Work vehicle

Abstract

Even when the working device (2) is connected to the vehicle body, autonomous driving can be smoothly performed. The work vehicle (1) includes: a traveling vehicle body (3); a connecting device (8) capable of connecting the working device (2) to the traveling vehicle body (3); a first monitoring device (121) provided on the working device (2) and at least monitoring the surroundings of the working device (2); and a control device (60) that controls the autonomous driving of the traveling vehicle body (3) based on the planned travel path and the monitoring information monitored by the first monitoring device (121). The control device (60) includes an autonomous driving control unit (63), and the autonomous driving control unit (63) performs autonomous driving when the monitoring information does not include obstacles (D1, D2), and does not perform autonomous driving when the monitoring information includes obstacles (D1, D2).

Description

Technical Field

[0001] The present invention relates to a work vehicle such as a tractor etc. Background Art

[0002] Conventionally, as a technique for automatically driving a work vehicle such as a tractor, the technique shown in Patent Document 1 is known. The work vehicle of Patent Document 1 includes an electronic control system for automatic driving of the vehicle body, and the electronic control system includes: an obstacle detection module for detecting the presence or absence of an obstacle; and a contact avoidance control unit for performing contact avoidance control to avoid contact with the obstacle when the obstacle detection module detects an obstacle. The obstacle detection module includes a plurality of obstacle detectors that are dispersedly arranged at the front end portion and the left and right end portions of the vehicle body so that the front and the left and right side portions of the vehicle body become the detection target areas. In addition, the electronic control system of Patent Document 1 is provided with a surveillance camera at the rear portion of the vehicle body, that is, at the rear portion above the cab.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Published Patent Gazette "Japanese Unexamined Patent Application Publication No. 2018-116609" Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In Patent Document 1, it is possible to advance the vehicle body while detecting by a plurality of obstacle detectors. On the other hand, the surroundings of the rear portion of the vehicle body etc. are confirmed by the surveillance camera based on the captured image captured by the surveillance camera. However, in reality, Patent Document 1 does not consider the situation when a work device is mounted on the vehicle body.

[0008] Therefore, in view of the above problems, an object of the present invention is to provide a work vehicle that can smoothly perform automatic driving even when a work device is connected to the vehicle body.

[0009] Means for Solving the Problems

[0010] The technical means of the present invention for solving this technical problem is characterized by the following points.

[0011] The work vehicle includes: a traveling vehicle body; a connecting device that can connect a work device to the traveling vehicle body; a first monitoring device that is provided on the work device and monitors at least the surroundings of the work device; and a control device that performs control related to the automatic driving of the traveling vehicle body based on a traveling planned path and the monitoring information monitored by the first monitoring device.

[0012] The control device includes an automatic driving control unit that performs the automatic driving when the monitoring information does not include an obstacle, and does not perform the automatic driving when the monitoring information includes an obstacle.

[0013] The connecting device is a lifting device that raises and lowers the work device. After the start of the automatic driving, the automatic driving control unit stops the automatic driving when the monitoring information during the raising of the work device by the lifting device includes an obstacle.

[0014] The control device includes a work management unit that extracts the work state in which the work device has performed work based on the monitoring information monitored by the first monitoring device.

[0015] The work vehicle includes a second monitoring device that is provided on the traveling body and monitors in the same direction as the first monitoring device.

[0016] The work vehicle includes: a traveling body; a connecting device that can connect the work device to the traveling body; a first monitoring device that is provided on the work device; and a control device that has an automatic driving control unit and a work management unit. The automatic driving control unit performs control related to the automatic driving of the traveling body based on the planned traveling path and the monitoring information monitored by the first monitoring device, and the work management unit extracts the work state in which the work device has performed work based on the monitoring information.

[0017] The work management unit extracts the work state after the start of the automatic driving.

[0018] The connecting device is a lifting device that raises and lowers the work device. The automatic driving control unit performs the automatic driving when the monitoring information does not include an obstacle, and does not perform the automatic driving when the monitoring information includes an obstacle. Further, after the start of the automatic driving, when the monitoring information during the raising of the work device by the lifting device includes an obstacle, the automatic driving is stopped, and when the monitoring information does not include an obstacle, the automatic driving is continued. The work management unit extracts the work state based on the monitoring information during the period from the start of the automatic driving to the raising of the work device.

[0019] The work vehicle includes a switching device that switches, with respect to the monitoring information monitored by the first monitoring device, to either the automatic driving control of the automatic driving control unit or the monitoring of the work state of the work device.

[0020] Effects of the Invention

[0021] According to the present invention, even when the working device is connected to the vehicle body, autonomous driving can be smoothly performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a diagram showing a block diagram of a work vehicle.

[0023] Figure 2 It is a diagram showing a lifting device.

[0024] Figure 3 It is a diagram showing a side view of a composite device.

[0025] Figure 4 It is a diagram showing a top view of a composite device.

[0026] Figure 5 It is an explanatory diagram for explaining autonomous driving.

[0027] Figure 6A It is a diagram showing first monitoring information D1 and an obstacle D2.

[0028] Figure 6B It is a diagram showing an example of unevenness (unevenness of the ground) D3a of the field after the operation of the working device.

[0029] Figure 7 It is a diagram showing the operations of an autonomous driving control unit and an operation management unit.

[0030] Figure 8A It shows a state of autonomous driving starting from a state where the working device is lowered.

[0031] Figure 8B It shows a state where the working device is lowered starting from a state where the working device is raised.

[0032] Figure 9 It shows a state where a second monitoring device is installed on the traveling vehicle body.

[0033] Figure 10 It is an overall side view of a tractor. DETAILED DESCRIPTION OF THE INVENTION

[0034] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0035] Figure 10 It shows a tractor 1 as an example of a work vehicle. Regarding the work vehicle, the tractor 1 is taken as an example for explanation, but the work vehicle is not limited to a tractor and may also be a rice transplanter or a combine harvester.

[0036] As Figure 10As shown in the figure, the tractor 1 includes: a traveling body 3 having a traveling device 7, a prime mover 4, and a transmission device 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F can be either tire type or crawler type. Additionally, the rear wheels 7R can also be either tire type or crawler type. The prime mover 4 is a diesel engine, an electric motor, etc. The transmission device 5 can switch the propulsion force of the traveling device 7 through speed change and can also switch the forward and reverse travel of the traveling device 7. A cab 9 is provided on the traveling body 3, and a driver's seat 10 is provided inside the cab 9.

[0037] Furthermore, a coupling device is provided at the rear of the traveling body 3. The coupling device is composed of a swing drawbar, a three-point linkage mechanism, etc. that connect the work implement 2 and the traveling body 3 without lifting and is an elevating device 8, etc. that performs lifting. The work implement 2 can be loaded and unloaded on the coupling device. By connecting the work implement 2 to the coupling device, the traveling body 3 can tow the work implement 2. The work implement 2 is a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a transplanting device for transplanting seedlings, an irrigation device for irrigation, a pesticide spraying device for spraying pesticides, a seeding and spreading device for spreading seeds, a harvesting device for harvesting forage, etc., a spreading device for spreading forage, etc., a forage collection device for collecting forage, etc., a forming device for forming forage, etc., a composite device for performing multiple operations, etc.

[0038] Figure 3 , Figure 4 The figure shows a composite device which is one of the work implements 2. Figure 3 , Figure 4 The composite device shown in the figure includes a plurality of working units 101. The plurality of working units 101 include a first working unit 101a, a second working unit 101b, a third working unit 101c, a fourth working unit 101d, a fifth working unit 101e, and a sixth working unit 101f. The first working unit 101a, the second working unit 101b, the third working unit 101c, the fourth working unit 101d, the fifth working unit 101e, and the sixth working unit 101f are arranged in sequence from the front to the rear, with the first working unit 101a being located at the forefront and the sixth working unit 101f being located at the rearmost.

[0039] The first working unit 101a is a fertilizer application nozzle that broadcasts the fertilizer put into the container 102, and is connected to a feeder 104 that sends out the fertilizer in the container 102 via a hose 103. The first working unit 101a broadcasts the fertilizer sent to the hose 103 onto the field (ground) by driving the feeder 104. The second working unit 101b is a tilling claw for tilling the field, and is installed on a rotating shaft 106 that rotates through a drive mechanism 105. The second working unit 101b rotates along with the rotation of the rotating shaft 106 and tills the field by driving the drive mechanism 105. The third working unit 101c is a leveling cover disposed behind the second working unit 101b, and levels the tilled ground. In Figure 3 , Figure 4 the case of the composite device, a fertilizer application device is constituted by the first working unit 101a, the second working unit 101b, and the third working unit 101c.

[0040] The fourth working unit 101d is a groove forming disk that forms a groove. The fifth working unit 101e is a seeding nozzle that sows the seeds (seeds) put into the container 110, and is connected to a feeder 112 that sends out the seeds in the container 110 via a hose 111. The fifth working unit 101e sows the seeds sent to the hose 111 into the groove formed by the fourth working unit 101d by driving the feeder 112. The sixth working unit 101f is a flattening roller supported to be rotatable, and flattens at least the sown part. In Figure 3 , Figure 4 the case of the composite device, a seeding device is constituted by the fourth working unit 101d, the fifth working unit 101e, and the sixth working unit 101f.

[0041] The first working unit 101a, the second working unit 101b, the third working unit 101c, the fourth working unit 101d, the fifth working unit 101e, and the sixth working unit 101f are supported by a frame 115 and are raised or lowered by a lifting device 8. That is, the fertilizer application device and the seeding device have a frame 115 and are supported to be liftable with respect to Figure 2 the lifting arm 8a, lower link 8b, upper link 8c, lifting rod 8d, and lifting cylinder 8e shown. In addition, the feeder 104, the drive mechanism 105, and the feeder 112 are driven (operated) by the rotation of a PTO shaft protruding from the rear of the traveling vehicle body 3.

[0042] As Figure 2As shown, the lifting device 8 includes a lifting arm 8a, a lower link 8b, an upper link 8c, a lifting rod 8d, and a lifting cylinder 8e. The front end of the lifting arm 8a is swingably supported above or below the rear upper part of the housing (gearbox) that houses the transmission device 5. The lifting arm 8a swings (lifts and lowers) by the drive of the lifting cylinder 8e. The lifting cylinder 8e is composed of a hydraulic cylinder. The lifting cylinder 8e is connected to a hydraulic pump via a control valve 36. The control valve 36 is an electromagnetic valve or the like that causes the lifting cylinder 8e to expand and contract.

[0043] The front end of the lower link 8b is swingably supported above or below the rear lower part of the transmission device 5. The front end of the upper link 8c is swingably supported above or below the rear part of the transmission device 5 at a position above the lower link 8b. The lifting rod 8d connects the lifting arm 8a and the lower link 8b. An operating device 2 is connected to the rear part of the lower link 8b and the rear part of the upper link 8c. When the lifting cylinder 8e is driven (expands and contracts), the lifting arm 8a lifts and lowers, and the lower link 8b connected to the lifting arm 8a via the lifting rod 8d also lifts and lowers. Thereby, the operating device 2 swings (lifts and lowers) above or below with the front part of the lower link 8b as a fulcrum.

[0044] As Figure 1 shown, the tractor 1 is equipped with a steering device 29. The steering device 29 includes a steering wheel 30, a rotating shaft (steering shaft) 31 that rotates as the steering wheel 30 rotates, and an auxiliary mechanism (power steering mechanism) 32 that assists the steering of the steering wheel 30. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 supplied with working oil discharged from the hydraulic pump 33, and a steering cylinder 35 that operates through the control valve 34. The control valve 34 is an electromagnetic valve that operates based on a control signal. The control valve 34 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like. In addition, the control valve 34 can also be switched by the steering of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the orientation of the front wheels 7F.

[0045] Therefore, if the steering wheel 30 is operated, the switching position and opening degree of the control valve 34 are switched according to the steering wheel 30, and the steering cylinder 35 expands and contracts to the left or right according to the switching position and opening degree of the control valve 34. Thus, the steering direction of the front wheels 7F can be changed. It should be noted that the above steering device 29 is an example and is not limited to the above structure.

[0046] The tractor 1 is equipped with a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) through satellite positioning systems such as D-GPS, GPS, GLONASS, Beidou, Galileo, and QZSS (positioning satellites). That is, the positioning device 40 receives satellite signals (the position of the positioning satellite, the transmission time, correction information, etc.) sent from the positioning satellites, and based on the satellite signals, detects the position of the tractor 1 (for example, latitude and longitude), that is, the position of the vehicle body. The positioning device 40 has a signal receiving device 41 and an inertial measurement unit (IMU) 42. The signal receiving device 41 is a device having an antenna, etc. and receiving satellite signals sent from the positioning satellites, and is separately installed on the traveling vehicle body 3. In the present embodiment, the signal receiving device 41 is installed on the traveling vehicle body 3, that is, the cab 9. It should be noted that the installation position of the signal receiving device 41 is not limited to the embodiment.

[0047] The inertial measurement unit 42 has an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, etc. It is provided below the traveling vehicle body 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 3 through the inertial measurement unit 42.

[0048] As Figure 3 , 4 shown, a first monitoring device 121 is provided in the working device 2. The first monitoring device 121 is a device capable of detecting an object existing around the working device 2. The first monitoring device 121 is a camera (imaging device), a laser scanner, a sonar, etc. The camera (imaging device) takes pictures of the images around the working device 2 through an image sensor such as a CCD or CMOS, and thus detects an object when the object appears in the taken picture image. The laser scanner detects an object by irradiating laser light and receiving the reflected light of the irradiated laser light hitting the object. The sonar detects an object by irradiating sound waves and receiving the reflected sound of the irradiated sound waves hitting the object.

[0049] The first monitoring device 121 is mounted via a bracket 117 on the top side of a support body 116 that extends rearward from the frame 115 of the working device 2. In the present embodiment, support bodies 116 are provided respectively on one side (left side) and the other side (right side) of the frame 115, and the first monitoring device 121 is mounted on each support body 116 via a bracket 117. In the first monitoring device 121, the monitoring direction is slightly inclined downward with respect to the horizontal direction, that is, toward the working part side. Note that the monitoring direction means the direction in which the optical axis of the laser beam irradiates when the first monitoring device 121 is a laser scanner, the direction in which the sound wave irradiates when the first monitoring device 121 is a sonar, and the direction in which the optical axis (central axis of the lens) of the image sensor faces when the first monitoring device 121 is a camera.

[0050] In addition, the irradiation unit 121a that irradiates the laser is located at a position rearward of the sixth working part 101f which is the rearmost in the working device 2. When the first monitoring device 121 is a sonar, the irradiation unit 121a that irradiates the sound wave is located at a position rearward of the sixth working part 101f. When the first monitoring device 121 is a camera, the lens unit through which light passes is located at a position rearward of the sixth working part 101f.

[0051] As Figure 4 shown, the monitoring range A1 in the first monitoring device 121 monitors the periphery and the rear of the working device 2, and can perform monitoring by detecting what the object entering the monitoring range A1 is. The monitoring range A1 covers, for example, the area extending across the left end and the right end of the working device 2.

[0052] As Figure 1 shown, the tractor 1 is equipped with a control device 60. The control device 60 is a device that controls the traveling system, the working system, etc. in the tractor 1. A driving mode switching switch 65 is connected to the control device 60. The driving mode switching switch 65 is a switch that can be switched between on and off. When it is on, the control device 60 can be set to the automatic driving mode, and when it is off, the control device 60 can be set to the manual driving mode.

[0053] The control device 60 includes an automatic driving control unit 63 that controls the automatic driving of the tractor 1 (traveling body 3) based on the planned traveling path. The automatic driving control unit 63 is composed of an electrical / electronic circuit provided in the control device 60, a program stored in a CPU, etc.

[0054] The automatic driving control unit 63 controls the automatic driving of the traveling body 3. The automatic driving control unit 63 starts automatic driving when the automatic driving mode is entered. As Figure 5As shown, when the tractor 1 is in the state of autonomous driving, when the deviation between the vehicle body position and the planned travel path L1 is less than the threshold value, the autonomous driving control unit 63 maintains the rotation angle of the steering shaft (rotation shaft) 31. When the deviation between the vehicle body position and the planned travel path L1 is equal to or greater than the threshold value and the tractor 1 is located on the left side of the planned travel path L1, the autonomous driving control unit 63 rotates the steering shaft 31 so that the steering direction of the tractor 1 becomes the right direction. When the deviation between the vehicle body position and the planned travel path L1 is equal to or greater than the threshold value and the tractor 1 is located on the right side of the planned travel path L1, the autonomous driving control unit 63 rotates the steering shaft 31 so that the steering direction of the tractor 1 becomes the left direction. It should be noted that in the above-described embodiment, the steering angle of the steering device 29 is changed based on the deviation between the vehicle body position and the planned travel path L1. However, when the azimuth of the planned travel path L1 and the azimuth (vehicle body azimuth) of the traveling direction (travel direction) of the tractor 1 (traveling vehicle body 3) are different, that is, when the angle of the vehicle body azimuth with respect to the planned travel path L1 is equal to or greater than the threshold value, the autonomous driving control unit 63 may also set the steering angle so that the angle is zero (the vehicle body azimuth F1 coincides with the azimuth of the planned travel path L1). In addition, the autonomous driving control unit 63 may also set the final steering angle in autonomous driving based on the steering angle obtained from the deviation (position deviation) and the steering angle obtained from the azimuth (azimuth deviation). The setting of the steering angle in autonomous driving in the above-described embodiment is an example and is not limited thereto.

[0055] It should be noted that when the planned travel path L1 corresponds to the vehicle speed, the autonomous driving control unit 63 automatically changes the gear of the transmission, the rotational speed of the prime mover, etc., so that the current vehicle speed of the tractor 1 coincides with the vehicle speed corresponding to the planned travel path L1.

[0056] In addition, when the planned travel path L1 includes a straight travel path L1a and a turning path L1b, the autonomous driving control unit 63, for example, performs autonomous driving along the straight travel path L1a in a state where the work device 2 is lowered so that the work device 2 is in the work posture, and performs autonomous driving along the turning path L1b in a state where the work device 2 is raised so that the work device 2 is in the non-work posture at the moment when the work device 2 reaches the turning path L1b.

[0057] In addition, the control device 60 performs control related to the autonomous driving of the tractor 1 (traveling vehicle body 3) based not only on the planned travel path L1 but also on the monitoring information (first monitoring information) monitored by the first monitoring device 121. As Figure 6AAs shown, the automatic driving control unit 63 performs automatic driving when the first monitoring information D1 does not include the obstacle D2, and does not perform automatic driving when the first monitoring information D1 includes the obstacle D2.

[0058] The first monitoring information D1 refers to, when the first monitoring device 121 is a laser scanner, for example, data of the contour (shape) of an object or the like when the monitoring range A1 is scanned by laser, when the first monitoring device 121 is a sonar, data of the contour (shape) of an object or the like when the monitoring range A1 is scanned by sound waves, and when the first monitoring device 121 is a camera, data of an image (captured image) including the monitoring range A1.

[0059] The obstacle D2 is an animal such as a dog, a cat, a tapir, a person, etc. It should be noted that the determination of whether it is an obstacle D2 is made based on the size (vertical H1, horizontal W1) and movement of the object obtained from the first monitoring information D1. For example, when the object is of the size of an animal such as a dog, a cat, a tapir and moves over time, it is determined as an obstacle. In addition, the determination of whether it is an obstacle D2 is not limited to the above example, and can be made according to the shape of the object, or according to the temperature of the object, and is not limited thereto.

[0060] When the tractor 1 (traveling body 3) stops and is in the automatic driving mode, the automatic driving control unit 63 refers to the first monitoring information D1 of the first monitoring device 121. When the first monitoring information D1 includes the obstacle D2, the automatic driving control unit 63 does not start automatic driving, that is, continues to stop the tractor 1 (traveling body 3). On the other hand, when the first monitoring information D1 does not include the obstacle D2, the automatic driving control unit 63 starts automatic driving and makes the tractor 1 (traveling body 3) travel along the planned travel path L1.

[0061] In addition, after the start of automatic driving, when the automatic driving control unit 63 is in the monitoring information when the working device 2 is raised by the lifting device 8, it stops automatic driving when the obstacle D2 is included, and continues automatic driving when the obstacle D2 is not included.

[0062] The control device 60 not only controls automatic driving based on the first monitoring information D1 monitored by the first monitoring device 121, but also monitors the working state of the work performed by the working device 2. The control device 60 includes a work management unit 64. The work management unit 64 is composed of an electrical / electronic circuit provided in the control device 60, a program stored in a CPU, etc. The work management unit 64 extracts work traces D3 (D3a, D3b) as the work state after the start of automatic driving. As Figure 6BAs shown, when the working device 2 is a seeding device or a ridging device, unevenness (unevenness of the ground) D3a of the field after seeding is extracted. Specifically, when the automatic driving starts, the operation management unit 64 refers to the first monitoring information D1 and analyzes the contour (shape) of the first monitoring information D1, thereby extracting the unevenness D3a of the field after the operation. It should be noted that Figure 6B This is an example and is not limited thereto. For example, when the working device 2 is a planting device, operation traces D3 such as the planting state of seedlings can be extracted. Or, operation traces D3 behind various working devices 2 can be detected. When the operation management unit 64 extracts the operation traces D3, the extracted operation traces D3 are displayed on the display device 45. The display device 45 is provided, for example, around the driver's seat 10, and the driver can confirm the operation traces D3 displayed on the display device 45.

[0063] Figure 7 Shows the operations of the automatic driving control unit 63 and the operation management unit 64.

[0064] In a state where the tractor 1 (traveling vehicle body 3) is stopped and in the automatic driving mode, the automatic driving control unit 63 refers to the first monitoring information D1 (S1). The automatic driving control unit 63 identifies the objects in the monitoring range A1 by analyzing the first monitoring information D1 (S2). The automatic driving control unit 63 determines whether the identified object is an obstacle D2 (S3). If it is an obstacle D2 (S3, yes), it returns to S1 without starting the automatic driving.

[0065] When the identified object is not an obstacle D2 (S3, no), the automatic driving control unit 63 permits the start of the automatic driving (S4). When the automatic driving start button is operated (S5, yes), the automatic driving is executed (S6). The automatic driving start button can be set around the driver's seat 10 or on an external terminal such as a smartphone, a tablet computer, or a remote controller. In the case of an external terminal, if the control device 60 receives from the external terminal via the communication device provided on the tractor 1 that the start button has been operated, the automatic driving control unit 63 executes the automatic driving. For example, as Figure 8A shown, after the automatic driving starts, the automatic driving control unit 63 lowers the working device 2 and travels (ground operation) while performing automatic driving along the straight path L1a. On the other hand, when the operation management unit 64 performs the ground operation after the automatic driving starts, it identifies the objects in the monitoring range A1 by analyzing the first monitoring information D1, and extracts operation traces D3 such as the unevenness D3a of the field after the operation and the planting state D3b of seedlings (S7). The operation management unit 64 causes the display device 45 to display the operation traces D3 (S8).

[0066] In addition, when the tractor 1 (traveling vehicle body 3) moves from the straight path L1a to the turning path L1b, the extraction process (S9) of the operation trace D3 being performed by the operation management unit 64 is stopped, and the automatic driving control unit 63 raises the operation device 2 by the lifting device 8 (S10). When the operation device 2 is raised and the tractor 1 (traveling vehicle body 3) travels while performing automatic driving along at least the turning path L1b, the automatic driving control unit 63 analyzes the first monitoring information D1 to identify the objects in the monitoring range A1, and determines whether the identified object is an obstacle D2 (S11). When the identified object is an obstacle D2 (S11, Yes), the automatic driving control unit 63 stops the automatic driving, that is, stops the tractor 1 (traveling vehicle body 3) (S12).

[0067] When the identified object is not an obstacle D2 (S11, No), the automatic driving control unit 63 continues the automatic driving and continues the automatic driving in the state where the operation device 2 is raised, so that the tractor 1 (traveling vehicle body 3) moves along the turning path L1b (S13).

[0068] In addition, as Figure 8B shown, when the tractor 1 (traveling vehicle body 3) moves from the turning path L1b to the straight path L1a, the automatic driving control unit 63 lowers the operation device 2 by the lifting device 8, so that the operation device 2 assumes the operation posture (S14). After the operation device 2 assumes the operation posture, the automatic driving control unit 63 stops the extraction process of the obstacle D2 being performed by the automatic driving control unit 63 (S15), and starts the extraction process of the operation trace D3 of the operation management unit 64 again (S16).

[0069] Based on the above, the automatic driving control unit 63 performs automatic driving when the first monitoring information D1 does not include an obstacle, and does not perform automatic driving when the first monitoring information D1 includes an obstacle D2. Also, after the automatic driving starts, in the first monitoring information D1 when the operation device 2 is raised by the lifting device 8, if the obstacle D2 is included, the automatic driving is stopped, and if the obstacle D2 is not included, the automatic driving is continued. In addition, the operation management unit 64 extracts the operation state based on the first monitoring information D1 during the period from the start of the automatic driving to the raising of the operation device 2, and does not perform the extraction of the operation state during the period when the operation device 2 is raised.

[0070] In the above embodiment, regarding the first monitoring information D1 monitored by the first monitoring device 121, the automatic driving control of the automatic driving control unit 63 and the extraction (monitoring) of the operation state of the operation device 2 are automatically performed, but it can also be performed by manual operation. As Figure 1As shown, the tractor 1 is equipped with a switching device 66. The switching device 66 is a switch that can be switched to two positions, is provided around the driver's seat 10, and can be operated by the driver. When the switching device 66 is switched to one side, monitoring (autopilot monitoring) in the autopilot control unit 63 is performed according to the first monitoring information D1, and when it is switched to the other side, monitoring (operation status monitoring) in the operation management unit 64 is performed.

[0071] It should be noted that, as Figure 9 shown, the tractor 1 may also be equipped with a second monitoring device 122. The second monitoring device 122 is provided on the traveling body 3 and monitors in the same direction as the first monitoring device 121. As Figure 9 shown, the second monitoring device 122 is mounted on the cab 9 via a bracket at the rear of the cab 9, more specifically, on the upper side of the rear of the cab 9. Since the structure of the second monitoring device 122 is the same as that of the first monitoring device 121, the description thereof is omitted. The monitoring range A2 of the second monitoring device 122 includes the area behind the traveling body 3 and between the traveling body 3 and the working device 2. The monitoring information monitored by the second monitoring device 122 can be used for autopilot monitoring and operation status monitoring in the same manner as the first monitoring device 121.

[0072] The work vehicle (tractor 1) includes: a traveling body 3; a connecting device 8 capable of connecting the working device 2 to the traveling body 3; a first monitoring device 121 provided on the working device 2 and at least monitoring the periphery of the working device 2; and a control device 60 that controls the autopilot of the traveling body 3 based on the traveling planned path L1 and the monitoring information (first monitoring information) D1 monitored by the first monitoring device 121. Thus, even when the working device 2 is connected to the traveling body 3, the periphery of the working device 2 can be monitored by the first monitoring device 121, and even when the working device 2 is connected to the traveling body 3, autopilot can be smoothly performed.

[0073] The control device 60 includes an autopilot control unit 63 that executes autopilot when the monitoring information (first monitoring information) D1 does not include an obstacle and does not execute autopilot when the monitoring information (first monitoring information) D1 includes an obstacle D2. Thus, the periphery of the working device 2 can be monitored by the monitoring information (first monitoring information) D1, autopilot can be started when there is no obstacle D2, and autopilot can be not performed when there is an obstacle D2. In a state where the working device 2 is installed on the traveling body 3, a higher level of autopilot can be achieved.

[0074] The connecting device 8 is a lifting device that raises and lowers the working device 2. When the automatic driving control unit 63 detects an obstacle D2 in the monitoring information (first monitoring information) D1 during the ascent of the working device 2 by the lifting device after the start of automatic driving, it stops the automatic driving. Thus, when the working device 2 is ascending, the surrounding conditions in the ascending state can be confirmed, and when an obstacle D2 is detected, the automatic driving can be stopped.

[0075] The control device 60 includes a work management unit 64 that extracts the work status of the work performed by the work device 2 based on the monitoring information (first monitoring information) D1 monitored by the first monitoring device 121. Thus, the work status during work can be grasped.

[0076] The work vehicle (tractor 1) includes: a traveling body 3; a connecting device 8 that can connect the work device 2 to the traveling body 3; a first monitoring device 121 provided on the work device 2; and a control device 60 having an automatic driving control unit 63 and a work management unit 64. The automatic driving control unit 63 performs control related to the automatic driving of the traveling body 3 based on the traveling planned path L1 and the monitoring information (first monitoring information) D1 monitored by the first monitoring device 121. The work management unit 64 extracts the work status of the work performed by the work device 2 based on the monitoring information (first monitoring information) D1. Thus, based on the first monitoring information D1 monitored by the first monitoring device 121, both the control of automatic driving and the monitoring of the work status can be performed.

[0077] The work management unit 64 extracts the work status after the start of automatic driving. Thus, for example, the work status during work by automatic driving can be grasped.

[0078] The connecting device 8 is a lifting device that raises and lowers the working device 2. The automatic driving control unit 63 performs automatic driving when the monitoring information (first monitoring information) D1 does not include the obstacle D2, and does not perform automatic driving when the monitoring information (first monitoring information) D1 includes the obstacle D2. Further, after the start of automatic driving, when the monitoring information (first monitoring information) D1 during the raising of the working device 2 by the lifting device includes an obstacle, the automatic driving is stopped, and when it does not include an obstacle, the automatic driving is continued. The operation management unit 64 extracts the operation state based on the monitoring information (first monitoring information) D1 during the period from the start of automatic driving to the raising of the working device 2. Thus, by the automatic driving control unit 63, not only can automatic driving be started when there is no obstacle D2 according to the first monitoring information D1 before automatic driving, but on the other hand, automatic driving is not performed when there is an obstacle D2, and it is also possible to confirm the operation state during the period from the start of automatic driving to the raising of the working device 2, that is, when performing ground operation etc. with the working device 2.

[0079] The work vehicle (tractor 1) further includes a switching device that switches, with respect to the monitoring information (first monitoring information) D1 monitored by the first monitoring device 121, between the control of the automatic driving by the automatic driving control unit 63 and the monitoring of the operation state of the working device 2. Thus, the operator (driver) can simply switch between the monitoring during automatic driving and the monitoring of the operation state, and appropriate monitoring corresponding to the operation etc. can be performed.

[0080] The work vehicle (tractor 1) includes a second monitoring device 122 provided on the traveling body 3 and having the same monitoring direction as the first monitoring device 121. Thus, by the second monitoring device 122, either the monitoring related to automatic driving or the monitoring related to the operation can also be performed, and the first monitoring device 121 can be assisted. For example, the space between the traveling body 3 and the front part of the working device 2 can be monitored by the second monitoring device 122.

[0081] The embodiments disclosed herein should be understood to be illustrative in all respects and not restrictive. The scope of the present invention is represented not by the above description but by the claims, and is intended to include the equivalents of the claims and all modifications within the scope.

[0082] Explanation of reference numerals

[0083] 1: Work vehicle (tractor)

[0084] 2: Working device

[0085] 3: Traveling body

[0086] 8: Lifting device (connecting device)

[0087] 60: Control device

[0088] 63: Autopilot control unit

[0089] 64: Operation management unit

[0090] 66: Switching device

[0091] 121: First monitoring device

[0092] 122: Second monitoring device

[0093] D1: Obstacle

[0094] D2: Obstacle

[0095] L1: Planned travel path

Claims

1. An operating vehicle, wherein, The work vehicle includes: A traveling body; A connecting device that can connect the work device to the traveling body; A first monitoring device that is provided on the work device and monitors at least the periphery of the work device; And A control device that controls the automatic driving of the traveling body based on a planned traveling path and monitoring information monitored by the first monitoring device; The control device has: An automatic driving control unit that executes the automatic driving when the monitoring information does not include an obstacle, and does not execute the automatic driving when the monitoring information includes an obstacle; A work management unit that extracts a work state in which the work device has performed work based on the monitoring information monitored by the first monitoring device; The automatic driving control unit is configured such that, after the start of the automatic driving, when the traveling body travels along a straight path included in the planned traveling path, the work device performs work, the automatic driving control unit stops the obstacle extraction process being performed by the automatic driving control unit, and when the traveling body travels along a turning path included in the planned traveling path, the work device does not perform work, and determines whether an object in the monitoring area is an obstacle based on the monitoring information; The work management unit is configured such that, when the traveling body travels along the straight path, it extracts the work state based on the monitoring information, and when the traveling body travels along the turning path, it stops extracting the work state based on the monitoring information; Based on the monitoring information monitored by the first monitoring device, both the control of the automatic driving and the monitoring of the work state are performed.

2. The work vehicle according to claim 1, wherein The connecting device is a lifting device that lifts the work device, The automatic driving control unit stops the automatic driving when the monitoring information when the work device is lifted by the lifting device includes an obstacle after the start of the automatic driving.

3. The work vehicle according to claim 2, wherein The connecting device is a lifting device that lifts the work device, The work management unit extracts the work state based on the monitoring information during the period from the start of the automatic driving to when the work device is lifted.

4. The work vehicle according to any one of claims 1 to 3, wherein The work vehicle includes a switching device that switches, with respect to the monitoring information monitored by the first monitoring device, to either the control of the automatic driving of the automatic driving control unit or the monitoring of the work state of the work device.

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