JP7276073B2 - work vehicle - Google Patents

Description

The present invention relates to work vehicles.

Conventionally, there is a technology for changing the behavior of a work vehicle during automatic operation according to the distance to an obstacle detected by an obstacle sensor that detects an obstacle in front of the vehicle (see, for example, Patent Document 1). As an example of such technology, the detection area of the obstacle sensor is divided into a plurality of areas, and when an obstacle is detected in the detection area on the far side from the work vehicle among the divided detection areas, the vehicle is decelerated, and the detection area on the near side is detected. Stop the vehicle when approaching the area.

JP 2009-213865 A

By the way, in a work vehicle, there are cases in which automatic operation is performed with a passenger present, and cases in which automatic operation is performed without a passenger. For example, when there is a passenger, the passenger can visually recognize the obstacle and appropriately avoid it. There was a risk that it could not be avoided properly.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work vehicle capable of appropriately avoiding obstacles.

In order to solve the above-described problems and achieve the object, a work vehicle (1) according to one aspect of an embodiment includes a traveling vehicle body (2) on which a work implement (W) can be mounted, a first detection area (R1 ) and a second detection area (R2) farther than the first detection area (R1), an obstacle sensor (20) for detecting the presence or absence of an obstacle (OB), a passenger (P ), and a control device (40) for controlling automatic driving of the vehicle (1) on the set scheduled travel route, wherein the control device (40) includes the When the obstacle (OB) exists in the second detection area (R2), the vehicle (1) is stopped when the passenger (P) is not present, and when the passenger (P) is present is characterized by decelerating said vehicle (1).

According to one aspect of the embodiment, obstacles can be avoided appropriately.

FIG. 1A is an explanatory diagram of the work vehicle according to the embodiment, and is a schematic left side view of the work vehicle. FIG. 1B is a diagram explaining an outline of a control method executed by a tractor control device. FIG. 1C is a diagram explaining an outline of a control method executed by a tractor control device. FIG. 2 is a block diagram showing an example of the control system of the work vehicle. FIG. 3 is a diagram showing information for setting the automatic driving mode. FIG. 4 is a flowchart showing the procedure of mode switching processing in the automatic driving mode according to the embodiment. FIG. 5 is a flowchart showing a processing procedure of control processing for automatic driving according to the embodiment.

Hereinafter, embodiments of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

First, the overall configuration of a work vehicle 1 according to an embodiment will be described with reference to FIG. 1A. FIG. 1A is an explanatory diagram of the work vehicle 1 according to the embodiment, and is a schematic left side view of the work vehicle 1. FIG. In addition, below, the tractor is demonstrated as an example as the work vehicle 1. As shown in FIG.

A tractor 1, which is a work vehicle, is an agricultural tractor that works in a field or the like while being self-propelled. In addition, the tractor 1 carries out a predetermined work while an operator (also referred to as a worker) rides on it and runs in the field. By controlling each part, the robot automatically travels in the field and performs a predetermined work. In addition, below, the operator who boarded the tractor 1 may be called a passenger.

Further, hereinafter, the front-rear direction is the traveling direction when the tractor 1 travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the tractor 1 is the direction from the operator's seat 8 to the steering wheel 9 when the tractor 1 travels straight.

The left-right direction is a direction horizontally perpendicular to the front-rear direction. In the following, left and right are defined with respect to the "front" side. That is, when the operator of the tractor 1 sits on the operator's seat 8 and faces forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is a direction parallel to the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of explanation, and the present invention is not limited by these directions. Further, hereinafter, the tractor 1 may be referred to as a "body".

As shown in FIG. 1A, the tractor 1 includes a traveling vehicle body 2 and a work implement W. As shown in FIG. The traveling vehicle body 2 includes a vehicle body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control section 7, and a transmission case 10. - 特許庁The vehicle body frame 3 is a main frame of the traveling vehicle body 2 .

The front wheels 4 are a pair of left and right wheels, and serve mainly as steering wheels (steering wheels). The rear wheels 5 are a pair of left and right wheels and mainly serve as driving wheels (driving wheels). The tractor 1 may be configured to be switchable between two-wheel drive (2WD) in which the rear wheels 5 are driven and four-wheel drive (4WD) in which both the front wheels 4 and the rear wheels 5 are driven. In this case the drive wheels are both the front wheels 4 and the rear wheels 5 . The traveling vehicle body 2 may be provided with a crawler device instead of the wheels (the front wheels 4 and the rear wheels 5). In this case, the traveling crawler is the driving wheel.

The bonnet 6 is provided at the front portion of the traveling vehicle body 2 so as to be openable and closable. The bonnet 6 can be vertically rotated (opened and closed) with its rear portion as the center of rotation. The bonnet 6 covers the engine E mounted on the body frame 3 in a closed state. The engine E is a drive source for the tractor 1, and is a heat engine such as a diesel engine or a gasoline engine.

The control section 7 is provided on the upper portion of the traveling vehicle body 2 and includes a control seat 8, a steering wheel 9, and the like. The control section 7 may be formed by being covered with a cabin 7 a provided on the upper portion of the traveling vehicle body 2 . The cockpit 8 is the seat of the operator. A seat sensor 27 (see FIG. 2) is provided in the driver's seat 8 to detect the presence or absence of a passenger in the driver's seat 8 (running vehicle body 2). The steering wheel 9 is operated by the operator when steering the front wheels 4 which are steered wheels. The control unit 7 includes a display unit (a meter panel) in front of the steering wheel 9 for displaying various information.

In addition, the control unit 7 includes various operation levers such as a forward/reverse lever, an accelerator lever, a main shift lever, and an auxiliary shift lever, and various operation pedals such as an accelerator pedal, a brake pedal, and a clutch pedal.

The mission case 10 houses a transmission (transmission mechanism). The transmission appropriately decelerates the power (rotational power) transmitted from the engine E and transmits it to the rear wheels 5 as drive wheels and a PTO (Power Take-off) shaft.

A working machine W for working in a field is attached to the rear part of the traveling vehicle body 2 , and a PTO shaft for transmitting power for driving the working machine W projects rearward from the transmission case 10 . The PTO shaft transmits the rotational power appropriately reduced by the transmission to the working machine W mounted at least on the rear portion of the traveling vehicle body 2 .

A lifting device 12 for lifting and lowering the working machine W is provided at the rear portion of the traveling vehicle body 2 . The lifting device 12 lifts the work implement W to move the work implement W to the non-working position. The non-working position is, for example, a position where the work implement W is raised when the traveling vehicle body 2 moves backward or when the traveling vehicle body 2 turns. Further, the lifting device 12 lowers the work implement W to move the work implement W to the ground work position. The lifting device 12 includes a hydraulic lifting cylinder 121 , a lift arm 122 , a lift rod 123 , a lower link 124 and a top link 125 .

When hydraulic oil is supplied to the lifting cylinder 121, the lift arm 122 rotates around the axis AX serving as the pivot point so as to lift the working machine W. When the lifting cylinder 121 discharges hydraulic oil, It rotates around the axis AX so as to lower the working machine W. A lift arm sensor 26 for detecting the rotation angle of the lift arm 122 is provided at the base of the lift arm 122 (near the axis AX). The height of the work implement W is calculated based on the detection result of the lift arm sensor 26 and the work implement W. FIG.

Also, the lift arm 122 is connected to the lower link 124 via the lift rod 123 . In this manner, the lifting device 12 connects the work implement W to the traveling vehicle body 2 by the lower link 124 and the top link 125 so as to be able to move up and down.

The work machine W is a machine that works in a field. In the example shown in FIG. 1A, the working machine W is a rotary tiller for tilling in a field. The rotary tiller tills the field (soil) by rotating the tillage tines 61 by power transmitted from the PTO shaft.

The tractor 1 also includes a control device 40 (see FIG. 3). The control device 40 controls the engine E and the traveling speed of the traveling vehicle body 2 . Further, the control device 40 controls the work implement W. As shown in FIG.

The tractor 1 also includes a positioning device 30 . The positioning device 30 is provided on the upper part of the traveling vehicle body 2 and measures the position of the traveling vehicle body 2 . The positioning device 30 is, for example, a GNSS (Global Navigation Satellite System), and can perform positioning and timekeeping by receiving radio waves from navigation satellites S orbiting in the sky.

In addition, the tractor 1 can be set for various types of work in a specific farm field by the operation of the information processing terminal (portable terminal such as a tablet terminal) 100 by the worker. The information processing terminal 100 includes, for example, a storage unit configured by a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and a display unit and an operation unit configured by a touch panel. Various keys and buttons may be separately provided as the operation unit.

The tractor 1 also includes an obstacle sensor 20 . The obstacle sensor 20 has a front sensor 21 and a rear sensor 22 . The front sensor 21 is arranged in the front part of the traveling vehicle body 2, for example, by being attached to the sensor mounting stay 13 provided in front of the bonnet 6, and detects an obstacle (a person or an object) existing in front of the traveling vehicle body 2. to detect.

The rearward sensor 22 is arranged above the rear part of the traveling vehicle body 2, for example, attached to the upper part of the cabin 7a, and detects an obstacle existing behind the traveling vehicle body 2. As shown in FIG.

Also, both the front sensor 21 and the rear sensor 22 are intermediate range sensors, preferably infrared sensors. The front sensor 21 and the rear sensor 22 emit infrared beams and detect reflected light from obstacles. Front sensor 21 has a detection area extending forward. Also, the rear sensor 22 has a detection area extending rearward.

The front sensor 21 and the rear sensor 22 can detect the distance to the obstacle by measuring the time it takes to detect the reflected light from the obstacle after emitting the infrared beam. The front sensor 21 and the rear sensor 22, which are infrared sensors, two-dimensionally detect obstacles, and have a detection area of, for example, several meters to several tens of meters. As the obstacle sensor 20, it is also possible to use a medium-range sensor other than the infrared sensor.

Here, in the present embodiment, the detection area of the obstacle sensor 20 is divided into a plurality of detection areas according to the distance. It controls automatic driving. Further, when an obstacle is detected in a detection area farther from the tractor 1 among the plurality of detection areas, automatic driving control is performed according to the presence or absence of a passenger. This point will be described with reference to FIGS. 1B and 1C.

1B and 1C are diagrams for explaining an overview of the control method executed by the control device 40 of the tractor 1. FIG. FIG. 1B shows a control method when there is a passenger P on the tractor 1, and FIG. 1C shows a control method when there is no passenger P on the tractor 1. FIG. 1B and 1C show the detection area of the obstacle sensor 20, which is the front sensor 21, a first detection area R1 closer to the tractor 1 and a detection area farther from the tractor 1 than the first detection area R1. It is assumed that an obstacle OB exists in the second detection area R2.

As shown in FIG. 1B, the control device 40 decelerates the tractor 1 (an example of a vehicle) when there is an obstacle OB in the second detection area R2 and the passenger P is present. On the other hand, as shown in FIG. 1C, the control device 40 stops the tractor 1 (an example of a vehicle) when there is no passenger P when the obstacle OB exists in the second detection area R2.

That is, when the passenger P is present, the controller 40 allows the passenger P to visually recognize the obstacle OB and make an appropriate judgment such as avoiding the obstacle OB as soon as possible. slow down without stopping On the other hand, when the passenger P is not present, the control device 40 entrusts the operator's judgment to the detection result of the obstacle sensor 20. Therefore, there is a risk that the response such as avoidance as soon as possible will be delayed. Stop 1.

In this way, when an obstacle OB is detected in the second detection area R2, the passenger P or the operator can detect the obstacle OB appropriately by changing the automatic operation control of the tractor 1 according to the presence or absence of the passenger P. can be avoided.

Next, a control system of the work vehicle (tractor) 1 centering on the control device 40 will be described with reference to FIG. FIG. 2 is a block diagram showing an example of the control system of the work vehicle 1. As shown in FIG. As shown in FIG. 2 , the control device 40 includes an engine ECU (Electronic Control Unit) 41 , a traveling system ECU 42 , and a work machine lifting system ECU 43 . The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the traveling speed of the traveling vehicle body 2 (see FIG. 1) by controlling the rotation of the driving wheels. The work machine lifting system ECU 43 controls the lifting device 12 to control the lifting of the work machine W. FIG.

The control device 40 can control each part by electronic control, including a processing part having a CPU (Central Processing Unit), etc., various programs, a planned traveling route of the traveling vehicle body 2 preset for each field, etc. and a storage unit for storing necessary data.

As shown in FIG. 2, the control device 40 includes a positioning device (GNSS) 30, an engine speed sensor 23, a vehicle speed sensor 24, a steering angle sensor 25, an obstacle sensor 20 (a front sensor 21 and a rear sensor 22), and a lift arm. Various sensors such as a sensor 26, a seat sensor 27, and a forward/reverse lever position sensor 28 are connected. Note that the engine rotation sensor 23 detects the rotation speed of the engine E. As shown in FIG. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The steering angle sensor 25 detects the steering angle of the front wheels 4 (see FIG. 1), which are steered wheels. The steering angle sensor 25 detects turning of the aircraft.

The seat sensor 27 is an example of a passenger sensor, is provided in the operator's seat 8 , and detects whether or not a person is seated in the operator's seat 8 . The passenger sensor is not limited to the seat sensor 27 and may be a camera that captures an image of the vicinity of the cockpit 8 . The forward/reverse lever position sensor 28 detects the position of the forward/reverse lever provided in the control section 7 . Specifically, the forward/reverse lever position sensor 28 detects whether the forward/reverse lever is in the forward, reverse or neutral position.

The control device 40 receives information on the position of the traveling vehicle body 2 in a field or the like from the positioning device 30, the rotation speed of the engine E from the engine speed sensor 23, the traveling speed of the traveling vehicle body 2 from the vehicle speed sensor 24, and the speed of the front wheels 4 from the steering angle sensor 25. The steering angle, the obstacle detection result from the obstacle sensor 20, the height of the working machine W from the lift arm sensor 26, and the presence or absence of detection of the working machine W from the position detection sensor 70 are input. When the tractor 1 runs autonomously, the control device 40 uses the detection result of the steering angle sensor 25 to control the steering cylinder connected to the steering wheel 9 while feeding back the steering angle of the front wheels 4. Autopilot 9.

Further, in the control device 40, an engine ECU 41 is connected to the engine E, a traveling system ECU 42 is connected to the steering device 51, the transmission device 52, the braking device 53, and the like, and a work equipment lifting system ECU 43 is connected to the lifting device 12. be.

Among them, the working machine lifting system ECU 43 outputs a working machine lifting signal to the lifting device 12 . The lifting device 12 lifts and lowers the working machine W based on a working machine lifting signal output from the working machine lifting system ECU 43 .

Also, the control device 40 is wirelessly connected to, for example, an information processing terminal 100 that can be carried by an operator. The control device 40 controls each part of the tractor 1 based on an instruction signal from the information processing terminal 100 operated by the operator. Further, the control device 40 may be configured so as to hold a machine body information database of the tractor 1 and transfer information such as the model from the information processing terminal 100 or the like.

The control device 40 also has an "automatic operation mode" in which the tractor 1 performs work while autonomously traveling. In the automatic operation mode, the control device 40 determines in advance a planned travel route corresponding to the work content of the work implement W for each field, converts it into data, stores it in the storage unit, and stores it in the storage unit based on the measurement result of the positioning device 30. , controls each part such as the engine E, the steering device 51, the transmission device 52, the braking device 53, and the lifting device 12 so that the vehicle travels along the stored planned travel route. The planned travel route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, the type of crop, and the like. That is, the control device 40 controls the automatic operation of the tractor 1 in the "automatic operation mode".

In addition, the control device 40 sets either the “manned mode” or the “unmanned mode” in the “automatic operation mode”. The “manned mode” is the “automatic driving mode” when the tractor 1 has a passenger P. The “unmanned mode” is the “automatic driving mode” when there is no passenger P in the tractor 1 . The "manned mode" and the "unmanned mode" differ in control of the tractor 1 when an obstacle OB is detected, but the details of this point will be described later.

Note that the control device 40 sets either the “manned mode” or the “unmanned mode” based on the detection results of the forward/reverse lever position sensor 28 and the seat sensor 27 . This point will be described with reference to FIG.

FIG. 3 is a diagram showing information for setting the automatic driving mode. Such information is stored, for example, in a storage unit (not shown) of the control device 40, and is read out when automatic operation is started.

As shown in FIG. 3, the control device 40 sets either the manned mode or the unmanned mode according to the detection result of the seat sensor 27 when automatic operation is started. Specifically, the control device 40 sets the manned mode when the seat sensor 27 is ON, that is, the passenger P is present, and sets the unmanned mode when the seat sensor 27 is OFF, that is, the passenger P is not present. do. In other words, the control device 40 determines that the passenger P is present when the seat sensor 27 detects the seat (ON), and determines that the passenger P is not present when the seat sensor 27 does not detect the seat (OFF).

Further, the control device 40 sets either the manned mode or the unmanned mode according to the position of the forward/reverse lever when starting the automatic operation. Specifically, the controller 40 sets the manned mode when the forward/reverse lever is in the forward or reverse position, and sets the unmanned mode when the forward/reverse lever is in neutral.

Furthermore, the control device 40 prohibits the start of automatic driving when the combination of the detection result of the seat sensor 27 and the position of the forward/reverse lever is a specific combination. Specifically, when starting automatic driving, the control device 40 starts automatic driving if the forward/reverse lever is positioned forward or backward and the seat sensor 27 is OFF, that is, if there is no passenger P present. restrict. That is, switching to the "automatic driving mode" is prohibited.

Further, when the forward/reverse lever is in the neutral position and the seat sensor 27 is ON, that is, when the passenger P is present, the control device 40 prohibits the automatic driving from starting. If the combination of the detection result of the seat sensor 27 and the position of the forward/reverse lever is changed to a specific combination during automatic operation in the manned mode or the unmanned mode, the control device 40 stops the automatic operation. Stop tractor 1.

Further, when the obstacle OB is detected by the front sensor 21 or the rear sensor 22, the control device 40 stops or decelerates the tractor 1 according to the mode (manned mode or unmanned mode) in the "automatic driving mode".

Specifically, the controller 40 stops the tractor 1 in the unmanned mode when the presence of the obstacle OB is detected in the second detection area R2. That is, the control device 40 stops the tractor 1 when the forward/reverse lever is in the neutral position and the seat sensor 27 is OFF and the obstacle OB is present in the second detection area R2.

On the other hand, the controller 40 decelerates the tractor 1 in the manned mode when the presence of the obstacle OB is detected in the second detection area R2. That is, the control device 40 decelerates the tractor 1 when the forward/reverse lever is positioned forward or backward, the sheet sensor 27 is ON, and the obstacle OB is present in the second detection area R2.

When an obstacle OB is detected by the front sensor 21 or the rear sensor 22, the control device 40 stops the engine E or stops transmission of rotational power to the PTO shaft. Further, when an obstacle is detected by the front sensor 21 or the rear sensor 22, the control device 40 activates an alarm (not shown) to notify that the obstacle has been detected. may be notified.

In addition, during automatic operation in the manned mode, the control device 40 controls the height of the working machine W, etc., swing control, speed-up/deceleration control of the main transmission position, and the tractor 1 setting of the engine speed during straight running. give priority to As a result, by adjusting various controls on the tractor 1 during manned travel, finer settings can be made.

In addition, during automatic operation in an unmanned mode, the control device 40 controls elevation control of the height of the work machine W, turning control, acceleration/deceleration control of the main transmission position, engine speed during straight travel, etc. priority is given to the setting of This makes it possible to avoid unintended control changes during unmanned travel.

In addition, the control device 40 controls the engine speed from the start of turning to the completion of turning during automatic operation to be constant regardless of the manned mode or the unmanned mode.

In the manned mode, the control device 40 prohibits switching of the engine speed and the main transmission during deceleration of the tractor 1 when an obstacle OB exists in the second detection area R2. As a result, an erroneous operation during deceleration can be prevented from being reflected in the behavior.

In addition, the control device 40 gives priority to the steering operation of the passenger P when the obstacle OB exists in the second detection area R2 in the manned mode. As a result, the obstacle OB can be appropriately avoided by the passenger P's manual operation.

Next, a processing procedure of control processing executed by the control device 40 according to the embodiment will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a flowchart showing the procedure of mode switching processing in the automatic driving mode according to the embodiment. FIG. 5 is a flowchart showing a processing procedure of control processing for automatic driving according to the embodiment.

As shown in FIG. 4 , first, the control device 40 determines whether or not an instruction to start automatic operation is received from the information processing terminal 100 (step S101), and if the instruction is not received (step S101: No ), and step S101 is repeatedly executed.

When receiving an instruction to start automatic driving (step S101: Yes), the control device 40 determines whether or not there is a passenger P (step S102).

If there is a passenger P (step S102: Yes), the controller 40 determines whether the forward/reverse lever is in forward or reverse (step S103).

If the forward/reverse lever is forward or backward (step S103: Yes), the control device 40 sets the manned mode in the automatic driving mode (step S104), and ends the process.

On the other hand, when the forward/reverse lever is neutral (step S103: No), the control device 40 prohibits the start of automatic driving (step S105), and ends the process.

If there is no passenger P (step S102: No), the controller 40 determines whether the forward/reverse lever is in forward or reverse (step S106).

If the forward/reverse lever is for forward or reverse (step S106: Yes), the control device 40 prohibits automatic operation (step S105) and terminates the process.

On the other hand, when the forward/reverse lever is neutral (step S106: No), the control device 40 sets the unmanned mode in the automatic driving mode (step S107), and terminates the process.

Next, as shown in FIG. 5, the control device 40 determines whether or not the obstacle OB is detected in the second detection area R2 of the obstacle sensor 20 (step S201), and detects the obstacle OB. If not (step S201: No), step S201 is repeatedly executed.

When the obstacle OB is detected in the second detection area R2 (step S201: Yes), the control device 40 determines whether or not it is in the manned mode (step S202).

If the control device 40 is in the manned mode (step S202: Yes), the control device 40 decelerates the tractor 1 (step S203) and terminates the process.

On the other hand, if the control device 40 is in the unmanned mode (step S202: No), the control device 40 stops the tractor 1 (step S204) and ends the process.

As described above, the tractor 1 according to the embodiment includes a traveling vehicle body 2 on which the work implement W can be mounted, and an obstacle in the first detection region R1 and the second detection region R2 that is farther than the first detection region R1. an obstacle sensor 20 for detecting the presence or absence of an object OB; a seat sensor 27 for detecting the presence or absence of a passenger P on the traveling vehicle body 2; , the control device 40 stops the tractor 1 when there is no passenger P and decelerates the tractor 1 when the passenger P is present when the obstacle OB exists in the second detection area R2. . As a result, the obstacle OB can be appropriately avoided.

Further, the control device 40 sets either a manned mode in which the passenger P is present or an unmanned mode in which the passenger P is not present, according to the detection result of the seat sensor 27 when starting automatic driving. Further, when an obstacle OB exists in the second detection area R2, the control device 40 stops the tractor 1 in the unmanned mode and decelerates the tractor 1 in the manned mode. As a result, it is possible to automatically determine whether or not there is a passenger P at the start of automatic driving, and perform automatic driving control for appropriately avoiding the obstacle OB.

In addition, the tractor 1 further includes a forward/reverse lever that switches the tractor 1 between forward, reverse, and neutral. The control device 40 prohibits the start of the automatic driving when the forward/reverse lever is moved forward or backward and the passenger P is not present when the automatic driving is started. As a result, it is possible to avoid starting automatic driving in the manned mode when there is no passenger P.

Further, when starting automatic driving, the control device 40 prohibits starting automatic driving if the forward/reverse lever is in neutral and the passenger P is present. As a result, it is possible to avoid starting the automatic driving in the unmanned mode while the passenger P is present.

A passenger sensor is a seat sensor 27 that detects seating on the operator's seat 8 of the tractor 1 . The control device 40 determines that the passenger P is present when the seat sensor 27 detects that the passenger is seated, and determines that the passenger P is not present when the seat sensor 27 does not detect that the passenger is seated. Thereby, the presence or absence of the passenger P can be automatically determined.

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

1 tractor (work vehicle)
2 Running vehicle body 20 Obstacle sensor 27 Seat sensor 40 Control device P Passenger R1 First detection area R2 Second detection area W Working machine

Claims (4)

a traveling vehicle body to which a working machine can be attached;
an obstacle sensor that detects the presence or absence of an obstacle in a first detection area and a second detection area that is farther than the first detection area;
a passenger sensor that detects the presence or absence of a passenger on the traveling vehicle body;
a control device that controls automatic driving of the vehicle on the set scheduled travel route;
a forward/reverse lever for switching between forward, reverse, and neutral of the vehicle;
with
The control device is
when the obstacle exists in the second detection area, stopping the vehicle if the passenger is not present, and decelerating the vehicle if the passenger is present ;
Prohibiting the start of the automatic operation when the forward/reverse lever is neutral and the passenger is present when the automatic operation is started.
A work vehicle characterized by: The control device is
When starting the automatic operation, setting either a manned mode with the passenger or an unmanned mode without the passenger according to the detection result of the passenger sensor,
The work vehicle according to claim 1, wherein when the obstacle exists in the second detection area, the vehicle is stopped in the unmanned mode and decelerated in the manned mode. The control device is
3. The automatic operation according to claim 1 or 2, wherein when the automatic operation is started, if the forward/reverse lever is moved forward or backward and the passenger is absent, the automatic operation is prohibited from starting. work vehicle. The occupant sensor,
A seat sensor that detects seating on a seat of the vehicle,
The control device is
The vehicle according to any one of claims 1 to 3 , wherein if the seat sensor detects that the passenger is seated, it is determined that the passenger is present, and if the seat sensor does not detect that the passenger is seated, the seat sensor determines that the passenger is not present. Work vehicle as described.

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