit 113 Masking range setting unit 401 Rear calibration jig (calibration jig)

Claims (4)

A position information measurement sensor that measures position information about the object to be measured around the work vehicle body,
A calibration processing unit that performs a calibration process for displaying a display for calibrating the installation state of the position information measurement sensor in the work vehicle body to a desired state.
Among the measurement ranges of the position information measurement sensor, a masking range setting unit for setting a masking range excluding the measurement of position information is provided.
The position information measurement sensor is arranged in a state in which a part of the work vehicle main body or a member provided in the work vehicle main body is included in the measurement range.
The calibration processing unit on the basis of the measurement information of the position information measuring sensor, using a portion of the member provided in the working vehicle body or the working vehicle body included in the measurement range of the position information measuring sensor, wherein Perform the first calibration process as the calibration process,
The masking range setting unit includes the work vehicle body included in the measurement range of the position information measurement sensor based on the measurement information of the position information measurement sensor after calibrating the installation state of the position information measurement sensor to a desired state. Alternatively, a work vehicle in which a masking range is set by using a part of the members provided in the work vehicle body. The position information measurement sensor includes a first position information measurement sensor that is arranged so that a part of the work vehicle body or a member provided in the work vehicle body is included in the measurement range, and the work vehicle body or the work vehicle. A plurality of members including a second position information measurement sensor, which is arranged so that a part of the members provided in the main body is not included in the measurement range, are provided.
A calibration jig that can be placed within the measurement range of the second position information measurement sensor is provided.
The calibration processing unit on the basis of the measurement information of the second position information measuring sensor, using the calibration jig included in the measurement range of the second position information measuring sensor, a second calibration process as the calibration process The work vehicle according to claim 1. The work vehicle according to claim 2 , wherein the calibration jig is detachably configured with respect to the work vehicle main body. The position information measurement sensor is composed of a distance sensor that measures the distance to the object to be measured in three dimensions as position information.
An obstacle detection unit that detects an object to be measured within a predetermined distance as an obstacle based on the measurement information of the distance sensor is provided.
The work vehicle according to any one of claims 1 to 3, wherein the masking range setting unit sets a range in which the obstacle detection unit does not detect an obstacle as the masking range.

Images