Obstacle detection system and work vehicle

Abstract

It is possible to inhibit the range in which detection of an obstacle cannot be performed from expanding, and it is possible to prevent a movable portion from being erroneously detected as an obstacle. Provided are: a distance sensor (101, 102) equipped to a work vehicle (1) and capable of measuring a distance to an object of measurement; an obstacle control portion that performs collision avoidance control when an object of measurement within a prescribed distance is detected as an obstacle based on a measurement result of the distance sensor (101, 102); a masking range setting portion for setting a masking range in which detection of an obstacle is not performed and in which collision avoidance control by the obstacle control portion is limited; and a movable range acquisition portion for acquiring a movable range of a movable portion (5, 12) that is movably equipped to the work vehicle (1), the masking range setting portion setting the masking range in accordance with the movable range acquired by the movable range acquisition portion.

Description

Technical Field

[0001] This invention relates to an obstacle detection system for work vehicles, and to a work vehicle equipped with a position information measuring sensor that measures the position information of objects around the work vehicle. Background Technology

[0002] Regarding the obstacle detection system described above, a distance sensor (radar) that measures the distance relative to the target object is installed on the work vehicle. Based on the distance sensor's measurement information, obstacle detection processing is performed to detect targets within a specified distance as obstacles. During obstacle detection processing, if an obstacle is detected, collision avoidance control, such as activating a notification buzzer, is executed (see, for example, Patent Document 1).

[0003] Regarding work vehicles, sometimes components such as elevators designed for work vehicles are placed around them. Therefore, if these components enter the distance sensor's detection range, they may be mistakenly detected as obstacles.

[0004] Therefore, in the system described in Patent Document 1, the range within which components of the work vehicle, etc., enter, is set as a shielded range. Within this shielded range, obstacle detection is not performed, thus limiting the execution of collision avoidance control. This prevents components of the work vehicle from being mistakenly detected as obstacles.

[0005] The aforementioned work vehicle is equipped with a camera as a position information measuring sensor, and detects work positions such as digging position and dumping position based on the image captured by the camera, so that the work vehicle moves to the work position and performs the prescribed work (for example, see Patent Document 2).

[0006] Since the working position is detected based on the camera's image information, if the camera's setting position, setting direction, or other settings deviate from the desired state, the detected working position's position and direction will also deviate from their original positions and directions. Therefore, regarding the working vehicle described in Patent Document 2, calibration is performed to adjust the setting state of the position information measuring sensor (camera) to the desired state. A calibration fixture is installed on the working device (bucket) of the working vehicle, and the camera is used to photograph the calibration fixture. This detects the deviation between the camera's setting position and setting direction and the desired setting position and setting direction, and corrects the camera's setting state to the desired state. Furthermore, it is described that instead of installing the calibration fixture on the bucket, the camera is used to photograph the bucket and extract feature points of the bucket itself, such as the bucket's claw tip and the bucket's edge, thereby also correcting the camera's setting state to the desired state.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: International Publication No. 2016 / 174977

[0010] Patent Document 2: Japanese Patent No. 3827480 Summary of the Invention

[0011] The work vehicle not only has components such as a lift in a fixed position, but also has a running gear such as steerable wheels and a working device that can move freely. When these moving parts enter the measurement range of the distance sensor, a masking range needs to be set as described above to prevent the moving parts from being mistakenly detected as obstacles.

[0012] When setting a cover range for the moving part, it is difficult to determine which area to set as the cover range because the moving part can move relative to the work vehicle. If a large area including the moving part is set as the cover range, the area where obstacles cannot be detected will be expanded. Conversely, if the cover range is reduced, although the area where obstacles cannot be detected can be prevented from expanding, the possibility of falsely detecting the moving part as an obstacle will increase.

[0013] In view of this practical situation, the objective of the present invention is to provide an obstacle detection system that can suppress the expansion of the range in which obstacle detection is not possible, and can prevent moving parts from being mistakenly detected as obstacles.

[0014] Regarding the work vehicle described in Patent Document 2, a calibration clamp is installed on the bucket of the work vehicle to calibrate the position information measurement sensor. However, not only is it necessary to install the calibration clamp on the bucket, but it is also necessary to remove the calibration clamp from the bucket. Therefore, time-consuming operations are required, resulting in reduced work efficiency.

[0015] Furthermore, when using a bucket to calibrate a position information measurement sensor, the bucket is used only during calibration, becoming a dedicated component for calibration. It can be considered that, as a task related to the position information measurement sensor, not only calibration but also other tasks need to be performed. Therefore, for example, it is desirable to utilize the calibration component in other tasks as well, thereby improving work efficiency.

[0016] Based on this practical situation, the objective of the present invention is to provide a work vehicle that can reuse the components used for calibration for other purposes, thereby improving work efficiency. Furthermore, regarding the position information measurement sensor, it can not only perform calibration but also perform other tasks.

[0017] There are several types of work devices that connect to the work vehicle. The type of work device selected from these types will connect to the work vehicle depending on the type of work being performed and other operational conditions. Even when the work device is within the range of the distance sensor, as mentioned above, a shielding range needs to be set to prevent the work device from being mistakenly detected as an obstacle.

[0018] The height, width, and length of working devices vary depending on the type, resulting in different sizes of working devices entering the distance sensor's measurement range. Therefore, for example, to avoid misdetecting all types of working devices as obstacles, a larger area might be considered as the masking range. However, setting the masking range too large expands the area where obstacle detection is not performed. Conversely, while reducing the masking range can suppress the expansion of the area where obstacle detection is not performed, it is difficult to prevent all types of working devices from being misdetected as obstacles. Thus, when setting masking ranges for multiple types of working devices, it is difficult to determine which range to set as the masking range.

[0019] In view of this practical situation, the objective of the present invention is to provide an obstacle detection system that can suppress the expansion of the range in which obstacle detection is not performed, and can prevent the working device from being mistakenly detected as an obstacle.

[0020] The first feature of the present invention comprises: a distance sensor equipped on a work vehicle, capable of measuring the distance relative to a target object; an obstacle control unit that performs collision avoidance control when a target object within a predetermined distance is detected as an obstacle based on the measurement result of the distance sensor; a cover range setting unit for setting a cover range in which obstacle detection is not performed and collision avoidance control is restricted by the obstacle control unit; and an activity range acquisition unit for acquiring the activity range of an activity unit equipped on the work vehicle in a freely movable manner, the cover range setting unit setting the cover range based on the activity range acquired by the activity range acquisition unit.

[0021] According to this structure, the activity range acquisition unit acquires the activity range corresponding to the active unit. Therefore, the masking range setting unit can set the masking range based on the activity range acquired by the activity range acquisition unit. Consequently, the masking range is neither too large nor too small relative to the activity range of the active unit, and can be set to a suitable range for the active unit, including its activity range. Therefore, the masking range can be appropriately set for the active unit, thus suppressing the expansion of the area where obstacle detection is impossible and preventing the active unit from being falsely detected as an obstacle.

[0022] The second feature of the present invention is that a working device that is movably connected to the working vehicle is provided as the moving part, and the moving range acquisition part acquires the moving range when the working device is actually moved.

[0023] According to this structure, the range of motion acquisition unit acquires the actual range of motion when the working device is moved, thus enabling the acquisition of the accurate range of motion of the working device when it is actually used for operation. Accordingly, the cover range setting unit can appropriately set the cover range corresponding to the actual operation of the working device, thereby more appropriately suppressing the expansion of the range where obstacle detection cannot be performed, and more appropriately preventing the moving part from being mistakenly detected as an obstacle.

[0024] The third feature of the present invention is that the cover range setting unit changes the cover range setting according to the activity state of the operating device.

[0025] For example, if the cover range is set to a fixed range based on the entire range of motion of the working device, the cover range will expand due to the movement of the working device, potentially increasing the area where obstacle detection cannot be performed. Therefore, according to this structure, the cover range setting unit changes the setting of the cover range according to the movement state of the working device. Accordingly, an appropriate cover range corresponding to the movement state of the working device can be set, thereby preventing the area where obstacle detection cannot be performed from expanding.

[0026] The fourth feature of the present invention is that it includes a storage unit that stores type / activity range information that associates the type of the work device with the activity range acquired by the activity range acquisition unit, and the cover range setting unit sets the cover range based on the type of the work device actually connected to the work vehicle and the type / activity range information stored in the storage unit.

[0027] There are various types of work devices, and their range of motion can be differentiated according to their type. Therefore, according to this structure, the storage unit stores type / range of motion information that associates the type of work device with its range of motion. When the shielding range setting unit obtains the type of work device actually connected to the work vehicle, it can retrieve the range of motion associated with that type from the type / range of motion information stored in the storage unit, and set a shielding range suitable for the work device based on that range of motion. Accordingly, for example, users can set a shielding range suitable for a work device simply by inputting the type of work device actually connected to the work vehicle, thus simplifying the shielding range setting process.

[0028] The fifth structural feature of the present invention is that it includes an external output unit that freely outputs the type / activity range information stored in the storage unit to the outside through communication with the outside.

[0029] According to this structure, the external output unit can output the type / activity range information stored in the storage unit to external management devices, other work vehicles, etc., through communication with the outside. Therefore, the cover range of other work vehicles can be set using the output type / activity range information. As described above, if the type / activity range information is obtained, for example, a user can set a cover range suitable for the work equipment of other work vehicles simply by inputting the type of work equipment actually connected to them. In this way, the type / activity range information can be set as shared information shared by multiple work vehicles, and the cover range of multiple work vehicles can be easily set using this shared information.

[0030] The sixth feature of the present invention comprises: a position information measuring sensor that measures position information related to a measurement object around the main body of a work vehicle; a correction processing unit that performs correction processing to correct the setting state of the position information measuring sensor of the main body of the work vehicle to a desired state; and a masking range setting unit that sets a masking range in the measurement range of the position information measuring sensor other than that used for measuring position information, wherein the position information measuring sensor is configured such that the main body of the work vehicle or a part thereof is included in the measurement range, the correction processing unit performs correction processing based on the measurement information of the position information measuring sensor using the part thereof included in the measurement range of the position information measuring sensor, and the masking range setting unit sets the masking range based on the measurement information of the position information measuring sensor after the setting state of the position information measuring sensor has been corrected to the desired state, using the part thereof included in the measurement range of the position information measuring sensor.

[0031] According to this structure, since the main body of the work vehicle or a part thereof is included within the measurement range of the position information measuring sensor, the user can determine the location of the main body of the work vehicle or a part thereof within the measurement range of the position information measuring sensor by performing calibration processing. Since the main body of the work vehicle or a part thereof is located at a predetermined position, the user can determine whether the position of the main body of the work vehicle or a part thereof deviates from the predetermined position, and by how much. Therefore, the user can adjust the setting state (setting position, setting direction, etc.) of the position information measuring sensor to achieve the desired setting state. Furthermore, since the main body of the work vehicle or a part thereof is used for the calibration of the position information measuring sensor, for example, there is no need to install and remove the calibration fixture relative to the main body of the work vehicle, thus reducing working hours.

[0032] Since the main body of the work vehicle or its components are not the objects being measured around the work vehicle, the masking range setting unit sets the range corresponding to the main body of the work vehicle or its components within the measurement range of the position information measuring sensor as the masking range. The masking range setting unit can obtain accurate position information based on the calibrated measurement information from the position information measuring sensor and can set an appropriate masking range using the main body of the work vehicle or its components. Furthermore, the main body of the work vehicle or its components can be used not only for calibrating the position information measuring sensor but also for setting its masking range. Therefore, it is possible to effectively and flexibly utilize the main body of the work vehicle or its components to improve work efficiency, and to perform both position information measuring sensor calibration and masking range setting.

[0033] The seventh structural feature of the present invention is that the position information measuring sensor comprises a plurality of sensors, including a first position information measuring sensor and a second position information measuring sensor. The first position information measuring sensor is configured such that a portion of the main body of the work vehicle or a component thereof is included in the measuring range. The second position information measuring sensor is configured such that a portion of the main body of the work vehicle or a component thereof is not included in the measuring range. The sensor includes a calibration fixture, which can be configured to be included in the measuring range of the second position information measuring sensor. The calibration processing unit performs calibration processing based on the measurement information of the second position information measuring sensor and using the calibration fixture included in the measuring range of the second position information measuring sensor.

[0034] The main body of the work vehicle not only has a first position information measuring sensor configured such that the main body of the work vehicle or a part thereof is included in the measuring range, but sometimes it also has a second position information measuring sensor configured such that the main body of the work vehicle or a part thereof is not included in the measuring range. In this case, the calibration processing unit cannot perform calibration processing using the main body of the work vehicle or a part thereof regarding the second position information measuring sensor.

[0035] Therefore, according to this structure, a calibration fixture is provided that can be configured to be within the measurement range of the second position information measuring sensor. Accordingly, the calibration processing unit can perform calibration processing using the calibration fixture included in the measurement range of the second position information measuring sensor, and can also appropriately calibrate the second position information measuring sensor.

[0036] The eighth structural feature of the present invention is that the calibration clamp is configured to be freely detachable from and detachable from the main body of the work vehicle.

[0037] According to this structure, the calibration fixture can be freely attached to and detached from the main body of the work vehicle, thus allowing it to be fitted onto the main body of the work vehicle with minimal positional deviation relative to the main body. Accordingly, the calibration processing unit can perform appropriate calibration processing using the calibration fixture included in the measurement range of the second position information measuring sensor, enabling accurate calibration of the second position information measuring sensor.

[0038] The ninth feature of the present invention is that the position information measuring sensor is composed of a distance sensor, which measures the distance relative to the measuring object in a three-dimensional manner as position information, and has an obstacle detection unit. The obstacle detection unit detects the measuring object within a specified distance as an obstacle based on the measurement information of the distance sensor, and the masking range setting unit sets the range in which the obstacle detection unit does not detect obstacles as the masking range.

[0039] If the main body of the work vehicle or a part thereof is included within the measurement range of the distance sensor, the obstacle detection unit may mistakenly detect the main body of the work vehicle or a part thereof as an obstacle. Therefore, according to this structure, the masking range setting unit sets the range in which the obstacle detection unit does not detect obstacles as the masking range. Accordingly, it is possible to prevent the main body of the work vehicle or a part thereof from being mistakenly detected as an obstacle, and obstacle detection can be performed. Therefore, it is possible to avoid collisions between the main body of the work vehicle and obstacles, and the main body of the work vehicle can move.

[0040] The tenth feature of the present invention comprises: a distance sensor equipped on a work vehicle, capable of measuring the distance relative to a target object; an obstacle control unit that performs collision avoidance control when a target object within a predetermined distance is detected as an obstacle based on the measurement result of the distance sensor; a cover range setting unit for setting a cover range in which obstacle detection is not performed and collision avoidance control is restricted by the obstacle control unit; and a storage unit that stores type / activity range information that associates the type of work device with the activity range of a work device that can be freely connected to the work vehicle, wherein the cover range setting unit sets the cover range based on the type of work device actually connected to the work vehicle and the type / activity range information stored in the storage unit.

[0041] There are various types of work devices, and their range of motion can be differentiated according to their type. Therefore, according to this structure, the storage unit stores type / range of motion information that associates the type of work device with its range of motion. The cover range setting unit can determine the range of motion corresponding to the work device based on the type / range of motion information stored in the storage unit simply by acquiring the type of work device actually connected to the work vehicle, and can set the cover range based on the determined range of motion. Accordingly, for example, users can set a cover range suitable for a work device simply by inputting the type of work device actually connected to the work vehicle, thus simplifying the cover range setting operation and enabling the appropriate setting of the cover range for the work device.

[0042] The eleventh feature of the present invention is that the cover range setting unit changes the cover range setting according to the activity state of the working device.

[0043] For example, if the shielding range is set to a fixed range based on the entire range of motion of the working device, the shielding range will expand because the working device can move. This could potentially lead to an increase in the area where obstacle detection cannot be performed due to the movement of the working device. Therefore, according to this structure, the shielding range setting unit changes the setting of the shielding range according to the movement of the working device. Accordingly, an appropriate shielding range corresponding to the movement of the working device can be set, thereby preventing the expansion of the area where obstacle detection cannot be performed.

[0044] The 12th feature of the present invention is that the cover range setting unit is configured to freely modify the cover range according to the actual range of motion of the working device connected to the working vehicle.

[0045] According to this structure, the cover range setting unit can correct the cover range based on the accurate range of motion of the working device during actual operation, thereby appropriately setting a cover range corresponding to the actual operation of the working device. Accordingly, it is possible to more appropriately suppress the expansion of the range where obstacle detection is impossible, and to more appropriately prevent the working device from being mistakenly detected as an obstacle. Attached Figure Description

[0046] Figure 1 This is a diagram showing the general structure of an automated driving system.

[0047] Figure 2 This is a block diagram showing the general structure of an automated driving system.

[0048] Figure 3 It is a diagram showing the target driving path.

[0049] Figure 4 This is a diagram showing the upper part of the tractor as viewed from the front.

[0050] Figure 5 This is a diagram showing the upper part of the tractor as viewed from the rear.

[0051] Figure 6 This diagram shows the antenna unit and the front radar sensor at the usage position for side-view observation.

[0052] Figure 7 This is a perspective view showing the support structure of the antenna unit and the front radar sensor.

[0053] Figure 8This diagram shows the antenna unit and the front radar sensor in a non-use position as viewed from the side.

[0054] Figure 9 This diagram shows the roof, antenna unit, front radar sensor, and rear radar sensor from a side view, both in the usage position and in the non-use position.

[0055] Figure 10 This is a perspective view showing the support structure of the rear radar sensor.

[0056] Figure 11 This is a diagram showing the measurement range of the front and rear radar sensors during side-view observation.

[0057] Figure 12 This diagram shows the measurement range of the front radar sensor, rear radar sensor, and sonar unit from a top-down perspective.

[0058] Figure 13 This is a diagram showing a three-dimensional image generated based on the measurement results of a forward-facing radar sensor.

[0059] Figure 14 This is a diagram showing a three-dimensional image generated based on measurements from a rear radar sensor with the working device in a descending position.

[0060] Figure 15 This is a diagram showing a three-dimensional image generated based on measurements from a rear radar sensor with the working device in an elevated position.

[0061] Figure 16 This is a flowchart illustrating the action flow of the first masking process.

[0062] Figure 17 This diagram shows the measurement range of the front and rear radar sensors for side-view observation when the front working device is connected.

[0063] Figure 18 This is a diagram showing a three-dimensional image generated based on the measurement results of a forward-facing radar sensor.

[0064] Figure 19 This is a flowchart illustrating the action flow of the second masking process.

[0065] Figure 20 It is a table that displays information about the type / scope of activities.

[0066] Figure 21 This is a diagram showing the input screen for the operating device data.

[0067] Figure 22 This is a flowchart illustrating the action flow of the third masking process.

[0068] Figure 23 This is a block diagram showing the general structure of an automated driving system.

[0069] Figure 24 This diagram shows the measurement range of the front radar sensor, rear radar sensor, and sonar unit from a top-down perspective.

[0070] Figure 25 This is a diagram showing a three-dimensional image generated based on the measurement information from the forward radar sensor during calibration.

[0071] Figure 26 This is a diagram showing a three-dimensional image generated based on measurement information from the rear radar sensor when the working device is in a lowered position during the calibration of the rear radar sensor.

[0072] Figure 27 This is a flowchart illustrating the action flow of correction and masking processes.

[0073] Figure 28 This diagram shows the measurement range of the front and rear radar sensors for side-view observation when the front and rear calibration clamps are installed.

[0074] Figure 29 This is a diagram showing a three-dimensional image generated based on the measurement information from the rear radar sensor during the calibration process.

[0075] Figure 30 This is a diagram showing a three-dimensional image generated based on the measurement information from the forward radar sensor during calibration.

[0076] Figure 31 This is a block diagram showing the general structure of an automated driving system.

[0077] Figure 32 This is a flowchart illustrating the action flow of the second masking process.

[0078] Figure 33 It is a table that displays information about the type / scope of activities.

[0079] Figure 34 This is a diagram showing a three-dimensional image generated based on measurements from a rear radar sensor with the working device in a descending position.

[0080] Figure 35 This is a diagram showing a three-dimensional image generated based on measurements from a rear radar sensor with the working device in an elevated position. Detailed Implementation

[0081] Based on the accompanying drawings, an embodiment of applying a work vehicle equipped with the obstacle detection system according to the present invention to an automated driving system will be described.

[0082] [First Implementation]

[0083] In this autonomous driving system, such as Figure 1 As shown, tractor 1 is used as a work vehicle. However, in addition to tractors, passenger work vehicles such as rice transplanters, combine harvesters, passenger lawn mowers, wheel loaders, and snowplows, as well as unmanned work vehicles such as unmanned lawn mowers, can also be used.

[0084] like Figure 1 and Figure 2 As shown, the automatic driving system includes: an automatic driving unit 2 mounted on the tractor 1; and a portable communication terminal 3 for communication settings that can communicate with the automatic driving unit 2. The portable communication terminal 3 can be a tablet computer, smartphone, or the like, with a touch-operable display unit 51 (e.g., an LCD panel).

[0085] The tractor 1 has a running gear 7, which includes left and right front wheels 5 that function as steerable wheels and left and right rear wheels 6. An engine cover 8 is located at the front of the running gear 7, and an electronically controlled diesel engine (hereinafter referred to as the engine) 9 equipped with a common rail system is housed within the engine cover 8. A cab 10 forming a passenger-type driver's cab is located further rearward of the running gear 7 than the engine cover 8.

[0086] At the rear of the traveling body 7, a rotary tiller, which is one example of a working device 12, is connected in a lifting and rotating manner via a three-point linkage mechanism 11, thereby enabling the tractor 1 to be configured as a rotary tiller. At the rear of the tractor 1, working devices 12, such as plows, harrows, vertical harrows, stubble cultivators, seeders, and spreaders, can be connected instead of the rotary tiller.

[0087] like Figure 2As shown, the tractor 1 includes: an electronically controlled transmission device 13 that changes the speed of power from the engine 9; a fully hydraulic power steering mechanism 14 that controls the steering of the left and right front wheels 5; left and right side brakes (not shown) that brake the left and right rear wheels 6; an electronically controlled brake operating mechanism 15 that can hydraulically operate the left and right side brakes; a working clutch (not shown) that engages and disengages power transmission toward the working device 12 such as the rotary tiller; an electronically controlled clutch operating mechanism 16 that can hydraulically operate the working clutch; an electro-hydraulic controlled lifting drive mechanism 17 that lifts and drives the working device 12 such as the rotary tiller; an on-board electronic control unit 18 having various control programs related to the automatic driving of the tractor 1; a speed sensor 19 that detects the speed of the tractor 1; a steering angle sensor 20 that detects the steering angle of the front wheels 5; and a positioning unit 21 that measures the current position and orientation of the tractor 1.

[0088] Furthermore, the engine 9 can be an electronically controlled gasoline engine with an electronic speed governor. The transmission 13 can be a hydraulic-mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), or a belt-type continuously variable transmission, etc. The power steering mechanism 14 can be an electric power steering mechanism 14 equipped with an electric motor, etc.

[0089] like Figure 4 and Figure 5 As shown, the cab 10 is box-shaped and includes: a cab frame 31 forming the skeleton of the cab 10; a front glass 32 covering the front; a rear glass 33 covering the rear; and a pair of left and right doors 34 that can swing open and close about an axis in the vertical direction (see reference). Figure 1 The cab frame 31 includes a pair of left and right front support pillars 36 located at the front end and a pair of left and right rear support pillars 37 located at the rear end. When viewed from above, the front support pillars 36 are located at the left and right corners at the front, and the rear support pillars 37 are located at the left and right corners at the rear. The cab frame 31 is supported on the vehicle body 7 by means of vibration damping components such as elastic bodies, and the cab 10 is equipped with vibration damping measures implemented to prevent vibrations from the vehicle body 7 and the like from being transmitted to the cab 10.

[0090] like Figure 1 As shown, the cab 10 is equipped with a power steering system 14 (see reference). Figure 2The cab 10 includes a steering wheel 38 for manually steering the left and right front wheels 5, a driver's seat 39 for passengers, a touch panel display, and various control components. Two lateral side steps 41 are provided at the front of the cab 10 as a passenger access point for the cab 10 (driver's seat 39).

[0091] like Figure 2 As shown, the vehicle electronic control unit 18 includes: a transmission control unit 181 that controls the operation of the transmission 13; a brake control unit 182 that controls the operation of the left and right side brakes; a work device control unit 183 that controls the operation of the work device 12, such as the rotary tiller; a steering angle setting unit 184 that sets the target steering angle of the left and right front wheels 5 during automatic driving and outputs it to the power steering mechanism 14; and a target driving path P for automatic driving (for example, see reference 184). Figure 3 Non-volatile vehicle storage units 185, etc., for storing data such as 185, ...

[0092] like Figure 2 As shown, the positioning unit 21 includes: a satellite navigation device 22 that uses GPS (Global Positioning System), an example of a Navigation Satellite System (NSS), to determine the current position and orientation of the tractor 1; and an inertial measurement unit (IMU) 23 that uses a 3-axis gyroscope and a 3-direction accelerometer to determine the attitude and orientation of the tractor 1. Positioning methods using GPS include DGPS (Differential GPS) and RTK-GPS (Real-Time Kinematic GPS). In this embodiment, RTK-GPS, suitable for positioning moving objects, is used. Therefore, as... Figure 1 and Figure 2 As shown, base stations 4 capable of positioning based on RTK-GPS are set up at known locations around the field.

[0093] like Figure 2 As shown, tractor 1 and base station 4 are respectively equipped with: receiving signals from GPS satellite 71 (refer to...) Figure 1The positioning unit 22 includes GPS antennas 24 and 61 that transmit radio waves, and communication modules 25 and 62 that can wirelessly transmit various data (various information), including positioning data (positioning information) between the tractor 1 and the base station 4. Accordingly, the satellite navigation device 22 can accurately determine the current position and orientation of the tractor 1 based on positioning data obtained by the GPS antenna 24 on the tractor side receiving radio waves from the GPS satellite 71, and positioning data obtained by the GPS antenna 61 on the base station side receiving radio waves from the GPS satellite 71. Furthermore, the positioning unit 21 includes the satellite navigation device 22 and the inertial measurement unit 23, thereby enabling high-precision measurement of the tractor 1's current position, orientation, and attitude angles (yaw angle, roll angle, pitch angle).

[0094] like Figure 1 As shown, the GPS antenna 24, communication module 25, and inertial measurement device 23 of the tractor 1 are housed in the antenna unit 80. The antenna unit 80 is located on the upper part of the front surface side of the cab 10.

[0095] like Figure 2 As shown, the portable communication terminal 3 includes a terminal electronic control unit 52 and a communication module 55, etc. The terminal electronic control unit 52 has various control programs that control the operation of the display unit 51, etc., and the communication module 55 is capable of wireless communication of various data, including positioning data with the communication module 25 on the tractor side. The terminal electronic control unit 52 is equipped with a method for generating a target driving path P for guiding the tractor 1 to drive automatically (for example, referring to...). Figure 3 The driving path generation unit 53; and the non-volatile terminal storage unit 54, which stores various input data input by the user and the target driving path P generated by the driving path generation unit 53.

[0096] When the driving path generation unit 53 generates the target driving path P, users such as drivers and managers input vehicle data, such as the type and model of the work vehicle and work equipment 12, according to the input wizard for setting the target driving path displayed on the display unit 51 of the portable communication terminal 3, and store the input vehicle data (vehicle information) in the terminal storage unit 54. The driving area S (referring to the target driving path P) is used as the object of the target driving path P generation. Figure 3 If the field is set up, the terminal electronic control unit 52 of the portable communication terminal 3 acquires field data (field information) including the shape and location of the field and stores it in the terminal storage unit 54.

[0097] The acquisition of field data is explained as follows: When a user drives tractor 1, the terminal electronic control unit 52 can acquire position information, such as the shape and position of the field, based on the current position of tractor 1 obtained by the positioning unit 21. The terminal electronic control unit 52 determines the shape and position of the field based on the acquired position information and acquires field data, including the driving area S, determined based on the determined shape and position of the field. Figure 3 An example of defining a rectangular driving area S is shown in the figure.

[0098] If the field data, including the shape and location of the determined field, is stored in the terminal storage unit 54, the driving path generation unit 53 uses the field data and vehicle data stored in the terminal storage unit 54 to generate the target driving path P.

[0099] like Figure 3 As shown, the travel path generation unit 53 divides the travel area S into a central area R1 and an outer peripheral area R2. The central area R1 is located in the center of the travel area S and serves as a reciprocating work area where the tractor 1 automatically travels in the reciprocating direction to perform a prescribed operation (e.g., tilling). The outer peripheral area R2 is located around the central area R1 and serves as a circular work area where the tractor 1 automatically travels in the circular direction to perform a prescribed operation immediately following the central area R1. The travel path generation unit 53 calculates, for example, the turning radius, front-rear width, and left-right width of the tractor 1 included in the vehicle body data, to determine the space required for the tractor 1 to turn at the edge of the field. The travel path generation unit 53 divides the travel area S into a central area R1 and an outer peripheral area R2 to ensure the calculated space around the central area R1.

[0100] like Figure 3As shown, the driving path generation unit 53 generates a target driving path P using vehicle body data, field data, etc. For example, the target driving path P includes: multiple work paths P1 arranged parallel to each other in the central area R1, having the same straight-line distance and spaced apart by a fixed distance corresponding to the working width; a connecting path P2 connecting the beginning and end of adjacent work paths P1; and a circular path P3 (shown as a dashed line in the figure) encircling the outer perimeter area R2. The multiple work paths P1 are paths used to allow the tractor 1 to perform prescribed work while traveling straight. The connecting path P2 is a U-shaped turn path used to allow the tractor 1 to change its driving direction by 180 degrees instead of performing prescribed work, and connects the end of work path P1 to the beginning of the next adjacent work path P1. The circular path P3 is a path used to allow the tractor 1 to perform prescribed work while traveling in a circle around the outer perimeter area R2. The circular path P3 switches between forward and reverse travel for tractor 1 at the four corners of the driving area S, thereby changing the direction of travel of tractor 1 by 90 degrees. Furthermore, Figure 3 The target driving path P shown is just an example. The specific target driving path can be changed as appropriate.

[0101] The target driving path P generated by the driving path generation unit 53 can be displayed on the display unit 51 and stored in the terminal storage unit 54 as path data (path information) associated with vehicle body data and field data. The path data includes: the azimuth angle of the target driving path P; and the set engine rotation speed, target driving speed, etc., set according to the driving mode of the tractor 1 on the target driving path P.

[0102] Thus, if the path generation unit 53 generates a target path P, the terminal electronic control unit 52 transmits the path data from the portable communication terminal 3 to the tractor 1, allowing the onboard electronic control unit 18 of the tractor 1 to acquire the path data. Based on the acquired path data, the onboard electronic control unit 18 can use the positioning unit 21 to obtain its own current position (the current position of the tractor 1) while simultaneously enabling the tractor 1 to automatically travel along the target path P. The current position of the tractor 1, obtained by the positioning unit 21, is transmitted from the tractor 1 to the portable communication terminal 3 in real time (e.g., at intervals of a few seconds), allowing the portable communication terminal 3 to monitor the current position of the tractor 1.

[0103] Regarding the transmission of path data, before the tractor 1 begins automatic driving, all path data can be transmitted from the terminal electronic control unit 52 to the on-board electronic control unit 18 all at once. Alternatively, for example, the path data containing the target driving path P can be divided into multiple path segments with smaller data volumes and defined distances. In this case, before the tractor 1 begins automatic driving, only the initial path segment of the path data is transmitted from the terminal electronic control unit 52 to the on-board electronic control unit 18. After automatic driving begins, whenever the tractor 1 reaches a path acquisition point set according to the data volume, only the path data of the subsequent path segments corresponding to that location is transmitted from the terminal electronic control unit 52 to the on-board electronic control unit 18.

[0104] When tractor 1 begins automatic driving, for example, if a user moves tractor 1 to the starting point and various automatic driving start conditions are met, the user operates the display unit 51 using the portable communication terminal 3 to instruct the start of automatic driving, thereby sending the automatic driving start instruction to tractor 1 via the portable communication terminal 3. Accordingly, in tractor 1, the on-board electronic control unit 18 receives the automatic driving start instruction and begins automatic driving control as follows: while obtaining its own current position (the current position of tractor 1) using the positioning unit 21, it automatically drives tractor 1 along the target driving path P. The on-board electronic control unit 18 is configured as an automatic driving control unit that performs automatic driving control of tractor 1 along the target driving path P based on the positioning information of tractor 1 obtained by the positioning unit 21 (equivalent to a satellite positioning system).

[0105] Automatic driving control includes: automatic transmission control that automatically controls the operation of the transmission device 13; automatic braking control that automatically controls the operation of the braking mechanism 15; automatic steering control that automatically steers the left and right front wheels 5; and automatic operation control that automatically controls the operation of the rotary tiller and other operating devices 12.

[0106] In automatic transmission control, the transmission control unit 181 automatically controls the operation of the transmission device 13 based on path data 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, so as to obtain the target travel speed set according to the travel mode of the tractor 1 on the target travel path P and use it as the vehicle speed of the tractor 1.

[0107] In automatic braking control, the braking control unit 182 automatically controls the operation of the braking operation mechanism 15 based on the target driving path P and the output of the positioning unit 21, so that the left and right side brakes can properly brake the left and right rear wheels 6 in the braking area included in the path data of the target driving path P.

[0108] In automatic steering control, the steering angle setting unit 184 calculates and sets the target steering angle of the left and right front wheels 5 based on the path data of the target driving path P and the output of the positioning unit 21, and outputs the set target steering angle to the power steering mechanism 14 so that the tractor 1 can drive automatically on the target driving path P. 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 as to obtain the target steering angle and use it as the steering angle of the left and right front wheels 5.

[0109] In the automatic control for operation, the operation device control unit 183 automatically controls the operation of the clutch operating mechanism 16 and the lifting drive mechanism 17 based on the path data of the target travel path P and the output of the positioning unit 21. Thus, as the tractor 1 arrives at the operation path P1 (for example, referring to…), the operation is controlled automatically. Figure 3 The tractor 1 begins to perform a prescribed operation (e.g., tilling) using the work device 12 at the starting point of the operation, and as the tractor 1 reaches the work path P1 (e.g., referring to...), the tractor 1 continues to perform the prescribed operation (e.g., tilling) using the work device 12. Figure 3 The prescribed operation performed using the work device 12 is stopped at the terminal or other end point of the operation.

[0110] Thus, in tractor 1, the automatic driving unit 2 is composed of a transmission device 13, a power steering mechanism 14, a braking operation mechanism 15, a clutch operation mechanism 16, a lifting drive mechanism 17, an on-board electronic control unit 18, a vehicle speed sensor 19, a steering angle sensor 20, a positioning unit 21, and a communication module 25.

[0111] In this embodiment, the tractor 1 can be driven automatically without the user sitting in the cab 10, and it can also be driven automatically with the user sitting in the cab 10. Therefore, the tractor 1 can be driven automatically along the target driving path P without the user sitting in the cab 10, and it can also be driven automatically along the target driving path P with the user sitting in the cab 10, through automatic driving control based on the on-board electronic control unit 18.

[0112] When the user is seated in the cab 10, the system can switch between an automatic driving mode where the tractor 1 is driven automatically by the onboard electronic control unit 18, and a manual driving mode where the tractor 1 is driven by the user. Therefore, while automatically driving along the target driving path P in automatic mode, the system can switch from automatic to manual driving mode; conversely, while driving in manual mode, the system can switch back to automatic driving mode. Regarding the switching between automatic and manual driving modes, for example, a switching operation unit for switching between automatic and manual driving modes can be provided near the driver's seat 39, and this switching operation unit can also be displayed on the display unit 51 of the portable communication terminal 3. Furthermore, during automatic driving control using the onboard electronic control unit 18, if the user operates the steering wheel 38, the system can switch from automatic to manual driving mode.

[0113] like Figure 1 and Figure 2 As shown, the tractor 1 is equipped with an obstacle detection system 100, which is used to detect obstacles around the tractor 1 (driving body 7) and avoid collisions with them. The obstacle detection system 100 includes: multiple radar sensors (equivalent to distance sensors) 101 and 102, which can use lasers to determine the distance relative to the target object in a three-dimensional manner; sonar units 103 and 104, which have multiple sonars that can use ultrasonic waves to determine the distance relative to the target object; and an obstacle control unit 107. Here, the target object detected by the radar sensors 101 and 102 and the sonar units 103 and 104 is an object, a person, etc.

[0114] The obstacle control unit 107 is configured to perform obstacle detection processing based on measurement information from radar sensors 101 and 102 and sonar units 103 and 104, detecting objects, people, and other objects within a specified distance as obstacles. If an obstacle is detected during this obstacle detection processing, collision avoidance control is implemented. The obstacle control unit 107 repeatedly performs obstacle detection processing based on measurement information from radar sensors 101 and 102 and sonar units 103 and 104 in real time, appropriately detecting obstacles such as objects and people, and implementing collision avoidance control to avoid collisions with these obstacles.

[0115] The obstacle control unit 107 is equipped on the vehicle electronic control unit 18. The vehicle electronic control unit 18 is connected to the engine electronic control unit, radar sensors 101 and 102, and sonar units 103 and 104 included in the common rail system via CAN (Controller Area Network).

[0116] Radar sensors 101 and 102 measure the distance relative to the target object based on the round-trip time of the laser (e.g., pulsed near-infrared laser) contacting and bouncing back. Radar sensors 101 and 102 scan the laser at high speed in the vertical and horizontal directions, sequentially measuring the distance relative to the target object at each scanning angle, thus enabling three-dimensional distance measurement. Radar sensors 101 and 102 repeatedly measure the distance relative to the target object within the measurement range in real time. Radar sensors 101 and 102 are configured to generate a three-dimensional image based on the measurement results and output it externally. The three-dimensional image generated based on the measurement results (measurement information) of radar sensors 101 and 102 can be displayed on display devices such as the display unit of the tractor 1, the display unit 51 of the portable communication terminal 3, etc., allowing users to visually confirm the presence or absence of obstacles. Furthermore, the distance in the approaching and receding directions can be represented using colors, for example, in the three-dimensional image.

[0117] like Figure 11 and Figure 12 As shown, radar sensors 101 and 102 include a front radar sensor 101 and a rear radar sensor 102. The front radar sensor 101 measures the area in front of the tractor 1 (driving body 7) as a measurement range C and is used to detect obstacles in front of the tractor 1. The rear radar sensor 102 measures the area behind the tractor 1 (driving body 7) as a measurement range D and is used to detect obstacles behind the tractor 1.

[0118] The following describes the front radar sensor 101 and the rear radar sensor 102 in the following order: the support structure of the front radar sensor 101, the support structure of the rear radar sensor 102, the measurement range C of the front radar sensor 101, and the measurement range D of the rear radar sensor 102.

[0119] The support structure of the forward radar sensor 101 will be described.

[0120] like Figure 1 and Figure 7 As shown, the front radar sensor 101 is mounted on the bottom of the antenna unit 80, which is located on the upper part of the front surface side of the cab 10. Therefore, the support structure of the antenna unit 80 will be described first, and the mounting structure of the front radar sensor 101 to the bottom of the antenna unit 80 will be described next.

[0121] like Figure 4 , Figure 6 and Figure 7As shown, the antenna unit 80 is mounted on a tubular antenna unit support rod 81 that extends the entire length of the cab 10 in the left-right direction of the vehicle body 7. The antenna unit 80 is positioned in the left-right direction of the vehicle body 7 at a position roughly corresponding to the center of the cab 10. The antenna unit support rod 81 is fixedly connected to the left and right mirror mounting portions 45 located diagonally forward of the left and right sides of the cab 10. The mirror mounting portions 45 include: a mirror mounting base 46 fixed to the front support column 36; a mirror mounting bracket 47 fixed to the mirror mounting base 46; and a mirror mounting arm 48 that rotates freely via a hinge portion 49 provided on the mirror mounting bracket 47. Figure 7 As shown, the antenna element support rod 81 is formed in a bridge shape with its left and right ends bent downwards. The left and right ends of the antenna element support rod 81 are fixedly connected to the upper end of the mirror mounting bracket 47 via the first mounting plate 201. Figure 6 and Figure 7 As shown, a horizontal mounting surface is formed on the upper side of the mirror mounting bracket 47, and a horizontal mounting surface is also formed on the lower side of the first mounting plate 201. The two mounting surfaces are fastened together using bolts, nuts, or other connecting parts 50, thus fixing the antenna unit support rod 81 in a horizontal position. The antenna unit 80 is supported on the front support column 36 constituting the cab frame 31 by means of the antenna unit support rod 81 and the mirror mounting part 45. Therefore, vibration transmission to the antenna unit 80 can be prevented, and the antenna unit 80 can be securely supported.

[0122] like Figure 6 and Figure 7 As shown, regarding the mounting structure of the antenna unit 80 relative to the antenna unit support rod 81, the second mounting plate 202 fixed to the side of the antenna unit 80 and the third mounting plate 203 fixed to the side of the antenna unit support rod 81 are fastened together using bolts, nuts and other connecting parts 50, thereby mounting the antenna unit 80 onto the antenna unit support rod 81.

[0123] like Figure 7 As shown, a pair of second mounting plates 202 are provided on the left and right sides, spaced at predetermined intervals in the left-right direction of the vehicle body 7. Each second mounting plate 202 is constructed of a plate-like body bent into an L-shape and has a rod-side mounting portion 202b extending downward from the outer end of the unit-side mounting portion 202a extending in the left-right direction. Regarding the second mounting plate 202, the unit-side mounting portion 202a is fixedly connected to the bottom of the antenna unit 80 using a connecting member 50 or the like, and the rod-side mounting portion 202b is mounted in a downward-extending position. Although not shown in the figure, a pair of circular holes for connecting members or the like are formed in the rod-side mounting portion 202b of the second mounting plate 202.

[0124] like Figure 6 and Figure 7 As shown, the third mounting plate 203 is composed of an L-shaped plate, with the front portion extending downwards compared to the rear portion. Similar to the second mounting plate 202, a pair of third mounting plates 203 are provided on the left and right sides, spaced at predetermined intervals in the left-right direction of the vehicle body 7. Regarding the third mounting plate 203, the lower edge of the rear portion is fixedly connected to the upper part of the antenna unit support rod 81 by welding or the like, and the front portion is mounted in a position in front of the antenna unit support rod 81. The third mounting plate 203 has an elongated hole 203a extending from the front portion to the rear portion along the front-rear direction of the vehicle body 7, and a circular hole 203b for connection is formed on the lower side of the front portion.

[0125] like Figure 6 and Figure 7 As shown, when the antenna unit 80 is mounted on the antenna unit support rod 81, the antenna unit 80 is positioned above the antenna unit support rod 81, and the antenna of the communication module 25 is located in an upward-extending usage position. The second mounting plate 202 overlaps with the third mounting plate 203 when the second mounting plate 202 is positioned further inward than the third mounting plate 203, with the front and rear circular holes of the rod-side mounting portion 202b of the second mounting plate 202 and the front and rear ends of the elongated hole 203a of the third mounting plate 203 aligned. By inserting the connecting member 50 through the front and rear circular holes of the second mounting plate 202 and the elongated hole 203a of the third mounting plate 203 and securing it, the antenna unit 80 can be mounted on the antenna unit support rod 81 in the usage position. At this time, the parts corresponding to the front end and rear end of the elongated hole 203a are set at the connection parts of the connector 50, and a total of four parts, namely the front and rear parts of the left and right pairs of second mounting plates 202 and third mounting plates 203, become the connection parts of the connector 50.

[0126] Not only Figure 6 As shown, in the usage location, and also as Figure 8 As shown, in a non-use position where the antenna unit 80 is located in front of the antenna unit support rod 81 and the antenna of the communication module 25 extends forward, the antenna unit 80 is also configured to be freely mounted relative to the antenna unit support rod 81.

[0127] like Figure 8As shown, when the antenna unit 80 is installed on the antenna unit support rod 81 in a non-use position, the antenna unit 80 is positioned in a non-use position, with the front and rear circular holes of the rod-side mounting portion 202b of the second mounting plate 202 aligned with the front ends of the circular hole 203b and the elongated hole 203a of the third mounting plate 203. In this state, the second mounting plate 202 is positioned further inward than the third mounting plate 203, and the second mounting plate 202 overlaps with the third mounting plate 203. The connector 50 is inserted into the round hole on the front side of the rod-side mounting portion 202b of the second mounting plate 202 and the round hole 203b of the third mounting plate 203. The connector 50 is also inserted into the round hole on the rear side of the rod-side mounting portion 202b of the second mounting plate 202 and the front end of the elongated hole 203a and fastened. This allows the antenna unit 80 to be mounted on the antenna unit support rod 81 in a non-use position.

[0128] For example, when moving antenna element 80 from its usage position (see reference) Figure 6 Change to a non-use location (see reference) Figure 8 In the case of ), such as Figure 6 As shown, the connector 50 located at the front end of the elongated hole 203a in the third mounting plate 203 is removed, and the connector 50 located at the rear end of the elongated hole 203a in the third mounting plate 203 is loosened, thereby maintaining the connector 50 inserted in the elongated hole 203a. The connector 50 is moved along the elongated hole 203a from the rear end to the front end towards the front side, and the antenna element 80 is drooping downwards towards the front about the connector 50 as a pivot, thereby... Figure 8 As shown, the position of antenna element 80 is changed to a non-use position. Accordingly, the connector 50 can be inserted through the circular hole on the front side of the second mounting plate 202 and the circular hole 203b of the third mounting plate 203, and the connector 50 can be inserted through the circular hole on the rear side of the second mounting plate 202 and the front end of the elongated hole 203a and fastened, thereby changing the position of antenna element 80 from a use position to a non-use position.

[0129] With antenna element 80 installed in its operating position, such as Figure 9 As shown in (a), compared to the highest position line Z passing through the highest part 35a of the roof 35, a portion of the antenna element 80 protrudes further upward, allowing the antenna of the communication module 25 to be positioned higher, thereby enabling proper wireless communication of the communication module 25. Conversely, when the antenna element 80 is installed in a non-use position, as... Figure 9As shown in (b), the upper part of the antenna element 80 is positioned at the same height as the highest bit line Z, or at a lower position than the highest bit line Z. Accordingly, when the tractor 1 is being transported, or when the tractor 1 is being stored in a storage location such as a barn, the antenna element 80 will not protrude upwards beyond the highest bit line Z, thus preventing obstruction of the antenna element 80 or damage to the antenna element 80 due to contact with obstacles.

[0130] like Figure 7 As shown, the front radar sensor 101 is securely connected to the antenna unit 80 via the fourth mounting plate 204 and the fifth mounting plate 205 and by connecting members 50 such as bolts and nuts, thereby mounting the front radar sensor 101 to the bottom of the antenna unit 80. The fourth mounting plate 204 has a mounting surface 204a extending in the left-right direction, and is formed into a bridge shape with both ends of the mounting surface 204a extending downward. The fifth mounting plate 205 has a pair of left and right mounting surfaces 205a facing each other in the left-right direction, and is formed into a bridge shape with the upper ends of the mounting surfaces 205a connected to each other. The mounting surfaces 204a of the fourth mounting plate 204 are fixedly connected to the bottom of the antenna unit 80 by the connecting members 50. The front part of the fourth mounting plate 204 and the rear part of the fifth mounting plate 205 are fixedly connected by the connecting members 50. The left and right mounting surfaces 205a of the fifth mounting plate 205 are fixedly connected to the two lateral sides of the front radar sensor 101 by means of the connector 50. The front radar sensor 101 is mounted in a state where it is clamped into the left and right mounting surfaces 205a of the fifth mounting plate 205 in the left and right directions.

[0131] like Figure 7 As shown, the front radar sensor 101 is configured to be freely mounted and detached from the antenna unit 80 via the fourth mounting plate 204 and the fifth mounting plate 205. The front radar sensor 101 can be mounted later, or it can be removed entirely. Furthermore, the antenna unit 80 is also configured to be freely mounted and detached from the mirror mounting portion 45 via the antenna unit support rod 81. Therefore, the front radar sensor 101 can be mounted and detached from the vehicle body 7 as a single unit, or it can be mounted and detached from the vehicle body 7 together with the antenna unit 80. The antenna unit support rod 81, which supports the antenna unit 80, is used as a common support rod for the front radar sensor 101, and, like the antenna unit 80, it is securely supported to prevent vibration from being transmitted to the front radar sensor 101.

[0132] The forward radar sensor 101 is integrated into the antenna unit 80. Therefore, by changing the position of the antenna unit 80 between the operating position and the non-operating position, the forward radar sensor 101 is also configured to have its position adjustable, such as... Figure 6 The position shown is for detecting obstacles in front of the vehicle body 7, facing forward as indicated. Figure 8 It can be freely changed between non-use positions, such as the one shown, which face downwards and are not used for obstacle detection.

[0133] When the forward radar sensor 101 is in the operating position, such as Figure 6 and Figure 9 As shown in (a), the front radar sensor 101 is arranged in the vertical direction at the boarding and alighting pedal 41 (see reference) which serves as the boarding and alighting section for the cab 10 (driver's seat 39). Figure 1 The front radar sensor 101 is mounted at a higher position, roughly equivalent to the roof 35. It is positioned with a lower front and higher rear orientation, closer to the front. The front radar sensor 101 is configured to measure the state of the front of the vehicle body 7 when viewed from an obliquely upward angle. The antenna unit support rod 81 is positioned in the longitudinal direction of the vehicle body 7, overlapping with the front end 35b of the roof 35, and in the vertical direction, it is positioned near the front end 35b of the roof 35. Therefore, the front radar sensor 101 is positioned near the front obliquely upward angle relative to the front end 35b of the roof 35, utilizing the space below the antenna unit 80. Figure 11 As shown, from the viewpoint of the passenger T seated in the driver's seat 39, at least a portion of the front radar sensor 101 overlaps with the front end portion 35b of the roof 35. The front radar sensor 101 is positioned such that at least a portion of it is obscured by the front end portion 35b of the roof 35. A portion of the front radar sensor 101 is located outside the visible field of view B1 in front of the passenger T seated in the driver's seat 39, thereby preventing the passenger T's field of vision from being obstructed by the front radar sensor 101.

[0134] like Figure 8 and Figure 9 As shown in (b), when the front radar sensor 101 is in an unused position, similar to the antenna element 80, the upper part of the front radar sensor 101 is positioned above the highest bit line Z (refer to...). Figure 9 (b)) A lower position. Accordingly, when transporting the tractor 1 or storing the tractor 1 in a storage place such as a barn, not only is the antenna unit 80 prevented, but also the front radar sensor 101 is prevented from protruding to a position higher than the highest position line Z.

[0135] Regarding the placement of the front radar sensor 101, it is positioned in the center of the antenna unit 80 in the left-right direction of the vehicle body 7. The antenna unit 80 is positioned in the left-right direction of the vehicle body 7 at a position corresponding to the center of the cab 10; therefore, the front radar sensor 101 is also positioned in the left-right direction of the vehicle body 7 at a position corresponding to the center of the cab 10.

[0136] like Figure 6 and Figure 7 As shown, in addition to the front radar sensor 101, a front camera 108 with a field of view covering the front of the vehicle body 7 is also mounted on the fifth mounting plate 205 via a connector or the like. The front camera 108 is positioned above the front radar sensor 101. Similar to the front radar sensor 101, the front camera 108 is mounted in a position where it is lower towards the front and higher towards the rear. The front camera 108 is configured to capture images from a top-down view of the front of the vehicle body 7. It is configured to output the images captured by the front camera 108 to an external device. The images captured by the front camera 108 can be displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3, thereby allowing users to visually check the situation around the tractor 1.

[0137] Next, the support structure of the rear radar sensor 102 will be described.

[0138] like Figure 5 and Figure 10 As shown, the rear radar sensor 102 is mounted on a tubular sensor support rod 301 that extends the entire length of the cab 10 in the left-right direction of the vehicle body 7. The rear radar sensor 102 is positioned in the left-right direction of the vehicle body 7 at a position roughly corresponding to the center of the cab 10.

[0139] like Figure 5 and Figure 10 As shown, the sensor support rod 301 is fixedly connected to the left and right rear support columns 37 located at both ends of the cab 10. The sensor support rod 301 is formed such that its left and right end portions curve towards the oblique front and appear as a bridge when viewed from above. The left and right ends of the sensor support rod 301 are fixedly connected to mounting members provided on the upper end portions of the left and right rear support columns 37 via a sixth mounting plate 206. The sixth mounting plate 206 is fixedly connected to the left and right ends of the sensor support rod 301 by welding or the like. The sixth mounting plate 206 is fastened to the mounting members provided on the upper end portions of the rear support columns 37 using a connecting member 50, thereby fixing the sensor support rod 301 in a horizontally extending position.

[0140] Regarding the mounting structure of the rear radar sensor 102 relative to the sensor support column 30, as follows: Figure 10 As shown, the rear radar sensor 102 is mounted on the sensor support rod 301 using the 7th mounting plate 207 and the 8th mounting plate 208. The 7th mounting plate 207 has a pair of opposing left and right sidewall surfaces 207a, formed in a bridge shape with their upper ends connected to each other. The 8th mounting plate 208 has a pair of opposing left and right mounting surfaces 208a, formed in a bridge shape with their upper ends connected to each other. The lower edges of the sidewall surfaces 207a of the 7th mounting plate 207 are fixedly connected to the sensor support rod 301 by welding or the like. The rear portion of the 7th mounting plate 207 and the front portion of the 8th mounting plate 208 are fixedly connected using a connecting member 50. The pair of left and right mounting surfaces 208a of the 8th mounting plate 208 are fixedly connected to the two lateral sides of the rear radar sensor 102 using the connecting member 50. The rear radar sensor 102 is mounted in a position where it is clamped into the mounting surfaces 208a on the left and right sides of the eighth mounting plate 208 in the left-right direction. A reinforcing plate 302 is fixedly connected to the front part of the seventh mounting plate 207 by means of a connector. The front part of the reinforcing plate 302 is fixedly connected to the upper surface of the roof 35 by means of a connector 50. The reinforcing plate 302 has upright walls formed by bending the two ends in the left-right direction upwards, and extends in a U-shape in the front-rear direction, and is provided throughout the roof 35, the seventh mounting plate 207, and the sensor support rod 301.

[0141] like Figure 9 (b) and Figure 10 As shown, the rear radar sensor 102 is positioned vertically relative to the boarding / alighting pedal 41 (see reference). Figure 1 The rear radar sensor 102 is mounted on the sensor support rod 301 in a higher position, roughly at the same height as the roof 35. The rear radar sensor 102 is positioned with a higher front and lower rear orientation, towards the rear. The rear radar sensor 102 is configured to measure the rear of the vehicle body 7 from an oblique, upward view. The sensor support rod 301 is positioned near the rear end portion 35c of the roof 35 in the longitudinal direction of the vehicle body 7, and vertically overlaps with the rear end portion 35c of the roof 35. Therefore, the rear radar sensor 102 is positioned at approximately the same height as the rear end portion 35c of the roof 35, or slightly further rearward and obliquely upward than the rear end portion 35c of the roof 35. Accordingly, as... Figure 11As shown, from the viewpoint of the passenger T seated in the driver's seat 39, at least a portion of the rear radar sensor 102 overlaps with the rear end portion 35c of the roof 35. The rear radar sensor 102 is positioned where at least a portion is obscured by the rear end portion 35c of the roof 35. A portion of the rear radar sensor 102 is located outside the visible field of view B2 behind the passenger T seated in the driver's seat 39, thereby preventing the passenger T's field of vision from being obstructed by the rear radar sensor 102.

[0142] like Figure 10 As shown, the rear radar sensor 102 is configured to be easily mounted and detached from the rear support column 37 via the sensor support rod 301, the seventh mounting plate 207, and the eighth mounting plate 208. The rear radar sensor 102 can be installed laterally or removed entirely. Because the rear radar sensor 102 is supported on the rear support column 37 constituting the cab frame 31 via the sensor support rod 301, vibration transmission to the rear radar sensor 102 is prevented, and it is securely supported.

[0143] like Figure 10 As shown, in addition to the rear radar sensor 102, a rear camera 109, which covers the rear of the traveling block 7, is also mounted on the 8th mounting plate 208 via a connector or the like. The rear camera 109 is positioned above the rear radar sensor 102. Similar to the rear radar sensor 102, the rear camera 109 is mounted in a front-high, rear-low configuration, with the rear end positioned lower as it approaches the rear. The rear camera 109 is configured to capture images from a top-down, obliquely upward view of the rear of the traveling block 7. It is configured to output the images captured by the rear camera 109 to an external display. The images captured by the rear camera 109 can be displayed on the display unit of the tractor 1, the display unit 51 of the portable communication terminal 3, or other display devices, allowing users to visually assess the situation around the tractor 1.

[0144] The measurement range C of the forward radar sensor 101 is explained.

[0145] like Figure 12 As shown, the forward radar sensor 101 has a left-right measurement range C1 in the left-right direction, and, as Figure 11 As shown, it has a vertical measurement range C2 in the vertical direction. Accordingly, the forward radar sensor 101 measures itself at a first predetermined distance X1 (refer to...) Figure 12 Within the range of the separated position, there are left and right measurement ranges C1 and up and down measurement ranges C2, which include the up and down, left and right, and front and back quadrangular pyramid shape measurement range C.

[0146] like Figure 12 As shown, the left and right measurement range C1 of the front radar sensor 101 is a range that is symmetrical about the center line of the left and right direction of the vehicle body 7 in the left and right directions. The left and right measurement range C1 is set as the range between the first set angle α1 between the first boundary line E1 and the second boundary line E2 extending from the front radar sensor 101. Thus, although the front radar sensor 101 has a left and right measurement range C1, the entire left and right measurement range C1 is not used as the obstacle detection range, but rather the central side of the left and right measurement range C1 is used as the obstacle detection range. A detection range J for detecting obstacles is set at the position of the left and right measurement range C1 and at the central side of the left and right direction of the vehicle body 7, and a non-detection range K for not detecting obstacles is set outside the detection range J. Accordingly, the obstacle control unit 107 detects obstacles in the left and right directions by obstacle detection processing based on the measurement information of the front radar sensor 101, and the range of obstacles detected is the detection range J in the left and right directions. The detection range J is set in the left-right direction of the traveling body 7 as the range extending from the center of the traveling body 7 to the positions separated to the left and right by a second predetermined distance X2. The detection range J is set in the lateral width direction of the traveling body 7 to be a range larger than the lateral width of the tractor 1 and the working device 12. The size of the detection range J can be appropriately changed; for example, the size of the detection range J can be changed by arbitrarily altering the second predetermined distance X2.

[0147] like Figure 11 As shown, the vertical measurement range C2 of the front radar sensor 101 is set as the range of a second predetermined angle α2 between the third boundary line E3 and the fourth boundary line E4 extending from the front radar sensor 101. The third boundary line E3 is set as a horizontal line extending forward from the front radar sensor 101, and the fourth boundary line E4 is set as a straight line located lower than the first tangent line G1 extending from the front radar sensor 101 towards the upper front of the front wheel 5. The vertical measurement range C2 is set such that the first center line F1 between the third boundary line E3 and the fourth boundary line E4 is located higher than the engine hood 8, thereby ensuring a sufficiently large measurement range on the upper side of the engine hood 8. By setting the fourth boundary line E4 lower than the first tangent line G1, even if the object being measured, such as an object or person, is located near the front end of the vehicle body 7 (the front end of the engine hood 8), the object can be measured.

[0148] like Figure 11As shown, since a portion of the hood 8 and a portion of the front wheel 5 enter the vertical measurement range C2 of the front radar sensor 101, if the obstacle control unit 107 performs obstacle detection processing based on the measurement information of the front radar sensor 101, it is possible to falsely detect a portion of the hood 8 and a portion of the front wheel 5 as obstacles. Therefore, a first masking process is implemented to prevent this false detection. In the first masking process, within the measurement range C of the front radar sensor 101, the area where a portion of the hood 8 and a portion of the front wheel 5 exist is preset as a masking range L where obstacle detection is not performed (see reference). Figure 13 The first concealment process will be described later.

[0149] Thus, the obstacle control unit 107 performs obstacle detection processing based on the measurement information from the forward radar sensor 101, thereby covering the obstacle in the left and right directions within the detection range J (refer to...). Figure 12 And in the vertical direction, it is included in the vertical measurement range C2 (refer to...). Figure 11 The presence or absence of obstacles is detected within the range of (excluding the masking range L).

[0150] The measurement range D of the rear radar sensor 102 is explained.

[0151] Similar to the forward radar sensor 101, such as Figure 12 As shown, the rear radar sensor 102 has a left-right measurement range D1 in the left-right direction, and, as Figure 11 As shown, it has a vertical measurement range D2 in the vertical direction. Accordingly, the rear radar sensor 102 measures itself at a third predetermined distance X3 (refer to...). Figure 12 Within the separated position, there are left-right measurement ranges D1 and up-down measurement ranges D2, which include the up-down, left-right, and front-back pyramidal measurement ranges D. Furthermore, X1 and X3 can be set to the same distance or different distances.

[0152] like Figure 12 As shown, similar to the front radar sensor 101, the left-right measurement range D1 of the rear radar sensor 102 is set as the range between the 5th boundary line E5 and the 6th boundary line E6 extending from the rear radar sensor 102, defined by a 3rd predetermined angle α3. A detection range J is set at the center of the left-right direction of the driving body 7 within the left-right measurement range D1, and a non-detection range K is set outside the detection range J. Regarding the obstacle control unit 107, the range of obstacles detected by obstacle detection processing based on the measurement information from the rear radar sensor 102 constitutes the detection range J in the left-right direction.

[0153] like Figure 11As shown, the vertical measurement range D2 of the rear radar sensor 102 is set as the range of the fourth predetermined angle α4 between the seventh boundary line E7 and the eighth boundary line E8 extending from the rear radar sensor 102. Since the working device 12 is equipped to move freely between the rising and falling positions, therefore, in Figure 11 In the diagram, the solid line represents the working device 12 in the descending position, and the dashed line represents the working device 12 in the ascending position. The 7th boundary line E7 is defined as a horizontal line extending rearward from the rear radar sensor 102. The 8th boundary line E8 is defined as a straight line lower than the second tangent G2 extending from the rear radar sensor 102 towards the upper rear of the working device 12 in the descending position. The vertical measurement range D2 is set such that the second center line F2 between the 7th boundary line E7 and the 8th boundary line E8 is located below the working device 12 in the ascending position (…). Figure 11 The position (indicated by the dashed line) is located higher up, thereby ensuring a sufficiently large measurement range above the working device 12 in the rising position. By setting the eighth boundary line E8 lower than the second tangent G2, the object to be measured, such as an object or person, can be measured even if it is located near the rear end of the working device 12 in the falling position.

[0154] A portion of the working device 12 enters the vertical measurement range D2 of the rear radar sensor 102. Therefore, if the obstacle detection unit 107 performs obstacle detection processing based on the measurement information from the rear radar sensor 102, it is possible that a portion of the working device 12 will be falsely detected as an obstacle. Therefore, a second masking process is implemented to prevent this false detection. In the second masking process, within the measurement range D of the rear radar sensor 102, the area where a portion of the working device 12 exists is pre-set as a masking range L where obstacle detection is not performed (see reference). Figure 14 , Figure 15 ).

[0155] like Figure 11 As shown, the working device 12 can move up and down between a lowered position and an raised position (the position shown by the dashed line in the figure). The tractor 1 moves while lowering the working device 12 to the lowered position to perform the prescribed work, and moves while raising the working device 12 to the raised position but not performing the prescribed work. Therefore, in the second concealment process, the concealment range L is as follows: Figure 14 Set the masking range L1 for the descent position as shown, and, as... Figure 15 Set the shielding range L2 for the rising position as shown. The second shielding process will be described later.

[0156] Thus, the obstacle detection unit 107 performs obstacle detection processing based on the measurement information from the rear radar sensor 102, thereby covering the obstacle in the left and right directions within the detection range J (refer to...). Figure 12 And in the vertical direction, it is included in the vertical measurement range D2 (refer to...). Figure 11 The obstacle detection unit 107 detects the presence or absence of obstacles within the range of the working device 12, excluding the cover ranges L1 and L2. When the working device 12 is in the descending position, the obstacle detection unit 107 uses the cover range L1 for the descending position to perform obstacle detection processing. When the working device 12 is in the ascending position, the obstacle detection unit 107 uses the cover range L2 for the ascending position to perform obstacle detection processing.

[0157] The following describes sonar units 103 and 104.

[0158] Sonar units 103 and 104 are configured to determine the distance relative to the target object based on the round-trip time of the projected ultrasonic wave contacting and bouncing back.

[0159] As sonar units 103 and 104, they possess the following features: Figure 12 As shown, the right side of the tractor 1 (driving body 7) is used as the measuring range for the sonar unit 103 on the right side; and as shown... Figure 12 The sonar unit 104, which measures the left side of the tractor 1 (driving body 7) as shown, is located on the left side of the tractor 1.

[0160] like Figure 12 As shown, 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 are different only in that the directions extending from the driving body 7 are opposite to those of the left and right sides, thus forming a left-right symmetrical measurement range N on the right and left sides.

[0161] Sonar units 103 and 104 measure the outer side of the vehicle body 7. Sonar units 103 and 104 are mounted on the vehicle body 7 to project ultrasonic waves downwards at a predetermined angle relative to the horizontal direction, and their measurement range N is set along a direction extending downwards from the sonar units 103 and 104 at a predetermined angle. The measurement range N of the sonar units 103 and 104 is a radius of a predetermined distance extending outwards from the sonar units 103 and 104 towards the outer side of the vehicle body 7, and is set in the longitudinal direction of the vehicle body 7 between the left-right measurement range C1 of the front radar sensor 101 and the left-right measurement range D1 of the rear radar sensor 102.

[0162] In this way, the obstacle control unit 107 performs obstacle detection processing based on the measurement information of the sonar units 103 and 104, thereby detecting the presence or absence of obstacles within the measurement range N on the left and right sides.

[0163] The collision avoidance control based on the obstacle control unit 107 will be explained below. First, the collision avoidance control when an obstacle is detected in the obstacle detection processing based on the measurement information of radar sensors 101 and 102 will be explained. Next, the collision avoidance control when an obstacle is detected in the obstacle detection processing based on the measurement information of sonar units 103 and 104 will be explained.

[0164] The tractor 1 is equipped with two radar sensors: a front radar sensor 101 and a rear radar sensor 102. However, the obstacle detection control unit 107 switches the obstacle detection state based on the forward / backward switching points included in the target travel path P, or the forward / backward switching of the reversing lever inside the cab 10. When the tractor 1 is moving forward, the front radar sensor 101 is used for detection, and the obstacle detection control unit 107 switches to a forward detection state that performs obstacle detection processing based on the detection information of the front radar sensor 101. When the tractor 1 is moving backward, the rear radar sensor 102 is used for detection, and the obstacle detection control unit 107 switches to a backward detection state that performs obstacle detection processing based on the detection information of the rear radar sensor 102. In this way, it is possible to switch between using the front radar sensor 101 and the rear radar sensor 102 for obstacle detection depending on whether the tractor 1 is moving forward or backward, thereby reducing the processing burden and enabling obstacle detection.

[0165] In forward detection mode, the obstacle control unit 107 performs obstacle detection processing based on the measurement information from the forward radar sensor 101, thereby including obstacles in the left and right directions within the detection range J (refer to...). Figure 12 And in the vertical direction, it is included in the vertical measurement range C2 (refer to...). Figure 11 Within the range of ) except for the masking range L (refer to Figure 13 The presence or absence of obstacles is detected within a range outside the detection range J. In the reverse detection state, when the working device 12 is in the descending position, the obstacle control unit 107 performs obstacle detection processing based on the measurement information from the rear radar sensor 102, thereby covering the area in the left-right direction within the detection range J (refer to...). Figure 12 And in the vertical direction, it is included in the vertical measurement range D2 (refer to...). Figure 11 The range of the masking area L1 (refer to) excluding the descent position. Figure 14The presence or absence of obstacles is detected within a range outside the detection range J (refer to the rear radar sensor 102). In the reverse detection state, when the working device 12 is in the raised position, the obstacle control unit 107 performs obstacle detection processing based on the measurement information from the rear radar sensor 102, thereby covering the area in the left-right direction within the detection range J (refer to the rear radar sensor 102). Figure 12 And in the vertical direction, it is included in the vertical measurement range D2 (refer to...). Figure 11 The range of L2 (refer to) is within the range of the rising position, excluding the masking range L2. Figure 15 The presence or absence of obstacles is detected within a range other than )

[0166] like Figure 12 As shown, when an obstacle is detected using the front radar sensor 101 or the rear radar sensor 102, the collision avoidance control content of the obstacle-based control unit 107 is set to vary depending on which range within the detection range J is where the obstacle is detected. The detection range J is defined by three ranges relative to the front radar sensor 101 or the rear radar sensor 102: a first detection range J1, a second detection range J2, and a third detection range J3. The first detection range J1 is defined as the range from a fourth predetermined distance X4 to a first predetermined distance X1 or from a fourth predetermined distance X4 to a third predetermined distance X3 relative to the front radar sensor 101 or the rear radar sensor 102. The second detection range J2 is defined as the range from a fifth predetermined distance X5 to a fourth predetermined distance X4 relative to the front radar sensor 101 or the rear radar sensor 102. The third detection range J3 is defined as the range up to a fifth predetermined distance X5 relative to the front radar sensor 101 or the rear radar sensor 102. Accordingly, the first detection range J1, the second detection range J2 and the third detection range J3 are set to sequentially approach the tractor 1, which includes the front radar sensor 101, the rear radar sensor 102 and the working device 12.

[0167] The collision avoidance control when an obstacle is detected by the front radar sensor 101 or the rear radar sensor 102 is the same as when the tractor 1 is moving forward or backward. Therefore, the following will describe the case when the tractor 1 is moving forward.

[0168] When tractor 1 moves forward, as Figure 12As shown, in the obstacle detection process, if an obstacle is detected within the first detection range J1, as a collision avoidance control, the obstacle control unit 107 controls the notification devices 26, such as the notification buzzer and notification light, to notify that an obstacle exists within the first detection range J1. In this first notification control, for example, the obstacle control unit 107 controls the notification devices 26 to cause the notification buzzer to turn on and off at a predetermined frequency, and to illuminate the notification light in a predetermined color.

[0169] In obstacle detection processing, if an obstacle is detected within the second detection range J2, as a collision avoidance control, the obstacle control unit 107 controls the notification devices 26, such as the notification buzzer and notification light, to notify that an obstacle exists within the second detection range J2. Simultaneously, a first deceleration control is performed to slow down the tractor 1. In the second notification control, for example, the obstacle control unit 107 controls the notification devices 26 to make the notification buzzer turn on and off at a predetermined frequency and to illuminate the notification light in a predetermined color. In the first deceleration control, for example, the obstacle control unit 107 calculates a collision prediction time until the tractor 1 collides with the obstacle based on the current speed of the tractor 1 and the distance relative to the obstacle. The obstacle control unit 107 controls the engine 9, transmission 13, and brake operating mechanism 15 to slow down the tractor 1 while maintaining the calculated collision prediction time at a set time (e.g., 3 seconds).

[0170] In obstacle detection processing, if an obstacle is detected within the third detection range J3, as a collision avoidance control, the obstacle control unit 107 controls the notification devices 26, such as the notification buzzer and notification light, to notify that an obstacle exists within the third detection range J3. Furthermore, a stop control is performed to bring the tractor 1 to a stop. In the third notification control, for example, the obstacle control unit 107 controls the notification devices 26 to ensure the notification buzzer operates continuously and the notification light illuminates in a predetermined color. In the stop control, for example, the obstacle control unit 107 controls the brake operating mechanism 15 to bring the tractor 1 to a stop.

[0171] Furthermore, the prescribed frequencies for turning the notification buzzer on and off in the first and second notification controls can be the same or different frequencies. Additionally, the prescribed colors for illuminating the notification lights in the first to third notification controls can be the same or different colors. In the first to third notification controls, in addition to controlling the notification device 26 of the tractor 1, the obstacle control unit 107 can also control the terminal electronic control unit 52, so that the display indicating the presence of an obstacle in any of the first to third detection ranges J1 to J3 is displayed on the display unit 51 of the portable communication terminal 3.

[0172] For example, if an obstacle is detected within the first detection range J1, the obstacle control unit 107 performs a first notification control, thereby notifying the user or others that an obstacle exists within the first detection range J1. If the tractor 1 continues to travel as before, causing the obstacle detection range to move from the first detection range J1 towards the second detection range J2, the obstacle control unit 107 performs a first deceleration control in addition to the second notification control, thereby slowing down the tractor 1 and preventing a collision between the tractor 1 and the obstacle. Even if the tractor 1 is slowed down, if the obstacle detection range moves from the second detection range J2 towards the third detection range J3, the obstacle control unit 107 performs a stop control in addition to the third notification control, thereby stopping the tractor 1 and appropriately preventing a collision between the tractor 1 and the obstacle.

[0173] When using radar sensors 101 and 102, moving objects are also detected as obstacles. Therefore, even if an obstacle is detected within the detection range J1, it may sometimes move out of the detection range J1 due to its own movement. Thus, when an obstacle moves out of the detection range J1, the obstacle control unit 107 terminates the first notification control. When an obstacle moves out of the detection range J2, the obstacle control unit 107 terminates the second notification control and performs speed recovery control to increase the speed of the tractor 1 to a set speed by controlling the engine 9, transmission 13, etc. When an obstacle moves out of the third detection range J3, the obstacle control unit 107 maintains the tractor 1 in a stopped state and terminates the third notification control. In this case, a command can be issued by the user or others to restart the tractor 1's automatic driving, thereby enabling the tractor 1 to resume automatic driving.

[0174] Next, we will explain the collision avoidance control when an obstacle is detected through obstacle detection processing based on the measurement information from sonar units 103 and 104.

[0175] Sonar units 103 and 104 are provided on the left and right sides. However, whether the tractor 1 is moving forward or backward, the obstacle control unit 107 performs obstacle detection processing based on all the measurement information of the sonar units 103 and 104 on the left and right sides.

[0176] When an obstacle is detected during obstacle detection processing based on the measurement information from sonar units 103 and 104, as a collision avoidance control, the obstacle control unit 107 controls the notification devices 26, such as the notification buzzer and notification light, to perform a fourth notification control that a fourth obstacle exists within any measurement range N of the sonar units 103 and 104, and performs a second deceleration control to slow down the tractor 1. In the fourth notification control, for example, the obstacle control unit 107 controls the notification devices 26 to make the notification buzzer turn on and off at a predetermined frequency and to make the notification light illuminate in a predetermined color. In the second deceleration control, for example, the obstacle control unit 107 controls the engine 9, the transmission 13, and the brake operating mechanism 15 to slow the tractor 1 to a set speed.

[0177] In this way, the obstacle detection system 100 can detect the presence of obstacles in front of and behind the vehicle body 7 using the front radar sensor 101 and the rear radar sensor 102, and can detect the presence of obstacles on the left and right sides of the vehicle body 7 using the sonar units 103 and 104. If the obstacle detection system 100 detects an obstacle, the obstacle control unit 107 performs collision avoidance control and notifies the user of the presence of the obstacle, thereby reminding the user to avoid collision with the obstacle. Furthermore, even assuming the possibility of a collision between the tractor 1 and the obstacle, by slowing down or stopping the tractor 1, a collision between the tractor 1 and the obstacle can be appropriately avoided.

[0178] In automatic driving mode, the on-board electronic control unit 18 performs automatic driving control. Therefore, the obstacle detection system 100 is used to slow down and stop the tractor 1, thereby avoiding collisions with obstacles and enabling the tractor 1 to drive automatically. Even in manual driving mode, the obstacle detection system 100 can notify the driver or other users of the presence of obstacles, or support driving to avoid collisions between the tractor 1 and obstacles.

[0179] The first and second concealment processes will be explained below.

[0180] First, regarding the concealment range L (refer to...) Figures 13-15To explain further, the cover range L is the range within which the obstacle control unit 107 performs collision avoidance control without detecting obstacles. Within the cover range L, even if any target object is measured using radar sensors 101 and 102, the obstacle control unit 107 will not detect the target object as an obstacle during obstacle detection processing.

[0181] like Figure 11 As shown, when a portion of the engine hood 8 and a portion of the front wheel 5 are within the measurement range C of the front radar sensor 101, the masking range L is set by performing the first masking process (refer to...). Figure 13 This prevents the control unit 107 from mistakenly detecting a portion of the engine hood 8 and a portion of the front wheel 5 as obstacles, and prevents collision avoidance control from being executed due to such misdetection. Additionally, as... Figure 12 As shown, when a portion of the operating device 12 is within the measurement range D of the rear radar sensor 102, the cover range L is set by performing a second cover process (see reference). Figure 14 as well as Figure 15 This prevents the obstacle control unit 107 from mistakenly detecting a part of the working device 12 as an obstacle, and prevents collision avoidance control from being executed due to such mistaken detection.

[0182] For example, in the first and second masking processes, as a preprocessing step using radar sensors 101 and 102, measurements are actually performed using radar sensors 101 and 102, and the resulting three-dimensional image is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3, and the masking range L is set (refer to...). Figures 13-15 ).

[0183] like Figure 11 As shown, a portion of the hood 8 and a portion of the front wheel 5 enter the measurement range C of the front radar sensor 101. Although the hood 8 is in a fixed position, the front wheel 5 is a movable part because it is turned to the left or right by operating the steering wheel 38, power steering mechanism 14, etc. Therefore, in the first shielding process, it is required to set the shielding range L according to the range of motion of the front wheel 5.

[0184] A portion of the operating device 12 enters the measurement range D of the rear radar sensor 102. For example... Figure 11 As shown, since the working device 12 moves up and down between the descending position and the ascending position (the position shown by the dashed line in the figure), the working device 12 constitutes a movable part. Therefore, in the second shielding process, it is required to set the shielding range L according to the range of motion of the working device 12.

[0185] Therefore, in the first and second masking processes, in order to set a masking range L corresponding to the range of motion of the moving part, such as Figure 2 As shown, in addition to radar sensors 101 and 102 and obstacle control unit 107, tractor 1 also includes a range of motion acquisition unit 110 and a cover range setting unit 111. The range of motion acquisition unit 110 acquires the range of motion when the front wheels 5 and the working device 12 are actually moving. The cover range setting unit 111 sets the cover range L based on the range of motion acquired by the range of motion acquisition unit 110.

[0186] based on Figure 16 The flowchart shown illustrates the action flow of the first masking process.

[0187] In the first masking process, firstly, the measurement of the forward radar sensor 101 begins, thereby generating a three-dimensional image based on the measurement results of the forward radar sensor 101, and, as... Figure 13 As shown, the generated three-dimensional image is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3 (step #1).

[0188] Users operate the steering wheel 38, causing the front wheels 5, which are movable parts, to turn left and right. Accordingly, the range of motion acquisition unit 110 acquires the range of motion (turning position on the right and turning position on the left) when the front wheels 5 are actually turned left and right based on the measurement information from the front radar sensor 101 (steps #2, #3). At this time, as... Figure 13 As shown by the dotted lines, a three-dimensional image, including the range of motion of the front wheel 5 acquired by the range of motion acquisition unit 110, is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3.

[0189] The range of motion acquisition unit 110 stores the acquired range of motion of the front wheel 5 in the vehicle storage unit 185 (equivalent to a storage unit) (step #4). For example... Figure 13 As shown, the cover range setting unit 111 sets the cover range L based on the movement range of the front wheel 5 obtained by the movement range acquisition unit 110 (step #5). Furthermore, the cover range L is set as a three-dimensional range in the front-back direction, the left-right direction, and the up-down direction.

[0190] like Figure 13As shown, the shielding range setting unit 111 sets a mountain-shaped range that is larger than the reference range including the range La of a portion of the engine hood 8 and the range of motion Lb of the front wheel 5, which is a set range. Regarding the shielding range L, for example, it can also be set to a shape corresponding to the shape of the engine hood 8 and the front wheel 5, in a way that only includes the range La of a portion of the engine hood 8 and the range of motion Lb of the front wheel 5. As for what range and shape the shielding range L is set to, it can be changed appropriately.

[0191] When the masking range setting unit 111 sets the masking range L, a three-dimensional image is displayed on the display device. Therefore, the masking range setting unit 111 can also set the range specified by the user on the display device as the masking range L. Since the three-dimensional image, including the range La where a part of the hood 8 exists and the range Lb of the front wheel 5, is displayed on the display device, the user can easily specify the range including the range La where a part of the hood 8 exists and the range Lb of the front wheel 5.

[0192] Here, as Figure 17 As shown, the front loader 121 can also be connected to the front of the vehicle body 7 as a front working device 120. The front loader 121 includes: a loader frame 122 connected to the vehicle body 7; left and right cantilever arms 123 connected to the loader frame 122 in a vertically swinging manner; buckets 124 connected to the free ends of each cantilever arm 123 in a vertically swinging manner; left and right first hydraulic cylinders 125 that drive the left and right cantilever arms 123 to swing in the vertical direction relative to the loader frame 122; and left and right second hydraulic cylinders 126 that drive the buckets 124 to swing in the vertical direction relative to the left and right cantilever arms 123. The front loader 121 includes a loader control unit that controls the flow of engine oil relative to each hydraulic cylinder 125 and 126 by manually operating a loader control lever equipped in the cab 10 or by automatic control commands from the vehicle electronic control unit 18.

[0193] exist Figure 17 In the case shown, a portion of the front working device 120 (front loader 121) enters the measurement range C of the front radar sensor 101, thereby constituting a movable part of the front working device 120. In the first concealment process, in addition to the front wheels 5, it is also required to set the concealment range L according to the range of motion of the front working device 120.

[0194] Therefore, in the first masking process, in Figure 16In step #2, in addition to steering the front wheels 5, the front working device 120 (front loader 121) is also activated. When the front working device 120 is activated, it is actually operated in a manner that involves digging and dumping. Accordingly, as... Figure 18 As shown, the range of motion acquisition unit 110 acquires the range of motion when the front wheel 5 actually turns to the left or right based on the measurement information of the front radar sensor 101. Furthermore, it also acquires the range of motion when the front working device 120 actually works (step #3). Figure 18 The image shown is a three-dimensional image generated based on measurement information from the front radar sensor 101, with the front working device 120 (front loader 121) in the lowered position for digging operations.

[0195] The range of motion acquisition unit 110 stores the acquired range of motion of the front wheel 5 and the front working device 120 in the vehicle storage unit 185 (step #4). For example... Figure 18 As shown, the cover range setting unit 111 sets the cover range L based on the range of motion of the front wheel 5 and the front working device 120 obtained by the range of motion acquisition unit 110 (step #5). Although as Figure 18 As shown, the cover range L for the descent position in the digging operation is set. However, when performing digging or dumping operations, the range of motion acquisition unit 110 also acquires the range of motion at positions other than the descent position, such as the rising position, in the front working device 120. Therefore, the cover range L for the rising position, etc., can also be set.

[0196] Furthermore, regarding the work device 12 (such as a boom sprayer) connected to the rear of the vehicle body 7, sometimes a portion of the work device 12 also enters the measurement range C of the front radar sensor 101. In this case, similar to the front work device 120, the range of motion acquisition unit 110 acquires the range of motion when the work device 12 is operating and stores this range of motion in the vehicle storage unit 185. The cover range setting unit 111 sets the cover range L based on the range of motion of the work device 12 acquired by the range of motion acquisition unit 110.

[0197] based on Figure 19 The flowchart shown illustrates the action flow of the second masking process.

[0198] In the second masking process, firstly, the measurement of the rear radar sensor 102 begins, thereby generating a three-dimensional image based on the measurement results of the rear radar sensor 102, and as follows... Figure 14 and Figure 15 The generated 3D image is then displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3 (step #11).

[0199] The working device 12 is operated in a manner that actually utilizes the working device 12 for operation (step #12). Depending on the type of working device 12, the hydraulic system of the working device 12 is hydraulically operated, or the tractor 1 is turned, thereby not only raising and lowering the working device 12, but also moving the working device 12 in the vertical and horizontal directions of the traveling body 7, thus making the working device 12 operate in accordance with the actual working conditions. Accordingly, the range of motion acquisition unit 110 acquires the range of motion of the working device 12 when it operates in accordance with the actual work based on the measurement information of the rear radar sensor 102 (step #13).

[0200] Figure 14 and Figure 15 The example shown is a case where a rotary tiller is used as the working device 12. Figure 14 A three-dimensional image is shown when the working device 12 is lowered to the lowered position. Figure 15 A three-dimensional image is shown when the working device 12 is raised to the raised position. Figure 14 and Figure 15 In the diagram, regarding the working device 12, solid lines represent the portion within the measurement range D of the rear radar sensor 102, while dashed lines represent the portion outside the measurement range D of the rear radar sensor 102. Therefore, Figure 14 The position of the working device 12 in the middle corresponds to the lower limit of the lifting range of the working device 12. Figure 15 The position of the working device 12 in the middle is equivalent to the upper limit of the lifting range of the working device 12.

[0201] The activity range acquisition unit 110 stores the acquired activity range of the working device 12 in the vehicle-mounted storage unit 185 (step #14). For example... Figure 14 and Figure 15 As shown, the cover range setting unit 111 sets the cover range L based on the activity range of the working device 12 obtained by the activity range acquisition unit 110 (step #15). Furthermore, the cover range L is set as a three-dimensional range in the front-back direction, the left-right direction, and the up-down direction.

[0202] As described above, the tractor 1 moves while lowering the working device 12 to the lowered position to perform the prescribed work, and moves while raising the working device 12 to the raised position but not performing the prescribed work, only moving. Therefore, in the second concealment process, the concealment range setting unit 111 sets the concealment range L. Figure 14 The masking range L1 used for the descent position shown, and Figure 15The shielding range L2 shown is used for the rising position. In this way, the shielding range setting unit 111 changes the shielding range L to the shielding range L1 for the falling position and the shielding range L2 for the rising position according to the position of the working device 12 within the range of activity.

[0203] Regarding the cover range L, it is not limited to the cover range L1 for the descending position and the cover range L2 for the ascending position. For example, a cover range for ascending and descending corresponding to the ascending and descending of the working device 12 can also be set. In this case, the cover range for ascending and descending can be set to include the entire ascending and descending range of the working device 12. Furthermore, during the ascending and descending of the working device 12, the obstacle control unit 107 uses the cover range for ascending and descending to perform obstacle detection processing. For example, if the working device 12 not only ascends and descends but also moves in the left and right directions of the traveling body 7, then in addition to the cover range L1 for the descending position and the cover range L2 for the ascending position, it can also be changed to a cover range for the right side and a cover range for the left side. In this way, regarding the cover range L, the cover range setting unit 111 changes the setting of the cover range L according to the activity state of the working device 12.

[0204] like Figure 14 and Figure 15 As shown, the rectangular range that is larger than the reference range including the activity range Lc (lower or upper limit of the lifting range) of the working device 12 is set as the shielding range L1 and L2. Regarding the shielding range L, for example, it can also be set to a shape corresponding to the shape of the working device 12, in a way that only includes the activity range Lc of the working device 12. As for the range and shape of the shielding range L1 and L2, they can be changed appropriately.

[0205] In addition, similar to the first masking process, when the masking range setting unit 111 sets the masking range L, the three-dimensional image is displayed on the display device. Therefore, the masking range setting unit 111 can also set the range specified by the user on the display device as the masking range L.

[0206] Regarding the working device 12, not only rotary tillers, but also harrows, vertical harrows, stubble tillers, fertilizer applicators, plows, compost spreaders, hay rakes, balers, harvesters, offset mowers, tractors, boom sprayers, and many other working devices 12 can be freely connected to the three-point linkage mechanism 11. The working device 12 also includes: a device that is offset to one side in the lateral direction of the traveling body 7; and a device that can freely extend and retract in the lateral direction of the traveling body 7 by swinging about an axis along the vertical direction and sliding in the lateral direction of the traveling body 7. Therefore, in the second concealment process, when the range of motion of the working device 12 acquired by the range of motion acquisition unit 110 is stored in the vehicle storage unit 185, as... Figure 20 As shown, type / activity range information that associates the type of work device 12 with the activity range of the work device 12 acquired by the type acquisition unit 110 is stored. The activity range of the work device 12 is divided into vertical and horizontal activity ranges and stored accordingly. Furthermore, regarding the vertical activity range, if a work device 12 is not active in the vertical direction when the work device 12 is operating, then that constitutes the range of the work device 12. Similarly, regarding the horizontal activity range, if a work device 12 is not active in the horizontal direction when the work device 12 is operating, then that constitutes the range of the work device 12.

[0207] like Figure 20 As shown, the type / activity range information includes not only information that associates the type and activity range of the working device 12, but also information that associates the shielding range for the descent position and the shielding range for the ascent position based on the type of the working device 12. For example... Figure 20 As shown, as type / range of activity information, the vehicle-mounted storage unit 185 stores information differentiated according to each type of the working device 12, including the range of activity, the cover range for the descent position, and the cover range for the ascent position. For example, if the type of the working device 12 is a tiller, then the range of activity in the vertical direction during actual operation of the tiller is A2a, and the range of activity in the horizontal direction is A2b. The cover range for the descent position is set to L1b, and the cover range for the ascent position is set to L2b.

[0208] Because the on-board storage unit 185 (equivalent to a storage unit) stores... Figure 20 The type / activity range information shown indicates that, if the type of the work device 12 stored as type / activity range information is specified, the masking range setting unit 111 can set the masking range L using the type / activity range information stored in the vehicle storage unit 185 even without performing the second masking process. If the type of the work device 12 actually connected to the rear of the vehicle body 7 is input, the masking range setting unit 111 determines and sets the masking range L based on the input type. Figure 20 The concealment range setting unit 111 sets the concealment range L based on the type of work device 12 corresponding to the type of work device 12 that is actually connected to the tractor 1 and the type / activity range information stored in the vehicle storage unit 185.

[0209] For example, if the type of working device 12 is a harrow, then as Figure 20As shown, the cover range setting unit 111 defines the vertical movement range as A2a and the horizontal movement range as A2b, sets the cover range for the descent position as L1b, and sets the cover range for the ascent position as L2b. Regarding the input of the type of working device 12, as described above, the target travel path P (refer to...) is generated by the travel path generation unit 53. Figure 3 When the user inputs vehicle body data such as the type of the working device 12, the concealment range setting unit 111 can obtain the type of the working device 12 and set the concealment range L using the type / activity range information stored in the vehicle storage unit 185, simply by having the user input the vehicle body data.

[0210] In the second masking process, the working device 12 is actually moved, so that the activity range acquisition unit 110 acquires the activity range when the working device 12 is actually moved. However, even if the working device 12 is not actually moved, the third masking process can be implemented in which the activity range acquisition unit 110 acquires the activity range of the working device 12.

[0211] The third concealment process will be explained.

[0212] As described above, in generating the target driving path P (refer to...) Figure 3 When this is done, the user, etc., inputs vehicle body data such as the type and model of the work vehicle and work device 12 according to the input wizard for setting the target driving path displayed on the display unit 51 of the portable communication terminal 3. For example... Figure 21 As shown, the vehicle body data includes not only the type of the working device 12, but also working device data related to the working device 12, such as the working device width, the length of the working device 12, the length from the front end of the working device 12 to the center, and the height of the working device 12. Figure 21 This is an example of a screen for inputting data for a work device. Users can input the width of the work device 12, the length of the work device 12, the length from the front end of the work device 12 to the center, the height of the work device 12, etc., based on this screen.

[0213] Therefore, as Figure 22 As shown in the flowchart, in the third masking process, if the user or others input work device data including the width and length of the work device 12, the activity range acquisition unit 110 calculates the activity range of the work device 12 based on the work device data (steps #21, #22). Figure 1As shown, the working device 12 is connected to the three-point linkage 11 at the rear of the traveling body 7. The configuration position of the three-point linkage 11 of the tractor 1 and the lifting range of the three-point linkage 11 are predetermined values. Accordingly, the range of motion acquisition unit 110 uses the input working device data and the predetermined values ​​such as the configuration position of the three-point linkage 11 of the tractor 1 to determine the range of motion of the working device 12.

[0214] In the third masking process, if the activity range acquisition unit 110 determines the activity range of the working device 12, the determined activity range of the working device 12 is stored in the vehicle storage unit 185 (step #23). The masking range setting unit 111 sets the masking range L based on the activity range of the working device 12 determined by the activity range acquisition unit 110 (step #24).

[0215] In the third concealment process, similar to the second concealment process, the vehicle-mounted storage unit 185 can be used to establish type / activity range information that associates the type of the working device 12 with the calculated activity range (see reference). Figure 20 Store it. For example... Figure 20 As shown, information on the type / activity range of various work devices 12 can be stored in the vehicle storage unit 185. In this case, if the user or others input the work device data of each of the various work devices 12 (see reference...), Figure 21 If the activity range acquisition unit 110 can determine the activity range of each of the various working devices 12 based on their respective working device data, then the activity range acquisition unit 110 can establish a correlation between the type of working device 12 and the determined activity range of each of the various working devices 12 to generate type / activity range information, and store the generated type / activity range information in the vehicle storage unit 185.

[0216] In this way, by storing the type / activity range information in the vehicle storage unit 185, as described above, if the type of the work device 12 stored as the type / activity range information is the type of the work device 12, the cover range setting unit 111 can set the cover range L according to the type of the work device 12 actually connected to the tractor 1 and the type / activity range information stored in the vehicle storage unit 185.

[0217] In the case where there are both the range of motion of the working device 12 obtained through the second masking process and the range of motion of the working device 12 obtained through the third masking process, the range of motion when the working device 12 is actually moving is obtained in the second masking process. Therefore, the range of motion of the working device 12 obtained through the second masking process is preferentially stored in the vehicle storage unit 185.

[0218] Thus, the vehicle storage unit 185 stores type / activity range information (see reference). Figure 20 Therefore, the vehicle electronic control unit 18 can use the type / range of activity information stored in the vehicle storage unit 185 to determine whether the range of activity of the working device 12 has deviated from its original range of activity. For example, if the working device 12 malfunctions or causes any abnormality, the range of activity of the working device 12 may deviate from its original range of activity, and it can be determined whether such an abnormality has occurred.

[0219] In both automatic and manual driving modes, the work device 12 is raised and lowered to perform the prescribed work. At this time, the vehicle electronic control unit 18 can obtain the operating range of the work device 12 based on the measurement results of the rear radar sensor 102. Therefore, the vehicle electronic control unit 18 compares the obtained operating range of the work device 12 with the type / operating range information stored in the vehicle storage unit 185, thereby determining whether the operating range of the work device 12 has deviated from its original operating range. If the operating range of the work device 12 deviates from its original operating range, the vehicle electronic control unit 18 activates the notification device 26 to notify the user or others that an abnormality has occurred in the work device 12.

[0220] like Figure 2 As shown, the tractor 1 includes an external output unit 112 capable of outputting type / activity range information stored in the on-board storage unit 185 to an external device. The external output unit 112 communicates with an external device via a communication module 25 to output the type / activity range information to an external management device. In the external management device, the type / activity range information output by the external output unit 112 can be used to set the cover range L of other tractors 1.

[0221] By communicating with other tractors 1 through an external management device, the other tractors 1 can obtain type / activity range information. Therefore, the other tractors 1 can set the cover range L by using the obtained type / activity range information to perform the second cover process described above. In this second cover process, since the type / activity range information has already been obtained, the details are omitted. Figure 19 The actions in steps #11 to #14 can be performed by simply executing the action in step #15. Even if the working device 12 is not actually activated, the cover range setting unit 111 sets the cover range L based on the type / activity range information that has been acquired.

[0222] In this way, the type / activity range information acquired by one tractor 1 is set as shared information shared by multiple tractors 1, and the cover range L of multiple tractors 1 can be easily set using this shared information. The external output unit 112 not only outputs the type / activity range information to an external management device, but can also directly output the type / activity range information to other tractors 1 through communication between the tractors 1.

[0223] [Second Implementation]

[0224] Hereinafter, the second embodiment will be described, and the same reference numerals as those in the first embodiment will be used to refer to the same structures, and the description will focus on the structures that are different from those in the first embodiment.

[0225] like Figure 1 and Figure 23 As shown, the tractor 1 is equipped with an obstacle detection system 100, which detects obstacles around the tractor 1 (driving body 7) to avoid collisions with them. The obstacle detection system 100 includes: radar sensors (equivalent to distance sensors) 101 and 102, which can use lasers to determine the distance relative to a target object in a three-dimensional manner; sonar units 103 and 104, which have multiple sonars capable of using ultrasonic waves to determine the distance relative to a target object; an obstacle detection unit 113; and a collision avoidance control unit 114. Here, the target object detected by the radar sensors 101 and 102 and the sonar units 103 and 104 is an object, a person, etc.

[0226] The obstacle detection unit 113 is configured to perform obstacle detection processing, which detects objects, people, and other objects within a specified distance as obstacles based on measurement information from radar sensors 101 and 102 and sonar units 103 and 104. The collision avoidance control unit 114 is configured to perform collision avoidance control if an obstacle is detected by the obstacle detection unit 113. The obstacle detection unit 113 repeatedly performs obstacle detection processing based on measurement information from radar sensors 101 and 102 and sonar units 103 and 104 in real time, appropriately detecting obstacles such as objects and people, while the collision avoidance control unit 114 performs collision avoidance control to avoid collisions with obstacles detected in real time.

[0227] Obstacle detection unit 113 and collision avoidance control unit 114 are provided on the vehicle electronic control unit 18. The vehicle electronic control unit 18 is connected to the engine electronic control unit, radar sensors 101, 102, and sonar units 103, 104 included in the common rail system via CAN (Controller Area Network).

[0228] like Figure 11 and Figure 24As shown, radar sensors 101 and 102 include a front radar sensor 101 and a rear radar sensor 102. The front radar sensor 101 uses the area in front of the tractor 1 (driving body 7) as the measurement range C to detect obstacles in front of the tractor 1. The rear radar sensor 102 uses the area behind the tractor 1 (driving body 7) as the measurement range D to detect obstacles behind the tractor 1.

[0229] The measurement range C of the forward radar sensor 101 is explained.

[0230] like Figure 24 As shown, the forward radar sensor 101 has a left-right measurement range C1 in the left-right direction, and, as Figure 11 As shown, it has a vertical measurement range C2 in the vertical direction. Accordingly, the forward radar sensor 10 measures itself at a first predetermined distance X1 (refer to...) Figure 24 Within the range of the separated position, there are left and right measurement ranges C1 and up and down measurement ranges C2, which include the measurement ranges C of the four-sided pyramid shape in the up and down, left and right, and front and back.

[0231] like Figure 24 As shown, the left-right measurement range C1 of the front radar sensor 101 is a range symmetrical about the center line of the left-right direction of the traveling body 7. The left-right measurement range C1 is set as the range between the first set angle α1 between the first boundary line E1 and the second boundary line E2 extending from the front radar sensor 101. The left-right measurement range C1 is set to be larger than the width of the tractor 1 and the working device 12 in the lateral width direction of the traveling body 7. The size of the left-right measurement range C1 can be appropriately changed.

[0232] like Figure 11 As shown, the vertical measurement range C2 of the front radar sensor 101 is set as the range of a second predetermined angle α2 between the third boundary line E3 and the fourth boundary line E4 extending from the front radar sensor 101. The third boundary line E3 is set as a horizontal line extending forward from the front radar sensor 101, and the fourth boundary line E4 is set as a straight line located lower than the first tangent line G1 extending from the front radar sensor 101 towards the upper front of the front wheel 5. The vertical measurement range C2 is set such that the first center line F1 between the third boundary line E3 and the fourth boundary line E4 is located higher than the engine hood 8, thereby ensuring a sufficiently large measurement range above the engine hood 8. By setting the fourth boundary line E4 lower than the first tangent line G1, even if the object being measured, such as an object or person, is located near the front end of the vehicle body 7 (the front end of the engine hood 8), the object can be measured.

[0233] like Figure 11 As shown, since a portion of the hood 8 and a portion of the front wheel 5 enter the vertical measurement range C2 of the front radar sensor 101, if the obstacle detection unit 113 performs obstacle detection processing based on the measurement information of the front radar sensor 101, it is possible to falsely detect a portion of the hood 8 and a portion of the front wheel 5 as obstacles. Therefore, a first masking process (equivalent to a masking process) is implemented to prevent this false detection. In the first masking process, within the measurement range C of the front radar sensor 101, the area where a portion of the hood 8 and a portion of the front wheel 5 exist is preset as a masking range L where obstacle detection is not performed (see reference). Figure 13 The first concealment process will be described later.

[0234] Thus, the obstacle detection unit 113 performs obstacle detection processing based on the measurement information from the forward radar sensor 101, thereby covering the obstacle in the left and right directions within the left and right measurement range C1 (refer to...). Figure 24 And in the vertical direction, it is included in the vertical measurement range C2 (refer to...). Figure 11 The presence or absence of obstacles is detected within the range of (excluding the masking range L).

[0235] The measurement range D of the rear radar sensor 102 is explained.

[0236] Similar to the forward radar sensor 101, such as Figure 24 As shown, the rear radar sensor 102 has a left-right measurement range D1 in the left-right direction, and, as Figure 11 As shown, it has a vertical measurement range D2 in the vertical direction. Accordingly, the rear radar sensor 102 measures itself at a third predetermined distance X3 (refer to...). Figure 24 Within the separated position, there are left-right measurement ranges D1 and up-down measurement ranges D2, which include the up-down, left-right, and front-back pyramidal measurement ranges D. Furthermore, X1 and X3 can be set to the same distance or different distances.

[0237] like Figure 24 As shown, similar to the front radar sensor 101, the left-right measurement range D1 of the rear radar sensor 102 is set to the range of the third predetermined angle α3 between the fifth boundary line E5 and the sixth boundary line E6 extending from the rear radar sensor 102. Similar to the front radar sensor 101, the left-right measurement range D1 is set to a range larger than the width of the tractor 1 and the working device 12 in the lateral direction of the traveling body 7. The size of the left-right measurement range D1 can be appropriately changed.

[0238] like Figure 11 As shown, the vertical measurement range D2 of the rear radar sensor 102 is set as the range of the fourth predetermined angle α4 between the seventh boundary line E7 and the eighth boundary line E8 extending from the rear radar sensor 102. Since the working device 12 is equipped to move freely between the rising and falling positions, therefore, in Figure 11 In the diagram, the solid line represents the working device 12 in the descending position, and the dashed line represents the working device 12 in the ascending position. The 7th boundary line E7 is defined as a horizontal line extending rearward from the rear radar sensor 102. The 8th boundary line E8 is defined as a straight line lower than the second tangent G2 extending from the rear radar sensor 102 towards the upper rear of the working device 12 in the descending position. The vertical measurement range D2 is set such that the second center line F2 between the 7th boundary line E7 and the 8th boundary line E8 is located below the working device 12 in the ascending position (…). Figure 11 The position (indicated by the dashed line) is located higher up, thereby ensuring a sufficiently large measurement range above the working device 12 in the rising position. By setting the eighth boundary line E8 lower than the second tangent G2, the object to be measured, such as an object or person, can be measured even if it is located near the rear end of the working device 12 in the falling position.

[0239] A portion of the working device 12 enters the vertical measurement range D2 of the rear radar sensor 102. Therefore, if the obstacle detection unit 113 performs obstacle detection processing based on the measurement information of the rear radar sensor 102, it is possible that a portion of the working device 12 may be falsely detected as an obstacle. Therefore, a second masking process is implemented to prevent this false detection. In the second masking process, within the measurement range D of the rear radar sensor 102, the area where a portion of the working device 12 exists is pre-set as a masking range L where obstacle detection is not performed (see reference). Figure 14 , Figure 15 ).

[0240] like Figure 11 As shown, the working device 12 can move up and down between a lowered position and an raised position (the position shown by the dashed line in the figure). The tractor 1 moves while lowering the working device 12 to the lowered position to perform the prescribed work, and moves while raising the working device 12 to the raised position but not performing the prescribed work, only moving. Therefore, in the second concealment process, the concealment range L is as follows: Figure 14 Set the shielding range L1 for the descent position as shown, and as... Figure 15 Set the shielding range L2 for the rising position as shown. The second shielding process will be described later.

[0241] Thus, the obstacle detection unit 113 performs obstacle detection processing based on the measurement information from the rear radar sensor 102, thereby covering the obstacle in the left and right directions within the detection range J (refer to...). Figure 24 And in the vertical direction, it is included in the vertical measurement range D2 (refer to...). Figure 11 The obstacle detection unit 113 detects the presence or absence of obstacles within the range of the working device 12, excluding the cover ranges L1 and L2. When the working device 12 is in the descending position, the obstacle detection unit 113 performs obstacle detection processing using the cover range L1 used in the descending position. When the working device 12 is in the ascending position, the obstacle detection unit 113 performs obstacle detection processing using the cover range L2 used in the ascending position.

[0242] The following describes sonar units 103 and 104.

[0243] Sonar units 103 and 104 are configured to determine the distance relative to the target object based on the round-trip time of the projected ultrasonic wave contacting and bouncing back from the target object. Sonar units 103 and 104 are also configured to detect any object within the measurement range as an obstacle and determine the distance relative to the obstacle if such an object is present.

[0244] As sonar units 103 and 104, they possess the following features: Figure 24 The sonar unit 103, with the right side of the tractor 1 (driving body 7) as shown, is positioned within the measurement range; and as shown... Figure 24 As shown, the left side of the tractor 1 (driving body 7) is set as the left side of the measurement range sonar unit 104.

[0245] like Figure 24 As shown, 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 are different only in that the directions extending from the driving body 7 are opposite to those of the left and right sides, thus forming a left-right symmetrical measurement range N on the right and left sides.

[0246] Sonar units 103 and 104 measure the outer side of the vehicle body 7. Sonar units 103 and 104 are mounted on the vehicle body 7 to project ultrasonic waves downwards at a predetermined angle relative to the horizontal direction, and their measurement range N is set along a direction extending downwards from the sonar units 103 and 104 at a predetermined angle. The measurement range N of the sonar units 103 and 104 is a range with a predetermined radius extending outwards from the sonar units 103 and 104 towards the outer side of the vehicle body 7, and is set in the longitudinal direction of the vehicle body 7 between the left-right measurement range C1 of the front radar sensor 101 and the left-right measurement range D1 of the rear radar sensor 102.

[0247] In this way, the obstacle detection unit 113 performs obstacle detection processing based on the measurement information of the sonar units 103 and 104, thereby detecting the presence or absence of obstacles within the measurement range N on the left and right sides.

[0248] The obstacle detection processing using the obstacle detection unit 113 and the collision avoidance control using the collision avoidance control unit 114 are the same as those using the obstacle control unit 107 in the first embodiment, so the description is omitted.

[0249] The following explains the correction process to make the radar sensors 101 and 102 of the tractor 1 set to the desired state.

[0250] Radar sensors 101 and 102 are used to measure the distance relative to the target object in a three-dimensional manner. Therefore, if the setting orientation or other settings of the radar sensors 101 and 102 deviate from the desired state, the measured distance relative to the target object will deviate from the original distance. Therefore, an operation is performed to correct the setting orientation of the radar sensors 101 and 102 to the desired state, so that the setting orientation of the radar sensors 101 and 102 on the tractor 1 is formed to the desired orientation. Therefore, as... Figure 23 As shown, the vehicle electronic control unit 18 includes a correction processing unit 115 for performing correction processing.

[0251] In the calibration process, measurements were actually taken using radar sensors 101 and 102, such as... Figure 25 and Figure 26 As shown, the correction processing unit 115 causes the three-dimensional image generated based on the measurement information at this time to be displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3.

[0252] like Figure 11 As shown, a portion of the engine cover 8 of the tractor 1 and a portion of the front wheel 5 (equivalent to a part of the main body of the work vehicle) enter the measurement range C of the front radar sensor 101, therefore, as Figure 25 As shown in (a), the three-dimensional image generated based on the measurement information from the front radar sensor 101 includes a portion of the engine cover 8 of the tractor 1 and a portion of the front wheel 5. Therefore, the correction processing unit 115 causes the central portion H1 in the left-right direction of the measurement range C of the front radar sensor 101, the central portion in the left-right direction of the engine cover 8, and the central portion in the left-right direction of the front wheel 5 (the central portion in the left-right direction of the tractor 1) H2 to be superimposed on the three-dimensional image displayed on the display device.

[0253] As for the setting state of the front radar sensor 101, the desired state is that the central portion H1 of the measurement range C of the front radar sensor 101 coincides with the central portion of the tractor 1 in the left-right direction. Therefore, as Figure 25 As shown in (a), if the central part H1 of the measurement range C of the front radar sensor 101, the central part H2 of the engine hood 8 and the front wheel 5 included in the measurement range C of the front radar sensor 101 are the same, then the setting state (setting direction) of the front radar sensor 101 constitutes the desired state (desired setting direction).

[0254] like Figure 25 (b) shows that if the central portion H2 of a part of the engine hood 8 and a part of the front wheel 5 included in the measurement range C of the front radar sensor 101 deviates to the left in the left-right direction relative to the central portion H1 of the measurement range C of the front radar sensor 101, then the installation direction of the front radar sensor 101 deviates to the right relative to the desired installation direction. Therefore, the user changes the installation direction of the front radar sensor 101 to the left, thereby correcting the installation direction of the front radar sensor 101 to the desired installation direction. At this time, for example, the correction processing unit 115 can also calculate the deviation amount (deviation angle, deviation distance) between the central portion H1 and the central portion H2, and make the calculated deviation amount (deviation angle, deviation distance) between the central portion H1 and the central portion H2 superimposed on the three-dimensional image displayed on the display device.

[0255] like Figure 11 As shown, a portion of the working device 12 of the tractor 1 (equivalent to a part of the main body of the working vehicle) enters the measurement range D of the rear radar sensor 102, therefore, as Figure 26 As shown in (a), a portion of the working device 12 is included in the three-dimensional image generated based on the measurement information from the rear radar sensor 102. Figure 26 (a) shows the state where the working device 12 is in the descending position. Therefore, the correction processing unit 115 causes the central portion H3 in the left-right direction of the measurement range D of the rear radar sensor 102 and the central portion H4 in the left-right direction of the working device 12 to be superimposed on the three-dimensional image displayed on the display device. Figure 26 In the diagram, regarding the working device 12, the solid line represents the portion within the measurement range D of the rear radar sensor 102, and the dashed line represents the portion outside the measurement range D of the rear radar sensor 102.

[0256] As for the setting state of the rear radar sensor 102, the desired state is that the central portion H3 of the measurement range D of the rear radar sensor 102 coincides with the central portion of the tractor 1 in the left-right direction. Therefore, as Figure 26As shown in (a), if the central part H3 of the measurement range D of the rear radar sensor 102 coincides with the central part H4 of a portion of the working device 12 included in the measurement range D of the rear radar sensor 102, then the setting state (setting direction) of the rear radar sensor 102 constitutes the desired state (desired setting direction).

[0257] like Figure 26 (b) As shown, if the central portion H4 of the part of the working device 12 included in the measurement range D of the rear radar sensor 102 deviates to the left in the left-right direction relative to the central portion H3 of the measurement range D of the rear radar sensor 102, then the setting direction of the rear radar sensor 101 deviates to the right relative to the desired setting direction. Therefore, the user or others change the setting direction of the rear radar sensor 102 to the left, correcting the setting direction of the rear radar sensor 102 to the desired setting direction. At this time, for example, the correction processing unit 115 can also calculate the deviation amount (deviation angle, deviation distance) between the central portion H3 and the central portion H4, and make the calculated deviation amount (deviation angle, deviation distance) between the central portion H3 and the central portion H4 superimposed on the three-dimensional image displayed on the display device.

[0258] Thus, as Figure 25 and Figure 26 As shown, the calibration processing unit 115 performs calibration processing to display the three-dimensional image generated based on the measurement information of the radar sensors 101 and 102 on the display unit of the tractor 1, the display unit 51 of the portable communication terminal 3, and other display devices. As a result, the user and others adjust the setting state of the radar sensors 101 and 102, such as the setting direction, to achieve the desired setting state of the radar sensors 101 and 102.

[0259] By performing correction processing based on the correction processing unit 115, a three-dimensional image generated from the measurement information of radar sensors 101 and 102 is displayed on display devices such as the display unit of tractor 1 and the display unit 51 of portable communication terminal 3. Therefore, the first masking processing and the second masking processing can be performed using the displayed three-dimensional image.

[0260] The first and second cover procedures are explained.

[0261] First, regarding the concealment range L (refer to...) Figures 13-15To explain further, the masking range L is the range within which the obstacle detection unit 11 does not detect obstacles, thus limiting the collision avoidance control unit 114 from performing collision avoidance control. The masking range L corresponds to the range within the measurement range of the radar sensors 101 and 102 that excludes the measurement of distance (equivalent to position information) relative to the measured object. Within the masking range L, even if any measured object is measured using the radar sensors 101 and 102, the obstacle detection unit 113 will not detect that measured object as an obstacle during obstacle detection processing.

[0262] like Figure 23 As shown, in order to perform the first and second masking processes, the vehicle electronic control unit 18 is equipped with a masking range setting unit 116 for setting the masking range L.

[0263] First, the first concealment process will be explained.

[0264] If a correction is performed to make the setting state of the front radar sensor 101 reach the desired state, then as follows Figure 25 As shown in (a), the central portion H1 of the measurement range C of the front radar sensor 101 coincides with the central portion H2 of a portion of the engine hood 8 and a portion of the front wheel 5 included in the measurement range C of the front radar sensor 101. Therefore, the three-dimensional image generated based on the corrected measurement information of the front radar sensor 101 becomes... Figure 13 The three-dimensional image shown. (As shown) Figure 13 As shown, the shielding range setting unit 116 sets the shielding range L based on a reference range including the range La of a portion of the engine hood 8 and the range Lb of a portion of the front wheel 5. Figure 13 As shown by the dotted line, the front wheels 5 are turned to the left and right by operating the steering wheel 38, power steering mechanism 14, etc. Therefore, preferably, the masking range L is set in a way that also includes a steering range (range of motion) that causes the front wheels 5 to turn to the left and right.

[0265] like Figure 13 As shown, the shielding range setting unit 116 sets the shielding range L to a mountain-shaped range that is larger than the reference range including the range La of a portion of the hood 8 and the range Lb of the front wheels 5. Regarding the shielding range L, for example, it can be set to a shape corresponding to the shape of the hood 8 and the front wheels 5, in a way that only includes the range La of a portion of the hood 8 and the range Lb of the front wheels 5. As for what range and shape the shielding range L is set to, it can be changed appropriately.

[0266] When the masking range setting unit 116 sets the masking range L, a three-dimensional image is displayed on the display device. Therefore, the masking range setting unit 116 can also set the range specified by the user on the display device as the masking range L. Since the three-dimensional image, including the range La where a part of the hood 8 exists and the range Lb where the front wheels 5 exist, is displayed on the display device, the user can easily specify the range including the range La where a part of the hood 8 exists and the range Lb where the front wheels 5 exist.

[0267] In this way, the cover range setting unit 116 sets the cover range L based on the measurement information of the front radar sensor 101 after correcting its setting state to the desired state, using a portion of the engine hood 8 and a portion of the front wheel 5 included in the measurement range C of the front radar sensor 101. Therefore, not only can a portion of the engine hood 8 and a portion of the front wheel 5 be used for the correction of the front radar sensor 101, but also for the setting of the cover range L, thereby enabling effective and flexible use and improving operational efficiency.

[0268] The second concealment process will be explained.

[0269] If a correction is performed to make the setting state of the rear radar sensor 102 reach the desired state, then as follows Figure 26 As shown in (a), the central portion H3 of the measurement range C of the rear radar sensor 102 coincides with the central portion H4 of a portion of the working device 12 included in the measurement range D of the rear radar sensor 102. Therefore, the three-dimensional image generated based on the corrected measurement information from the rear radar sensor 102 becomes... Figure 14 The three-dimensional image shown. (As shown) Figure 14 As shown, the cover range setting unit 116 sets a rectangular range, which is larger than the reference range Lc including a part of the working device 12, as the cover range L1.

[0270] In the second concealment process, the concealment range is not only as... Figure 14 As shown, a shielding range L1 is set for the descent position, and as... Figure 15 The shielding range L2 for the rising position is set as shown. The working device 12 is positioned in the rising position by operating the lifting control mechanism in the cab 10, and the shielding range setting unit 116 sets the shielding range L2 for the rising position using a three-dimensional image generated based on the measurement information of the rear radar sensor 102 at this time.

[0271] Furthermore, the shielding ranges L1 and L2 are set as three-dimensional ranges in the front-back direction, left-right direction, and up-down direction. Regarding the shielding ranges L1 and L2, for example, they can also be set to a shape corresponding to the shape of the working device 12, in a way that only includes the range Lc where the working device 12 exists. As for what range and shape the shielding ranges L1 and L2 are set to, they can be changed appropriately.

[0272] When the masking range setting unit 116 sets the masking ranges L1 and L2, a three-dimensional image is displayed on the display device. Therefore, the masking range setting unit 116 can also set the range specified by the user on the display device as the masking ranges L1 and L2. Since the three-dimensional image including the range Lc in which a part of the working device 12 exists is displayed on the display device, the user can easily specify the range including the range Lc in which a part of the working device 12 exists.

[0273] In this way, the cover range setting unit 116 sets the cover range L based on the measurement information of the rear radar sensor 102 after the setting state of the rear radar sensor 102 has been corrected to the desired state, using a portion of the working device 12 included in the measurement range D of the rear radar sensor 102. Therefore, not only can a portion of the working device 12 be used for the correction of the rear radar sensor 102, but it can also be used for setting the cover range L, thereby enabling effective and flexible use and improving work efficiency.

[0274] based on Figure 27 The flowchart describes the operation process of correcting the setting status of radar sensors 101 and 102, and setting the cover range L of radar sensors 101 and 102.

[0275] First, measurements are taken using radar sensors 101 and 102. The calibration processing unit 115 performs calibration processing based on the measurement information from radar sensors 101 and 102. The user or others change the setting direction of radar sensors 101 and 102, thereby calibrating the setting state of radar sensors 101 and 102 (steps #1 and #2).

[0276] The cover range setting unit 116 acquires a three-dimensional image generated based on the measurement information of the radar sensors 101 and 102 after calibration of the setting state (step #3). The cover range setting unit 116 sets the cover range L using the acquired three-dimensional image (step #4).

[0277] Although Figures 13-15 , Figure 25 , Figure 26The following situation is described: Both the front radar sensor 101 and the rear radar sensor 102 are configured such that the main body of the tractor 1 (engine cover 8, front wheel 5) or a part of the components (working device 12) of the tractor 1 is included in the measurement ranges C and D. However, for example, as Figure 28 As shown, even if the tractor 1 does not have a working device 12 and the measurement range D of the rear radar sensor 102 does not include a part of the working device 12, the setting state of the rear radar sensor 102 can be corrected to the desired state.

[0278] In this case, such as Figure 28 As shown, the rear alignment clamp (equivalent to an alignment clamp) 401 can be freely mounted and dismounted onto the tractor 1 body (equivalent to the work vehicle body) in a state that includes the measurement range D of the rear radar sensor 102. The three-point linkage mechanism 11 has an upper link 11a and a lower link 11b, and the rear alignment clamp 401 is mounted on the lower link 11b, which extends further rearward than the upper link 11a, in the three-point linkage mechanism 11. The rear alignment clamp 401 is formed as a rod extending upward from the lower link 11b, and its upper portion includes the measurement range D of the rear radar sensor 102.

[0279] At this time, the correction processing unit 115 performs correction processing, thereby achieving the desired result. Figure 29 As shown, the three-dimensional image generated based on the measurement information from the rear radar sensor 102 is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3. The correction processing unit 115 overlaps the central portion H5 in the left-right direction of the measurement range D of the rear radar sensor 102 with the central portion H6 in the left-right direction of the rear correction fixture 401. Accordingly, users can also correct the setting state of the rear radar sensor 102 to the desired state by aligning the central portions H5 and H6. Furthermore, in Figure 29 The image shows the state in which the central part H5 in the left-right direction of the measurement range D of the rear radar sensor 102 coincides with the central part H6 in the left-right direction of the rear calibration fixture 401.

[0280] Thus, when the tractor 1 is not equipped with the working device 12, the front radar sensor 101 acts as the first position information measuring sensor, and the rear radar sensor 102 acts as the second position information measuring sensor. In this case, the correction processing unit 115 performs correction processing on the front radar sensor 101 based on the measurement information of the front radar sensor 101 and using a part of the engine hood 8 and a part of the front wheel 5. The cover range setting unit 116 sets the cover range L based on the measurement information of the front radar sensor 101 after correcting its setting state to the desired state, using a part of the engine hood 8 and a part of the front wheel 5. The correction processing unit 115 performs correction processing on the rear radar sensor 102 based on the measurement information of the rear radar sensor 102 and using the rear correction clamp 401.

[0281] In addition, such as Figure 28 As shown, the front alignment clamp (equivalent to an alignment clamp) 402 is detachably mounted to the tractor 1 body (equivalent to the work vehicle body) in a state that includes the measurement range C of the front radar sensor 101. The front alignment clamp 402 is mounted on the counterweight mounting part 501 located at the lower front end of the engine cover 8. The front alignment clamp 402 is formed as a rod extending upward from the counterweight mounting part 501, and its upper part includes the measurement range C of the front radar sensor 101.

[0282] At this time, the correction processing unit 115 performs correction processing, thereby achieving the desired result. Figure 30 As shown, the three-dimensional image generated based on the measurement information from the front radar sensor 101 is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3. The correction processing unit 115 overlaps the central portion H7 in the left-right direction of the measurement range C of the front radar sensor 101 with the central portion H8 in the left-right direction of the front correction fixture 402. Therefore, users can correct the setting state of the front radar sensor 101 to the desired state by aligning the central portions H7 and H8. Furthermore, Figure 30 The diagram shows the state in which the central portion H7 in the left-right direction of the measurement range C of the front radar sensor 101 is aligned with the central portion H8 in the left-right direction of the front calibration fixture 402.

[0283] [Third Implementation]

[0284] Hereinafter, the third embodiment will be described, and the same reference numerals as those in the first embodiment will be used to describe the same structures, and the description will focus on the structures that are different from those in the first embodiment.

[0285] The first and second concealment processes are explained below.

[0286] First, regarding the concealment range L (refer to...) Figures 13-15 To explain further, the cover range L is the range within which the obstacle control unit 107 restricts the use of obstacle avoidance control to perform collision avoidance control without obstacle detection. Within the cover range L, even if any target object is detected by the radar sensors 101 and 102, the obstacle control unit 107 will not detect the target object as an obstacle during obstacle detection processing.

[0287] like Figure 11 As shown, when a portion of the engine hood 8 and a portion of the front wheel 5 are present within the measurement range C of the front radar sensor 101, a first masking process is performed to set the masking range L (refer to...). Figure 13 This prevents the control unit 107 from mistakenly detecting a portion of the engine hood 8 and a portion of the front wheel 5 as obstacles, thereby preventing collision avoidance control from being executed due to such misdetection. Additionally, as... Figure 11 As shown, when a portion of the operating device 12 is present within the measurement range D of the rear radar sensor 102, a second concealment process is performed to set the concealment range L (refer to...). Figure 14 as well as Figure 15 This prevents the control unit 107 from mistakenly detecting a part of the working device 12 as an obstacle, thereby preventing collision avoidance control from being executed due to such misdetection.

[0288] like Figure 11 As shown, a portion of the hood 8 and a portion of the front wheel 5 enter the measurement range C of the front radar sensor 101. Although the hood 8 is in a fixed position, the front wheel 5 is a movable part because it is turned to the left or right by operating the steering wheel 38, power steering mechanism 14, etc. Therefore, in the first shielding process, it is required to set the shielding range L according to the range of motion of the front wheel 5.

[0289] Therefore, in the first masking process, in order to set a masking range L corresponding to the range of motion of the moving part, such as Figure 2 As shown, in addition to radar sensors 101 and 102 and obstacle control unit 107, tractor 1 also includes: a range acquisition unit 110 for acquiring the range of motion of movable parts such as front wheel 5; and a cover range setting unit 111 for setting cover range L.

[0290] In the first masking process, for example, as a preprocessing step for using the forward radar sensor 101, the forward radar sensor 101 is actually used to perform measurements, and the three-dimensional image generated based on the measurement results is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3, and the masking range L is set (see reference). Figure 13 ).

[0291] based on Figure 16 The flowchart shown illustrates the action flow of the first masking process.

[0292] In the first masking process, firstly, a three-dimensional image is generated based on the measurement results of the forward radar sensor 101, and then... Figure 13 The generated 3D image is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3 (step #1).

[0293] Users operate the steering wheel 38, causing the front wheels 5, which are movable parts, to turn left or right. Accordingly, the range of motion acquisition unit 110 acquires the range of motion (turning position on the right and turning position on the left) when the front wheels 5 actually turn left or right based on the measurement information from the front radar sensor 101 (steps #2, #3). At this time, as... Figure 13 As shown by the dotted lines, a three-dimensional image, including the range of motion of the front wheel 5 acquired by the range of motion acquisition unit 110, is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3.

[0294] The range of motion acquisition unit 110 stores the acquired range of motion of the front wheels 5 in the vehicle storage unit 185 (equivalent to a storage unit) (step #4). For example... Figure 13 As shown, the cover range setting unit 111 sets the cover range L based on the movement range of the front wheel 5 obtained by the movement range acquisition unit 110 (step #5).

[0295] like Figure 13 As shown, the shielding range setting unit 111 sets the shielding range L to a mountain-shaped range that is larger than the reference range including the range La of a portion of the hood 8 and the range of motion Lb of the front wheel 5. Regarding the shielding range L, for example, it can also be set to a shape corresponding to the shape of the hood 8 and the front wheel 5, in a way that only includes the range La of a portion of the hood 8 and the range of motion Lb of the front wheel 5. As for what range and shape the shielding range L is set to, it can be changed appropriately.

[0296] When the masking range setting unit 111 sets the masking range L, a three-dimensional image is displayed on the display device. Therefore, the masking range setting unit 111 can also set the range specified by the user on the display device as the masking range L. Since the three-dimensional image including the range La where a part of the hood 8 exists and the range Lb of the front wheel 5 is moved is displayed on the display device, the user can easily specify the range including the range La where a part of the hood 8 exists and the range Lb of the front wheel 5.

[0297] A portion of the operating device 12 enters the measurement range D of the rear radar sensor 102. For example... Figure 11 As shown, the working device 12 moves up and down between a descending position and a rising position (the position shown by the dashed line in the figure), thus the working device 12 constitutes a movable part. Therefore, in the second shielding process, it is required to set the shielding range L according to the range of motion of the working device 12.

[0298] In the second concealment process, type / activity range information that establishes an association between the type and activity range of the working device 12 is used (see reference). Figure 33 The concealment range L is set. Regarding the operating device 12, not only rotary tillers, but also harrows, vertical harrows, stubble tillers, and other operating devices 12 are freely connected to the three-point linkage mechanism 11. Therefore, as... Figure 33 As shown, the type / activity range information is set to establish an association between the type and activity range of each of the various working devices 12.

[0299] In the second concealment process, as a preprocessing step for using the rear radar sensor 102, the rear radar sensor 102 is pre-stored with type / activity range information. By inputting information such as the type of the operating device 12, the concealment range L is set using the type / activity range information.

[0300] based on Figure 32 The flowchart shown illustrates the action flow of the second masking process.

[0301] In the second concealment process, information on the type / activity range is prepared in advance (see reference). Figure 33 The sensor storage unit 102a of the rear radar sensor 102 stores the data. Figure 31 (Refer to) Type / Activity Range Information Storage Processing (Step #11). In the Type / Activity Range Storage Processing, the activity range of the working device 12 is obtained for various working devices 12 through experiments, etc., and Type / Activity Range Information that establishes a correlation between the type and activity range of the working device 12 is stored (Refer to) Figure 33 It is stored in the sensor storage unit 102a (equivalent to the storage unit).

[0302] Furthermore, in the type / activity range storage processing, although the type / activity range information is stored in the sensor storage unit 102a, it is also possible, for example, to store the type / activity range information in the vehicle storage unit 185. As for which storage unit the type / activity range information is stored in, it can be appropriately changed.

[0303] As described above, the tractor 1 moves while lowering the working device 12 to the lowered position to perform the prescribed work, and moves while raising the working device 12 to the raised position but not performing the prescribed work. Therefore, in the second concealment process, the concealment range L1 for the lowered position when the working device 12 is in the lowered position is set as the concealment range L (refer to...). Figure 14 ), and the shielding range L2 for the rising position when the working device 12 is in the rising position (refer to Figure 15 ).

[0304] Figure 14 and Figure 15 This illustrates the state in which a three-dimensional image within the measurement range D of the rear radar sensor 102 is displayed on a display device. Figure 14 and Figure 15 In the diagram, regarding the working device 12, solid lines represent the portion within the measurement range D of the rear radar sensor 102, while dashed lines represent the portion outside the measurement range D of the rear radar sensor 102. Therefore, Figure 14 The position of the working device 12 in the middle corresponds to the lower limit of the lifting range of the working device 12. Figure 15 The position of the working device 12 in the middle is equivalent to the upper limit of the lifting range of the working device 12.

[0305] like Figure 14 and Figure 15 As shown, the shielding ranges L1 and L2 are defined as rectangular ranges that are larger than the reference range including the activity range Lc (lower or upper limit of the lifting range) of the working device 12. Regarding the shielding range L, for example, it can also be set to a shape corresponding to the shape of the working device 12, only including the activity range Lc of the working device 12. As for the range and shape of the shielding ranges L1 and L2, they can be changed appropriately.

[0306] In the type / activity range information storage and processing, if the activity range of the working device 12 is obtained for each of the various working devices 12, then a shielding range for the descent position and a shielding range for the ascent position are set based on this activity range. Therefore, as Figure 33 As shown, the type / activity range information includes not only information that associates the type of the working device 12 with its activity range, but also information that associates the cover range for the descent position and the cover range for the ascent position with respect to the type of the working device 12. For example, if the type of the working device 12 is a harrow, then the actual activity range of the harrow is A2, the cover range for the descent position is set to L1b, and the cover range for the ascent position is set to L2b.

[0307] Regarding the method for obtaining the range of motion of the working device 12, as described above, it can be obtained through experiments, etc. However, other methods can also be applied. For example, if a user or other person inputs dimensional data related to the dimensions of the working device 12, including its width, length, and height, using a portable communication terminal 3, the range of motion of the working device 12 can be determined based on this dimensional data. Figure 1 As shown, the working device 12 is connected to the three-point linkage mechanism 11 at the rear of the traveling body 7. The configuration position of the three-point linkage mechanism 11 of the tractor 1 and the lifting range of the three-point linkage mechanism 11 are predetermined values. Accordingly, the range of motion of the working device 12 can be determined using the input dimensional data and the predetermined values ​​such as the configuration position of the three-point linkage mechanism 11 of the tractor 1.

[0308] Return to Figure 32 By performing type / activity range information storage processing, Figure 33 The type / activity range information shown is stored in the sensor storage unit 102a. If the type of the working device 12 that is actually connected to the rear of the vehicle body 7 is input, the cover range setting unit 111 determines the activity range of the working device 12 corresponding to the type input from the type / activity range information based on the input type, and sets the cover range L based on the determined activity range of the working device 12 (steps #12 to #14).

[0309] In storage Figure 33 In the case of the type / activity range information shown, not only is the activity range associated with the type of the working device 12, but it is also associated with the shielding range for the descent position and the shielding range for the ascent position. The shielding range setting unit 111 determines the activity range of the working device 12, the shielding range L1 for the descent position, and the shielding range L2 for the ascent position corresponding to the type input from the type / activity range information, such as... Figure 14 and Figure 15 Set the shielding range L1 for the descent position and the shielding range L2 for the ascent position as shown.

[0310] For example, if the type of working device 12 is a harrow, then as Figure 33 As shown, the cover range setting unit 111 sets the activity range to A2, the cover range for the descent position to L1b, and the cover range for the ascent position to L2b. Regarding the input of the type of working device 12, as described above, the target travel path P (refer to...) is generated by the travel path generation unit 53. Figure 3 When inputting vehicle body data, such as the type of the working device 12, the concealment range setting unit 111 can obtain the type of the working device 12.

[0311] Thus, the cover range setting unit 111 utilizes the type / activity range information stored in the sensor storage unit 102a (see reference) Figure 33 The masking range L is set, but the masking range setting unit 111 can also perform a correction process (step #15) to correct the set masking range L.

[0312] During the correction process, when the rear radar sensor 102 begins measurement, the user operates the lifting control mechanism in the cab 10 to raise or lower the working device 12 between the raised and lowered positions, thereby actually moving the working device 12 to perform work. In actual operation, the working device 12 can not only be raised and lowered, but also moved vertically and horizontally along the traveling body 7, thus moving the working device 12 in accordance with the actual work. Accordingly, the range of motion acquisition unit 110 acquires the range of motion of the working device 12 in accordance with the measurement information of the rear radar sensor 102. At this time, a three-dimensional image is generated based on the measurement results of the rear radar sensor 102, and the generated three-dimensional image is displayed on display devices such as the display unit of the tractor 1 and the display unit 51 of the portable communication terminal 3.

[0313] The cover range setting unit 111 compares the actual activity range of the working device 12 obtained by the activity range acquisition unit 110 with the activity range of the working device 12 determined based on the type / activity range information. If a deviation in range occurs, the set cover range L is corrected. The cover range setting unit 111 corrects the set cover range L based on the actual activity range of the working device 12.

[0314] based on Figure 34 and Figure 35 The correction process is explained.

[0315] Figure 34 and Figure 35 The state in which a three-dimensional image generated based on the measurement results of the rear radar sensor 102 is displayed on the display device is shown. Figure 34 The image shows the state of the working device 12 and the shielding range L in the descent position. Figure 35 The image shows the working device 12 and the shielding range L in the raised position. Figure 34 and Figure 35 In the diagram, regarding the working device 1, the solid line represents the portion within the measurement range D of the rear radar sensor 102, and the dashed line represents the portion outside the measurement range D of the rear radar sensor 102. Therefore, Figure 34 The position of the working device 12 in the middle corresponds to the lower limit of the lifting range of the working device 12. Figure 35The position of the working device 12 in the middle is equivalent to the upper limit of the lifting range of the working device 12.

[0316] like Figure 34 (a) and Figure 35 As shown in (a), the cover range setting unit 111 acquires the lower limit position (descending position) and upper limit position (ascending position) of the lifting range of the working device 12, and uses this as the operating range A5 of the working device 12 determined according to the type / operating range information. Therefore, the cover range setting unit 111 sets the cover range L1e for the descending position and the cover range L2e for the ascending position based on the operating range A5 of the working device 12. Figure 34 (a) and Figure 35 In (a), the range of activity A5, the shielding range L1e for the descent position, and the shielding range L2e for the ascent position of the working device 12 are shown as examples on the three-dimensional image generated based on the measurement results of the rear radar sensor 102.

[0317] At this time, the working device 12 is actually activated by performing a correction process, such as... Figure 34 (b) and Figure 35 As shown in (b), the actual activity range A6 of the working device 12 is acquired by the activity range acquisition unit 110 based on the measurement information from the rear radar sensor 102. The lower limit position (descending position) and upper limit position (ascending position) of the lifting range of the working device 12 are acquired and used as the activity range A6 at this time. The cover range setting unit 111... Figure 34 (a) and Figure 35 (a) shows the activity range A5 and Figure 34 (b) and Figure 35 (b) is compared with the activity range A6 shown to determine whether there is a deviation from the range.

[0318] In this case, Figure 34 (a) and Figure 35 (a) shows the activity range A5 and Figure 34 (b) and Figure 35 (b) The activity range A6 shown deviates to the left. Therefore, when the range deviates, the cover range setting unit 111 corrects the set cover range L1e for the descent position and the cover range L2e for the ascent position. The cover range setting unit 111 adjusts the cover range according to the specified range. Figure 34 (b) and Figure 35 (b) shows the activity range A6, and the set masking range L1e for the descent position and masking range L2e for the ascent position are modified to the modified masking range L1f for the descent position and masking range L2f for the ascent position.

[0319] The configuration allows users to freely choose whether to perform correction processing. For example, users can instruct the execution of correction processing using a portable communication terminal 3. Furthermore, the timing of correction processing is also determined by the user. For example, correction processing can be performed as preprocessing for using the rear radar sensor 102; however, it is not limited to this, and correction processing can also be performed after the tractor 1 has actually started driving automatically in an automatic driving state. Therefore, even if the lowering or raising position of the working device 12 deviates from its initial position due to the usage of the working device 12, the cover range L can be appropriately corrected according to the actual range of motion of the working device 12 by performing correction processing.

[0320] [Other Implementation Methods]

[0321] Other embodiments of the present invention will be described.

[0322] Furthermore, the structures of the embodiments described below are not limited to being used individually, but can also be used in combination with the structures of other embodiments.

[0323] (1) Various modifications can be made to the structure of the work vehicle.

[0324] For example, the work vehicle can be configured as a hybrid vehicle with an engine 9 and a driving electric motor, or it can be configured as an electric vehicle with a driving electric motor instead of an engine 9.

[0325] For example, the work vehicle can be configured as a half-track with left and right tracks as the running gear instead of left and right rear wheels 6.

[0326] For example, the work vehicle can be configured as a rear-wheel steering vehicle, with the left and right rear wheels 6 functioning as steering wheels.

[0327] (2) In the above embodiment, the front radar sensor 101 and the rear radar sensor 102 are positioned in the vertical direction at a position corresponding to the roof 35. However, the positions can be appropriately changed. For example, the front radar sensor 101 can be positioned at the front end of the hood 8, and the rear radar sensor 102 can be positioned at a position corresponding to the roof 35.

[0328] (3) In the above embodiment, an example is shown of a structure having two radar sensors, namely a front radar sensor 101 and a rear radar sensor 102. However, the number of radar sensors can be appropriately changed, and can be set to one or more.

[0329] (4) In the above embodiments, the measurement range of the front radar sensor 101 and the rear radar sensor 102 can be appropriately changed.

[0330] (5) In the above embodiment, the obstacle control unit 107 performs obstacle detection processing based on the measurement information of the radar sensors 101 and 102. However, the obstacle detection processing can also be performed by equipping the radar sensors 101 and 102 with a control unit. In this way, the obstacle detection processing can be appropriately changed to be performed on the sensor side or on the work vehicle side.

[0331] (6) In the above embodiment, the tractor 1 is shown to have an obstacle control unit 107, an activity range acquisition unit 110 and a cover range setting unit 111. However, for example, the above components may be equipped in a device different from the tractor 1, such as a portable communication terminal 3.

[0332] (7) In the above embodiment, the tractor 1 is shown to have an obstacle detection unit 113, a collision avoidance control unit 114, a correction processing unit 115 and a cover range setting unit 116. However, for example, the above components can also be equipped in a device different from the tractor 1, such as a portable communication terminal 3.

[0333] (8) In the above embodiments, radar sensors 101 and 102 are shown as examples of position information measuring sensors. However, for example, the position information measuring sensors may be set as front camera 108 and rear camera 109, and various position information measuring sensors other than cameras may be used.

[0334] (9) In the above embodiment, the structure of the tractor 1 including the obstacle control unit 107, the activity range acquisition unit 110 and the cover range setting unit 111 is shown as an example. However, for example, the above components may also be equipped in a device different from the tractor 1, such as a portable communication terminal 3.

[0335] Industrial applications

[0336] This invention can be applied to various work vehicles equipped with various obstacle detection systems used in work vehicles, as well as position information measuring sensors that measure the position information related to the objects around the work vehicle.

[0337] Explanation of reference numerals in the attached figures

[0338] 1. Tractor (operating vehicle, main body of the operating vehicle)

[0339] 5. Front wheel (Activities section)

[0340] 12. Operating Devices (Active Section)

[0341] 101 Forward radar sensor (distance sensor, position information measurement sensor)

[0342] 102 Rear radar sensor (distance sensor, position information measurement sensor)

[0343] 102a Sensor Storage Unit (Storage Unit)

[0344] 110 Activity Range Acquisition Department

[0345] 107 Obstacle Control Unit

[0346] 111 Covert Range Setting Department

[0347] 112 External Output Unit

[0348] 115 Calibration Processing Department

[0349] 116 Covert Range Setting Department

[0350] 185 Vehicle-mounted storage unit (storage unit)

[0351] 401 Rear Alignment Fixture (Alignment Fixture)

Claims

1. An obstacle detection system, wherein, The obstacle detection system has the following features: A distance sensor, which is equipped on the work vehicle, is capable of measuring the distance relative to the object being measured; When the obstacle control unit detects an object within a specified distance as an obstacle based on the measurement results of the distance sensor, the obstacle control unit performs collision avoidance control. A cover range setting unit, which sets a cover range within which obstacle detection is not performed and the use of obstacles is restricted, and a collision avoidance control is performed by a control unit. An activity range acquisition unit is used to acquire the activity range of an active unit as a preprocessing step using the distance sensor. This active unit is movably mounted on the work vehicle. The cover range setting unit sets the cover range based on the activity range obtained by the activity range acquisition unit.

2. The obstacle detection system according to claim 1, wherein, The moving part is provided with a working device that can be freely connected to the working vehicle, and the moving range acquisition unit acquires the actual moving range when the working device is moved.

3. The obstacle detection system according to claim 2, wherein, The cover range setting unit changes the cover range setting according to the activity status of the operating device.

4. The obstacle detection system according to claim 2 or 3, wherein, The obstacle detection system includes a storage unit that stores type / activity range information that associates the type of the working device with the activity range acquired by the activity range acquisition unit. The cover range setting unit sets the cover range based on the type of work device actually connected to the work vehicle and the type / activity range information stored in the storage unit.

5. The obstacle detection system according to claim 4, wherein, The obstacle detection system has an external output unit that can freely output the type / activity range information stored in the storage unit to the outside through communication with the outside.

6. A type of work vehicle, wherein, The operating vehicle is equipped with: A position information measuring sensor that measures the position information of objects around the main body of the work vehicle; A calibration processing unit performs calibration processing to correct the setting state of the position information measuring sensor of the main body of the work vehicle to a desired state; as well as The masking range setting unit is used to set a masking range within the measurement range of the position information measuring sensor, excluding the measurement of position information, as part of the preprocessing for using the position information measuring sensor. The position information measuring sensor is configured such that the main body of the work vehicle or a part thereof is included in the measuring range. The calibration processing unit performs calibration processing based on the measurement information from the position information measurement sensor and using the portion of the work vehicle body or a component of the work vehicle body included within the measurement range of the position information measurement sensor. The shielding range setting unit sets the shielding range based on the measurement information of the position information measuring sensor after the setting state of the position information measuring sensor has been corrected to the desired state, and using the main body of the work vehicle or a part of the components of the work vehicle main body included in the measurement range of the position information measuring sensor.

7. The operating vehicle according to claim 6, wherein, The location information measuring sensor includes multiple sensors, including a first location information measuring sensor and a second location information measuring sensor. The first location information measuring sensor is configured such that the main body of the work vehicle or a part thereof is included in the measuring range, and the second location information measuring sensor is configured such that the main body of the work vehicle or a part thereof is not included in the measuring range. The work vehicle is equipped with a calibration fixture, which can be configured to be within the measurement range of the second position information measuring sensor. The calibration processing unit performs calibration processing based on the measurement information of the sensor measured by the second position information and by using the calibration fixture included in the measurement range of the sensor measured by the second position information.

8. The operating vehicle according to claim 7, wherein, The calibration fixture is configured to be easily detached from and installed relative to the main body of the work vehicle.

9. The operating vehicle according to any one of claims 6 to 8, wherein, The location information measuring sensor is composed of a distance sensor, which measures the distance relative to the object being measured in three dimensions to obtain location information. The work vehicle is equipped with an obstacle detection unit, which detects objects within a specified distance as obstacles based on the measurement information from the distance sensor. The masking range setting unit sets the range in which obstacles are not detected by the obstacle detection unit as the masking range.

10. An obstacle detection system, wherein, The obstacle detection system has the following features: A distance sensor, which is equipped on the work vehicle, is capable of measuring the distance relative to the object being measured; When the obstacle control unit detects an object within a specified distance as an obstacle based on the measurement results of the distance sensor, the obstacle control unit performs collision avoidance control. A cover range setting unit is used to set a cover range as a preprocessing step for using the distance sensor. Within this cover range, obstacle detection is not performed and the use of the obstacle is restricted so that the control unit performs collision avoidance control. as well as The storage unit stores type / range of activity information that associates the type of work device with the type of work device and its range of activity for the work device that is freely connected to the work vehicle. The cover range setting unit sets the cover range based on the type of work device actually connected to the work vehicle and the type / activity range information stored in the storage unit.

11. The obstacle detection system according to claim 10, wherein, The cover range setting unit changes the cover range setting according to the activity status of the operating device.

12. The obstacle detection system according to claim 10 or 11, wherein, The cover range setting unit is configured to freely adjust the cover range based on the actual range of motion of the working device connected to the working vehicle.

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