JP7447927B2 - work vehicle - Google Patents

Description

The present invention relates to a work vehicle equipped with a sensor for detecting obstacles.

Conventionally, this type of work vehicle has been configured to be able to travel autonomously while detecting the travel route and controlling the steering, and is equipped with sensors that detect obstacles to avoid contact with obstacles during autonomous travel. Those that have been published are publicly known.

For example, Patent Document 1 discloses a work vehicle that autonomously travels while detecting a travel route and controlling steering, and is equipped with a pair of left and right obstacle sensors that are rotatable in the left and right directions at the front of the vehicle. The obstacle sensor is configured to rotate the direction of the obstacle sensor substantially in the turning direction depending on the magnitude of the steering angle and the turning direction, and when the obstacle sensor detects an obstacle, the control unit makes an emergency stop of the vehicle. The work vehicles used are listed.

Japanese Patent Application Publication No. 6-189610

However, when working vehicles drive on uneven ground such as in fields, the front or rear wheels of the vehicle may sink into depressions in the ground or ride up on protrusions while the vehicle is running, resulting in the vehicle body being tilted. There are also many. In such a case, the obstacle sensor also tilts with the vehicle body, so for example, if the obstacle sensor tilts forward, the ground enters the detection range, erroneously detects the ground as an obstacle, and the work vehicle is triggered by collision avoidance control. There was a risk that the vehicle would stop and autonomous driving would be hindered. To avoid this, the vehicle body detects the tilted position and adjusts the detection range to prevent false detection of the ground as an obstacle, but the detection range becomes inappropriate when driving on a slope. That was expected.

Therefore, an object of the present invention is to provide a work vehicle that can continue to autonomously travel even when the vehicle body is tilted, and that can safely travel even when traveling on a slope.

The object of the present invention is to provide a positioning device that acquires information on the current position of a vehicle, a front obstacle sensor that detects obstacles in front of the vehicle, and a rear obstacle sensor that detects obstacles behind the vehicle. A tilt sensor that detects the inclination of the vehicle, a control unit that controls the autonomous running of the vehicle , a work implement that is connected to the vehicle so that it can be raised and lowered, and a travel shift sensor that detects whether the vehicle is moving forward or backward. The control unit autonomously travels by controlling the running direction and speed of the vehicle according to information on the current position of the vehicle acquired from the positioning device so that the vehicle follows a preset running route. The work vehicle is configured to prevent contact with an obstacle when the front obstacle sensor detects the obstacle, and the control section is configured to prevent contact with the obstacle when the forward obstacle sensor detects that the vehicle is moving forward. When the obstacle sensor is disabled and the detection information of the inclination sensor is acquired and it is determined that the vehicle is leaning forward while moving forward , the detection range of the forward obstacle sensor is reduced, and the inclination sensor detects the inclination of the vehicle. The vehicle is configured to be able to obtain the amount of change in angle per unit time, and when it is determined that the amount of change in the tilt angle of the vehicle per unit time obtained from the inclination sensor is less than a predetermined threshold, the vehicle is tilted forward. This is achieved by a work vehicle characterized in that it is configured so that the detection range of the front obstacle sensor is not reduced even if

According to the present invention, an autonomously traveling work vehicle is equipped with an obstacle sensor capable of detecting an obstacle in front of the vehicle, so that the work vehicle can travel safely without colliding with an obstacle. Additionally, when the work vehicle leans forward while driving, the tilt sensor detects the forward tilt of the vehicle, and the control unit reduces the detection range of the obstacle sensor so that the ground enters the detection range of the obstacle sensor. Collision avoidance control of the vehicle due to erroneous detection of an obstacle can prevent autonomous driving from being hindered, so the vehicle can continue autonomous driving even if the ground is uneven. In addition, by obtaining the amount of change in the vehicle's tilt angle per unit time from the tilt sensor, if the change in tilt is gradual, it can be distinguished from a tilt of the vehicle due to uneven ground, and the vehicle can be driven on a slope such as a slope. Since it can be determined that the vehicle is present, the obstacle detection range of the obstacle sensor is not reduced even if the vehicle tilts, and the vehicle can drive safely.

In a preferred embodiment of the present invention, when the rear obstacle sensor detects an obstacle while autonomously traveling, the controller is configured to prevent contact with the obstacle; If it detects that the front obstacle sensor is disabled, and if it acquires the detection information of the tilt sensor and determines that the vehicle is in a backward leaning position while traveling backwards , it reduces the detection range of the rear obstacle sensor, and When it is determined that the amount of change per unit time in the tilt angle of the vehicle obtained from the tilt sensor is less than a predetermined threshold, the detection range of the rear obstacle sensor is not reduced even if the vehicle is tilted backward. It is composed of

According to this preferred embodiment of the present invention, the work vehicle is equipped with an obstacle sensor that can detect rear obstacles, so that it can travel safely without colliding with rear obstacles. . Additionally, when the work vehicle leans backward while driving, the tilt sensor detects the backward tilt of the vehicle, and the control unit reduces the detection range of the obstacle sensor so that the ground enters the detection range of the obstacle sensor. It is possible to prevent the vehicle from stopping due to erroneous detection of an obstacle. In addition, by obtaining the amount of change in the vehicle's tilt angle per unit time from the tilt sensor, if the change in tilt is gradual, it can be distinguished from a tilt of the vehicle due to uneven ground, and the vehicle can be driven on a slope such as a slope. Since it can be determined that the vehicle is present, the obstacle detection range of the obstacle sensor is not reduced even if the vehicle tilts, and the vehicle can drive safely.

According to the present invention, it is possible to provide a work vehicle that can continue to autonomously travel even when the vehicle body is tilted, and that can safely travel even when traveling on a slope.

FIG. 1 is a schematic side view of a work vehicle according to an embodiment of the present invention. 2 is a schematic plan view of the work vehicle of FIG. 1. FIG. FIG. 3 is a block diagram showing an electrical system in the work vehicle of FIG. 1. FIG. 4 is an explanatory diagram showing the detection range of the front obstacle sensor attached to the work vehicle of FIG. 1. FIG. 5 is an explanatory diagram showing detection of an obstacle by the front obstacle sensor of FIG. 4. FIG. 6 is an explanatory diagram showing the detection range of the rear obstacle sensor attached to the work vehicle of FIG. 1. FIG. 7 is an explanatory diagram showing changes in the obstacle detection range of the front obstacle sensor attached to the work vehicle of FIG. 1. FIG. 8 is an explanatory diagram showing changes in the detection range of the rear obstacle sensor. FIG. 9 is a schematic diagram showing a screen of a mobile terminal that can operate the work vehicle of FIG. 1. FIG. 10 is a flowchart showing control of the detection ranges of the front obstacle sensor and the rear obstacle sensor when the work vehicle of FIG. 1 is tilted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic side view of a working vehicle 1 according to a preferred embodiment of the present invention, and FIG. 2 is a schematic plan view of the working vehicle 1 of FIG. In this specification, as shown in FIG. 2, the side of the work vehicle 1 in the vehicle traveling direction is referred to as the front (F), and the opposite side is referred to as the rear (B). The left hand side in the direction of travel is called the left side (L), and the right hand side in the travel direction is called the right side (R).

As shown in FIGS. 1 and 2, the work vehicle 1 is equipped with an engine 5 covered by a bonnet 7 at the front of the vehicle body, and the rotational power of the engine 5 is transmitted through a plurality of transmissions. It is configured to be able to travel by transmitting power to the front wheels 3 and rear wheels 4. Further, a control section 6 is provided behind the engine 5, and a working machine 40 capable of cultivating a field 60 is attached to the rear of the vehicle body behind the control section 6. The front end of the hood 7 is provided with a front obstacle sensor 2 that detects obstacles in a predetermined range in front of the vehicle, and a headlight 9 that illuminates the front of the vehicle and can be switched between low beam and high beam.

A front obstacle sensor 2 that detects obstacles in a predetermined range in front of the vehicle and a headlight 9 that can illuminate the front of the vehicle are provided at the front end of the hood 7. Since the work vehicle 1 is provided with the front obstacle sensor 10, the work vehicle 1 can detect obstacles in front of the work vehicle 1 while traveling.

The control unit 6 is provided with a cabin that includes a steering wheel and a control seat so that a person can get in and operate the control unit. Furthermore, a GPS receiver 2 is installed on the cabin roof 8, which is the ceiling of the cabin, and can receive radio waves from GPS satellites 70 at predetermined time intervals to obtain position information of the work vehicle 1. It is composed of

A front camera 11 capable of photographing the front of the work vehicle 1 is provided at the front of the cabin roof 8, and a rear obstacle camera 11 is provided at the rear of the cabin roof 8 to detect obstacles in a predetermined range behind the vehicle. A sensor 11 and a rear camera 13 capable of photographing the rear of the work vehicle 1 are provided.

A three-point link mechanism 45 consisting of a top link 45a on the upper side and left and right lower links 45b on the lower side is provided at the rear of the vehicle body of the work vehicle 1, and the work implement 40 is connected to this. The working machine 40 is provided with tilling claws 46 for cultivating the soil in the field, a rotary cover 47 that covers the upper part of the tilling claws 46, and a rear cover 48 that is supported in a vertically movable manner at the rear of the rotary cover 47. A potentiometer-type plowing depth sensor 49 is provided on the rotary cover 47, and the sensor 49 is configured to detect the rotation angle of the rear cover 48 with respect to the rotary cover 47 as the plowing depth.

A work equipment lifting cylinder 41 is connected to the lower link 45b of the three-point linkage mechanism 45 via a lift arm 42, and by expanding and contracting the work equipment lifting cylinder 41, the lower link 45b can be raised and lowered. It is configured. Therefore, the three-point linkage mechanism 45 can move the connected working equipment 40 in the vertical direction by expanding and contracting the working equipment lifting cylinder 41. Therefore, when cultivating the soil in the field 60, the working equipment 40 can be lowered. On the other hand, when simply moving, the work implement 40 is lifted to prevent it from touching the ground, thereby preventing the work implement 40 from unnecessarily contacting the ground and interfering with the movement of the work vehicle 1. It can be prevented.

FIG. 3 is a block diagram showing an electrical system in the work vehicle 1 of FIG. 1.

As shown in FIG. 3, the work vehicle 1 is provided with a control section 30 that controls the vehicle. The control unit 30 is composed of a plurality of electronic control units (ECUs), and the electronic control units include a vehicle ECU 31 that controls the running of the vehicle, and an automatic controller that processes information related to autonomous running of the vehicle. An operation ECU 32 and a work machine ECU 33 that controls the operation of the work machine 40 are provided. These electronic control units are electrically connected to each other and configured to be able to exchange information with each other through predetermined network communication, such as CAN (Controller Area Network) communication. The work vehicle 1 is equipped with the automatic operation ECU 32 in the control unit 30, so that the work vehicle 1 can autonomously travel.

On the output side of the vehicle ECU 31, there are an engine 5, a traveling transmission 17 capable of changing the speed of the vehicle and switching between forward and backward movement, a steering motor 18 that operates the rotation of the steering wheel, a brake mechanism 19 that adjusts the brakes, and a brake mechanism 19 that adjusts the brakes. The machine lift cylinder 41 and the headlight 9 are connected, and the input side includes a tilt sensor 14 that detects the tilt of the vehicle body with the left and right directions of the vehicle as an axis, and a vehicle speed sensor 15 that detects the speed of the vehicle. , a traveling speed change sensor 15a that detects the speed change of the vehicle and whether it is moving forward or backward, and a steering sensor 16 that detects the steering force applied to the steering wheel are connected. Further, the headlight 9 is provided with a headlight adjustment mechanism 9a, and is configured to be able to switch on/off and switch between low beam and high beam using the headlight adjustment mechanism 9a.

Therefore, the vehicle ECU 31 detects the inclination angle of the vehicle body detected by the inclination sensor 14, the traveling direction (forward or reverse) and traveling speed of the work vehicle 1 detected by the vehicle speed sensor 15 and the traveling speed change sensor 15a, and the steering sensor 16. The detected change in the traveling direction of the work vehicle 1 can be acquired, and the engine 5 of the work vehicle 1 can be started, the travel transmission 17 can be used to change the speed of the vehicle or change forward/backward movement, or the steering motor 18 can be started. It can be driven to change the traveling direction of the work vehicle 1, extend and contract the brake mechanism 19 to apply the brakes, turn on or off the headlights 9, and switch between low beam and high beam.

In addition, the inclination sensor 14 measures the inclination angle of the vehicle body at predetermined time intervals, so the vehicle ECU 31 can calculate and obtain the amount of change in inclination per unit time.

The automatic driving ECU 32 includes a CPU that performs arithmetic processing, a storage device that temporarily stores information, a recording device that stores information, and a communication means capable of wireless communication. A field database 22 is stored in which map information 23 which is data and a planned travel route 24 in which the route that the work vehicle 1 will travel through the field is set are recorded. Further, the automatic driving ECU 32 can exchange information with the mobile information terminal 50 via a communication means.

On the input side of the automatic driving ECU 32, there are a GPS receiver 2, a front obstacle sensor 10, a rear obstacle sensor 11, and an image processing unit 34 that converts images captured by the front camera 12 and the rear camera 13 into data. It is connected. Therefore, the automatic driving ECU 32 can acquire the position information of the work vehicle from the GPS receiver 2, and the rear obstacle sensor 11 can detect whether or not there is an obstacle in front of the work vehicle 1 using the front obstacle sensor 10. It is possible to recognize whether or not there is an obstacle behind the work vehicle 1, and the images captured by the front camera 12 and the rear camera 13 and converted into data by the image processing unit 34 are acquired and recorded. It can be recorded on the device.

Furthermore, the automatic driving ECU 32 is configured to be able to change the obstacle detection range and enable/disable the sensors for each of the front obstacle sensor 10 and the rear obstacle sensor 11. ing.

Furthermore, when the automatic driving ECU 32 receives a signal indicating that an obstacle has been detected from the front obstacle sensor 10 or the rear obstacle sensor 11, it also sends a signal to that effect to the mobile information terminal 50 via the communication means, and As collision avoidance control, the vehicle ECU 31 is configured to issue a command to the vehicle ECU 31 to stop the work vehicle 1, and upon receiving this command, move the brake mechanism 19 to apply the brake to the work vehicle 1 to stop the work vehicle 1. ing. Therefore, if there is an obstacle in the traveling direction of the work vehicle 1, the automatic driving ECU 32 can detect the obstacle and stop the vehicle.

In addition, the vehicle ECU 31 determines whether the work vehicle 1 is moving forward or backward from the traveling speed change sensor 15a, and sends information to that effect to the automatic driving ECU 32. When receiving information that the vehicle 1 is moving forward, the front obstacle sensor 10 is enabled and the rear obstacle sensor 11 is disabled, and when receiving information that the work vehicle 1 is moving backwards, the front obstacle sensor 10 is enabled and the rear obstacle sensor 11 is disabled. It is configured to disable the object sensor 10 and enable the rear obstacle sensor 11.

Therefore, while the work vehicle 1 is moving forward, obstacles in front of the vehicle can be detected, and even if some object behind the vehicle enters the detection range of the rear obstacle sensor 11, it will not be detected as an obstacle. While the work vehicle 1 is moving backwards, obstacles behind the vehicle can be detected, and even if some object in front of the vehicle enters the detection range of the front obstacle sensor 10, it will not be detected as an obstacle. It is possible to prevent objects that are not in the direction from being detected as obstacles and the work vehicle 1 from stopping.

Further, when the automatic driving ECU 32 receives a signal indicating that the front obstacle sensor 10 has detected an obstacle, it issues a command to the vehicle ECU 31 to turn on the headlights 9 with high beams, and the vehicle ECU 31 that has received this command, When the headlights 9 are switched to high beam by the headlight adjustment mechanism 9a and a signal indicating that an obstacle is no longer detected is received from the front obstacle sensor 10, the vehicle ECU 31 is instructed to return the headlights 9 that have been set to high beam to the original state. The vehicle ECU 31 that issues the command and receives this command is configured to return the lighting of the headlights 9 to the original state using the headlight adjustment mechanism 9a.

In this way, when an obstacle is detected in front of the work vehicle 1, the headlights 9 are turned on and illuminated with high beams, so that the obstacle can be clearly captured by the front camera 12 even during dark hours or bad weather. This makes it easier for the user to monitor the work vehicle 1.

In addition, the automatic driving ECU 32 refers to the farm field database 22 stored in the recording device, and compares the map information 23 recorded in the database with the position information acquired from the GPS receiver 2. By comparing the self-position with the planned travel route 24, the travel speed and direction of the work vehicle 1 can be adjusted so that the work vehicle 1 passes on the planned travel route 24. can.

FIG. 4 is an explanatory diagram showing the obstacle detection range 20 of the front obstacle sensor 10 attached to the work vehicle of FIG. FIG. 5B is an explanatory diagram showing a case where an obstacle is detected at the edge of the obstacle detection range 20.

As shown in FIG. 4, the work vehicle 1 uses a front obstacle detection sensor 10 provided at the front end of the hood 7 of the work vehicle 1 to detect a front obstacle detection range 20 that extends radially in front of the work vehicle 1. The structure is such that obstacles can be detected throughout the area. The front obstacle detection range 20 extends diagonally from the center of the vehicle body in the left-right direction, and extends from 45 to 60 degrees in the left-right direction, for example.

When an obstacle is detected by the front obstacle sensor 10, the brakes are applied to the work vehicle 1 at that point, so the work vehicle 1 must move forward by the braking distance from the position where the obstacle was detected until it comes to a complete stop. become. As shown in FIG. 5(a), the detection distance D1, which indicates the distance to the front end of the front obstacle detection range 20, is such that even if the work vehicle 1 makes an emergency stop while traveling at normal work speed, the A sufficient distance is secured between the work vehicle 1 and the object to ensure a sufficient braking distance, and the work vehicle 1 that detects the obstacle can safely stop before colliding with the obstacle.

Further, as shown in FIG. 4 , the lateral width W of the front obstacle detection range 20 is slightly wider than the lateral width of the work vehicle 1 . Therefore, for example, as shown in FIG. 5(b), when the work vehicle 1 travels in the field 60 along the ridge 61, the edge of the ridge 61 in front of it is only the part where the utility pole 62 is installed. Even if it protrudes and becomes an obstacle, it enters the obstacle detection range 20 of the front obstacle detection sensor 10 and is detected as an obstacle, so the left or right end of the front of the work vehicle 1 collides with the obstacle. , it is also possible to avoid so-called offset collisions.

FIG. 6 is an explanatory diagram showing the obstacle detection range 21 of the rear obstacle sensor 11 attached to the work vehicle of FIG.

As shown in FIG. 6, the work vehicle 1 uses a rear obstacle detection sensor 12 provided at the rear end of the cabin roof 8 of the work vehicle 1 to detect rear obstacles that extend radially behind the work vehicle 1. Obstacles can be detected throughout the range 21. This rear obstacle detection range 21 extends from the central portion of the vehicle body in the left-right direction to diagonal left and right directions, and is assumed to extend from 45 to 60 degrees in the left-right direction, for example.

Further, the range of distance D0 from the rear obstacle sensor 11 to the rear end of the work equipment 40 is a non-detection range in which the rear obstacle sensor 11 does not detect obstacles, and the rear obstacle sensor 11 40 as an obstacle, the work vehicle 1 will not stop even if part of the work implement 40 moves upward and enters the rear obstacle detection range 21.

The detection distance D2, which indicates the distance to the rear end of the rear obstacle detection range 21, is long enough to ensure a sufficient braking distance for the backward speed of the work vehicle 1. By applying the brake, the work vehicle 1 can be stopped before colliding with the obstacle, so the work vehicle 1 can stop traveling before colliding with the obstacle. In addition, since the left-right width W of the rear obstacle detection range 21 is slightly wider than the left-right width of the work vehicle 1, it is possible to avoid a so-called offset collision in which the left or right end of the back of the work vehicle 1 collides with an obstacle. You can also do it.

7 is an explanatory diagram showing changes in the front obstacle detection range 20 of the front obstacle sensor 10 in FIG. 4, and FIG. 8 is an explanatory diagram showing changes in the rear obstacle detection range 21 of the rear obstacle sensor 11 in FIG. FIG.

As shown in FIG. 7, when the working vehicle 1 is moving forward, when the rear wheel 4 rides on the convex portion 63 and the vehicle body leans forward by α degree, a front obstacle attached to the front end of the bonnet 7 of the working vehicle 1 is attached. Since the direction of the object sensor 10 is also tilted by α degrees, the front obstacle detection range 20 is swung downward. At this time, when the inclination sensor 14 detects the inclination of the vehicle body of the work vehicle 1, the control unit 30 shown in FIG. Since the detection distance of the front obstacle detection range 20 is reduced to D1' so that the front obstacle detection range 20 does not occur, even if the work vehicle 1 leans forward while moving forward, it is possible to prevent the ground from being mistakenly detected as an obstacle and stopping traveling. .

As shown in FIG. 8, when the front wheels 3 of the work vehicle 1 run backwards on the convex portion 63 and the vehicle body tilts backward by β degrees, the rear wheel attached to the rear end of the cabin roof 8 of the work vehicle 1 Since the direction of the obstacle sensor 11 is also tilted by β degrees, the rear obstacle detection range 21 is swung downward. At this time, when the inclination sensor 14 detects the inclination of the vehicle body of the work vehicle 1, the control unit 30 shown in FIG. As the detection distance of the obstacle detection range 21 is reduced to D2', even if the work vehicle 1 leans backward while moving backward, it is possible to prevent the ground from being erroneously detected as an obstacle and stopping the vehicle from moving.

In addition, as described above, when the work vehicle 1 is moving forward, the rear obstacle sensor 11 is disabled, so if the front wheel 3 rides on the convex portion 63 while the work vehicle 1 is moving forward, the vehicle body will move backward. Even if the work vehicle 1 tilts, the rear obstacle sensor 11 detects the ground of the field 60 and the work vehicle 1 does not stop traveling, and the front obstacle sensor 10 is disabled when the work vehicle 1 is traveling backwards. Therefore, even if the rear wheel 4 rides on the convex portion 63 while the work vehicle 1 is moving forward, causing the vehicle body to lean forward, the front obstacle sensor 10 detects the ground of the field 60 and the work vehicle 1 stops traveling. Never.

Therefore, even if the vehicle body temporarily leans forward or backward as it passes through the unevenness of the field 60, the work vehicle 1 can continue autonomous driving without erroneously detecting the ground as an obstacle. .

Furthermore, even if the inclination sensor 14 detects the inclination of the vehicle body, the control unit 30 shown in FIG. It is determined that the vehicle is traveling on a road with a slope, such as a slope, so that the front obstacle detection range 20 of the front obstacle sensor 10 is not reduced while moving forward, and the rear obstacle sensor 11 is detected while moving backward. The obstacle detection range 21 is configured not to be reduced.

Therefore, the control unit 30 can distinguish between unevenness and slopes on the ground of the field 60, and when the work vehicle 1 travels on a slope, the detection range of obstacles is the same as when the work vehicle 1 travels on a flat road. Therefore, the work vehicle 1 can safely travel on the slope without colliding with obstacles.

FIG. 9 is a schematic diagram showing a screen of a mobile information terminal 50 that can operate the work vehicle 1 of FIG. 1.

As shown in FIG. 9, the mobile information terminal 50 includes a touch-operable liquid crystal screen 51 and a speaker 52, and is configured to be able to communicate with the work vehicle of FIG. 1 through a predetermined wireless communication means (not shown). ing. The liquid crystal screen 51 also displays a camera image display section 53, an indicator 54 that uses icons to represent the detection distance of the front obstacle detection range 20 shown in FIG. A farm field map 55 and an operation button 56 that can issue instructions to the work vehicle 1 by touch operation are displayed.

The camera image display section 53 displays an image captured by the front camera 12 in FIG. 1 or an image captured by the rear camera 13 in FIG. 1, and is configured so that these images can be switched by a tap operation. There is. Therefore, the user can grasp the situation in front and behind the traveling work vehicle 1 through the screen of the mobile information terminal 50 without getting into the work vehicle 1.

The indicator 54 represents the detection distance of the front obstacle detection range 20 and the detection distance of the rear obstacle detection range 21 shown in FIG. The range is configured to be reflected in real time. By displaying the indicator 54 on the liquid crystal screen 51, the user can visually grasp the detection range of each obstacle sensor and its change.

The field map 55 displays the current position of the work vehicle 1 in the field 60 and the planned travel route 22 set for the field 60. This allows the user to know how the work vehicle 1 will travel through the field 60. By traveling along the route and visually observing the mobile information terminal 50, it is possible to ascertain which point the user has reached.

Even if the image on the liquid crystal screen 51 is not displayed, the mobile information terminal 50 receives a signal indicating that an obstacle has been detected from the work vehicle 1, or when the front obstacle detection range 20 or the rear obstacle detection range 21 has been reduced. Upon receiving the signal, the LCD screen 51 turns on the display, and if the front obstacle sensor 10 detects an obstacle, the front camera 12 captures the image, and the rear obstacle sensor 11 detects the obstacle. In this case, the image taken by the rear camera 13 is configured to be displayed on the camera image display section 53 for a certain period of time. Further, at this time, a warning sound is emitted from the speaker 52 to inform the user that an image is being displayed on the liquid crystal screen 51.

Therefore, by holding the mobile information terminal 50, the user can easily detect a temporary obstacle when the work vehicle 1 detects an obstacle in the running direction and stops, or when the work vehicle 1 runs over an uneven surface and tilts. When the detection range of the object sensor is reduced, the situation of the work vehicle 1 can be reliably grasped even at a position distant from the work vehicle 1.

Furthermore, since the mobile information terminal 50 has the operation button 56, the user can give instructions to the work vehicle 1 such as stopping traveling, moving forward, going backward, sounding the horn, raising and lowering the work equipment 40, and turning on and off the headlights 9. Since it can be sent remotely, even if it is necessary to manually operate the work vehicle 1, there is no need to get into the work vehicle 1, and the user's effort can be reduced.

FIG. 10 is a flowchart showing control of the front obstacle detection range 20 of the front obstacle sensor 10 and the rear obstacle detection range 21 of the rear obstacle sensor 11 when the work vehicle 1 of FIG. 1 is tilted.

As shown in FIG. 10, the control unit 30 determines whether the work vehicle 1 is moving forward or backward based on the speed of the work vehicle 1 acquired by the traveling speed change sensor 15a (step S1).

When the work vehicle 1 is moving forward and is tilted, the tilt sensor 14 detects that the vehicle has tilted forward (step S2a) and that the amount of change in tilt per unit time exceeds a predetermined value (step S2a). When S3a) is detected, the control unit 30 issues a command to the front obstacle sensor 10 to reduce the obstacle detection range, and the front obstacle sensor 10 that receives the command reduces the front obstacle detection range. 20 (step S4a). Furthermore, a command is issued to the mobile information terminal 50 to notify that the obstacle detection range of the front obstacle sensor 10 has been reduced, and upon receiving this command, the mobile information terminal 50 outputs a warning sound from the speaker 52. (buzzer) and displays changes in the front obstacle detection range 20 on the indicator 54 (the icon of the work vehicle 1) on the LCD screen 51 (step S5a). Furthermore, the front camera 12 is displayed on the LCD screen 51. The captured video is displayed for a certain period of time (step S6a).

Thereafter, when the inclination sensor 14 detects that the amount of change in inclination per unit time has become equal to or less than a predetermined value (step S7a), the control unit 30 causes the front obstacle sensor 10 to adjust the obstacle detection range based on the detection range of the obstacle. Upon receiving the command, the front obstacle sensor 10 returns the reduced front obstacle detection range 20 to its original state (step S8a).

When the work vehicle 1 is traveling backwards and the vehicle is tilted, the tilt sensor 14 detects that the vehicle has tilted backward (step S2b) and that the amount of change in tilt per unit time exceeds a predetermined value (step S2b). When S3b) is detected, the control unit 30 issues a command to the rear obstacle sensor 11 to reduce the obstacle detection range, and the rear obstacle sensor 11 receives the command and reduces the rear obstacle detection range. 21 is reduced (step S4b). Furthermore, a command is issued to the mobile information terminal 50 to notify that the obstacle detection range of the rear obstacle sensor 11 has been reduced. (buzzer) and displays changes in the rear obstacle detection range 21 on the indicator 54 (the icon of the work vehicle 1) on the LCD screen 51 (step S5b). Furthermore, the rear camera 13 is displayed on the LCD screen 51. The captured video is displayed for a certain period of time (step S6b).

Thereafter, when the inclination sensor 14 detects that the amount of change in inclination per unit time has become equal to or less than a predetermined value (step S7b), the control unit 30 causes the rear obstacle sensor 11 to adjust the obstacle detection range based on the detection range of the obstacle. After receiving the command, the rear obstacle sensor 11 returns the reduced front obstacle detection range 20 to its original state (step S8b).

As described above, according to the preferred embodiment of the present invention, the work vehicle 1 that autonomously travels in the field 60 is equipped with the front obstacle sensor 10 and the rear obstacle sensor 11, so that the work vehicle 1 autonomously travels in the field 60 can prevent the work vehicle 1 from moving forward or backward by You can drive safely without colliding with obstacles. Further, when the work vehicle 1 is in a forward leaning position while traveling, the inclination sensor 14 detects the forward inclination of the vehicle body, and the control unit 30 reduces the front obstacle detection range 20 of the front obstacle sensor 10, so that the front It is possible to prevent the ground from entering the obstacle detection range 20 and erroneously detecting an obstacle and causing the vehicle to stop. When the work vehicle leans backward while driving, the tilt sensor 14 detects the backward tilt of the vehicle body and detects a rear obstacle. By reducing the rear obstacle detection range 21 of the object sensor 11, it is possible to prevent the ground from entering the rear obstacle detection range 21 and erroneously detecting an obstacle and stopping the vehicle. The vehicle can continue to drive autonomously even if the surface is uneven.

Furthermore, by being able to obtain the amount of change per unit time in the inclination angle of the vehicle body from the inclination sensor 14, the control unit 30 can detect the inclination of the vehicle when the work vehicle 1 runs on a slope where the change in inclination is gentle, such as a slope. Even if a vehicle is detected, the front obstacle detection range 20 of the front obstacle sensor 10 and the rear obstacle detection range 21 of the rear obstacle sensor 11 are Since it does not shrink, the work vehicle 1 can safely travel on the slope.

Furthermore, when the front obstacle detection range 20 of the front obstacle sensor 10 or the rear obstacle detection range 21 of the rear obstacle sensor 11 is reduced, a warning sound is emitted from the mobile information terminal 50 to alert the user. At the same time, by displaying on the mobile information terminal 50 that the range for detecting obstacles has been reduced and the image taken by the camera, the user can start the work vehicle while monitoring the situation of the work vehicle. Since the work vehicle 1 can be stopped or stopped, remote monitoring and operation of the work vehicle 1 can be facilitated.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made within the scope of the invention described in the claims. Needless to say, these are also included within the scope of the present invention.

For example, the working machine 40 attached to the rear of the working vehicle 1 is a tillage rotary that tills the soil in the field 60, but it does not necessarily have to be a tillage rotary, and may be a fertilizer applicator that spreads fertilizer on the field 60, A weeding machine that cuts weeds in the field 60 may also be used.

Furthermore, when the work vehicle 1 is traveling on a slope, even if the slope sensor 14 detects an inclination of the vehicle body, the control unit 30 controls the control unit 30 so that even if the inclination sensor 14 detects the inclination of the vehicle body, the amount of change in inclination per unit time of the detected inclination is smaller than a predetermined threshold value. In this case, the obstacle detection range of the obstacle sensor is configured not to be reduced, but in order not to reduce the obstacle detection range of the obstacle sensor, it is not necessary to reduce the slope per unit time of the detected slope. There is no need to measure the amount of change, and the slope at the current position of the work vehicle 1 may be subtracted from the slope detected by the slope sensor 14, so that the slope of the slope is not detected. If the slope of the current position is acquired from the map information 23 of the field database 22 stored in the recording device, then the slope of the work vehicle 1 acquired from the GPS receiver 2 and the planned travel It can be acquired by comparing the position on the route 24.

1 Work vehicle 2 GPS receiver 3 Front wheel 4 Rear wheel 5 Engine 6 Control section 7 Frame 8 Cabin roof 9 Headlight 9a Headlight adjustment mechanism 10 Front obstacle sensor 11 Rear obstacle sensor 12 Front camera 13 Rear camera 14 Tilt sensor 15 Vehicle speed sensor 15a Travel shift sensor 16 Steering sensor 17 Transmission device 18 Steering motor 19 Brake mechanism 20 Front obstacle detection range 21 Rear obstacle detection range 22 Field database 23 Map information 24 Planned travel route 30 Control unit 31 Vehicle ECU
32 Autonomous driving ECU
33 Work machine ECU
34 Image processing unit 40 Working equipment 41 Working equipment lifting cylinder 42 Lift arm 45 Three-point link mechanism 45a Top link 45b Lower link 46 Tilling claw 47 Rotary cover 48 Rear cover 49 Tilling depth sensor 50 Mobile information terminal 51 LCD screen 52 Speaker 53 Camera image Display section 54 Indicator 55 Field map 56 Operation button 60 Field 61 Ridge 62 Telephone pole 63 Convex portion 70 GPS satellite

Claims (2)

a positioning device that obtains information about the current location of the vehicle;
a front obstacle sensor that detects obstacles in front of the vehicle;
a rear obstacle sensor that detects obstacles behind the vehicle;
an inclination sensor that detects the inclination of the vehicle;
a control unit that controls autonomous driving of the vehicle ;
A work machine that is connected so that it can be raised and lowered,
Equipped with a travel shift sensor that detects whether the vehicle is moving forward or backward ,
The control unit controls the running direction and speed of the vehicle according to the information on the current position of the vehicle acquired from the positioning device so that the vehicle follows a preset running route, so that the vehicle travels autonomously, A work vehicle configured to prevent contact with an obstacle when the front obstacle sensor detects the obstacle,
The control unit disables the rear obstacle sensor when detecting that the traveling speed change sensor is moving forward;
When it is determined that the vehicle is leaning forward while moving forward by acquiring detection information of the tilt sensor, the detection range of the front obstacle sensor is reduced;
configured to be able to obtain the amount of change in the tilt angle of the vehicle per unit time from the tilt sensor,
If it is determined that the amount of change per unit time in the tilt angle of the vehicle obtained from the tilt sensor is less than a predetermined threshold, the detection range of the front obstacle sensor is not reduced even if the vehicle leans forward. A work vehicle characterized by being configured as follows. The vehicle is configured to prevent contact with the obstacle when the rear obstacle sensor detects the obstacle while autonomously traveling;
The control unit disables the front obstacle sensor when the traveling speed change sensor detects that the vehicle is moving backward;
If it is determined that the vehicle is in a backward leaning position while traveling backward by acquiring the detection information of the tilt sensor, the detection range of the rear obstacle sensor is reduced;
If it is determined that the amount of change per unit time in the tilt angle of the vehicle obtained from the tilt sensor is less than a predetermined threshold, the detection range of the rear obstacle sensor is not reduced even if the vehicle is tilted backward. The work vehicle according to claim 1, characterized in that it is configured as follows.