Work vehicle

Abstract

To provide a work vehicle whose workability has improved by controlling a steering device so that the work vehicle travels straight for a remaining moving distance in a present step on the basis of a captured image even when a work trace in a previous step has disappeared from the captured image.SOLUTION: A work vehicle (1) includes: an imaging part (15); a steering device (20); a control part (40 and 100) for executing first control for controlling the steering device (20) so that a travelling machine body (4) travels along a work trace in a previous step and second control for controlling the steering device (20) so that the travelling machine body (4) travels straight toward a target point (TG2) different from the work trace; and a notification part (13, 54, and 55). When the work trace in the previous step disappears from a captured image while the first control is being executed, the control part (40 and 100) calculates a remaining moving distance (D1) in a present step on the basis of the captured image, switches the control from the first control to the second control, and causes the notification part (13, 54, and 55) to be operated after the travelling of the moving distance (D1).SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Conventionally, there is known a technique for controlling the steering of a traveling machine body using an image captured by a camera, as disclosed in, for example, Patent Documents 1 and 2. Specifically, a technique has been proposed for controlling the steering of a traveling machine body so that the traveling machine body travels straight toward a target extracted from a captured image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-117257 A [Patent Document 2] JP 2017-211893 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technologies described in Patent Documents 1 and 2, when a target disappears from the camera's angle of view, it becomes impossible to travel straight toward the target, and steering control of the traveling body cannot be continued, resulting in problems with operability.

[0005] Therefore, the present invention aims to provide a work vehicle with improved workability by controlling the steering device so that the vehicle continues to travel straight for the remaining current distance based on the captured image, even if work traces from the previous journey have disappeared from the captured image. [Means for solving the problem]

[0006] The work vehicle (1) of the present invention is A traveling machine body (4) capable of traveling in a farm field; An imaging unit (15) provided on the traveling body (4) and capable of imaging an area in front of the traveling body (4); A steering device (20) for steering the traveling body (4); a control unit (40, 100) capable of executing a first control for controlling the steering device (20) so that the traveling body (4) travels along a work trace of a previous process that is located to the side of the traveling body (4) in an image captured by the imaging unit (15), and a second control for controlling the steering device (20) so that the traveling body (4) travels straight toward a target point (TG2) in the captured image that is different from the work trace; and a notification unit (13, 54, 55) for notifying an operator, When the work trace of the previous process disappears from the captured image while the control unit (40, 100) is executing the first control, the control unit (40, 100) calculates a remaining travel distance (D1) of the current process based on the captured image, switches from the first control to the second control, and operates the notification unit (13, 54, 55) after traveling the travel distance (D1). It is characterized by:

[0007] Also, for example, referring to FIG. 5, the control unit (40, 100) executes a preparatory operation for turning after traveling the travel distance (D1) in the second control. It is characterized by:

[0008] Also, for example, referring to FIG. 5, the control unit (40, 100) ends the second control after the vehicle travels the travel distance (D1) in the second control. It is characterized by:

[0009] Also, referring to FIG. 5, for example, when switching from the first control to the second control, the control unit (40, 100) operates the notification unit (13, 54, 55) in a first mode, and after traveling the travel distance (D1) in the second control, operates the notification unit (13, 54, 55) in a second mode different from the first mode.

[0010] It should be noted that the reference numerals in parentheses are used for comparison with the drawings, and do not limit the configuration of the present invention in any way. Effect of the Invention

[0011] According to the present invention, even if the work traces from the previous process disappear from the captured image, the control can be switched from the first control to the second control and the work can be continued up to the end of the current work, thereby improving workability. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a side view showing a tractor according to a first embodiment. [Diagram 2] FIG. [Diagram 3] FIG. 4A is a perspective view showing the camera unit located at a working position, and FIG. 4B is a perspective view showing the camera unit located at a storage position. [Figure 4] FIG. 2 is a block diagram showing a main part of a control system of the tractor. [Diagram 5] 4 is a flowchart showing automatic steering control. [Figure 6] 4 is a flowchart showing working end steering control. [Figure 7] FIG. 11 is a diagram for explaining a front stroke following mode. [Figure 8] FIG. 13 is a diagram for explaining a distant view straight ahead mode. [Figure 9] FIG. 4A is a side view showing the distance to a target position imaged by a camera unit, and FIG. 4B is a side view showing the distance to the target position after moving a predetermined distance from FIG. [Figure 10] FIG. 6 is a block diagram showing a main part of a control system of a tractor according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] <First embodiment> [Overall configuration] A first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of a tractor 1, which is an example of a work vehicle according to the first embodiment. The tractor 1 includes a traveling machine body 4 having a pair of front wheels 2 and rear wheels 3 on the left and right, and a camera unit 15 attached to the traveling machine body 4. A working machine (not shown) is connected to the rear of the traveling machine body 4 via a lifting link 5 so that it can be raised and lowered. The traveling machine body 4 is configured to be able to travel on farm fields and roads. The traveling machine body 4 includes a machine body frame 7 supported by the front wheels 2 and rear wheels 3, a bonnet 8 that covers the upper surface of an engine (not shown) installed in front of the machine body frame 7, and a control unit 9 installed behind the bonnet 8 and in which an operator gets on and operates the machine. The engine drives the front wheels 2 and rear wheels 3 via a speed change mechanism (not shown), and supplies driving force to the working machine via a PTO shaft (not shown). Examples of implements that can be connected to a PTO shaft include a rotary tiller that tills farm fields and a ridge forming machine that forms ridges in farm fields.

[0014] The operation section 9 includes a seat 11 on which an operator sits, and a steering section 25 including a steering handle 12 arranged in front of the seat 11 and a steering shaft 21 extending in the vertical direction. The steering section 25 is used by an operator or a steering device 20 arranged inside a steering column 22 to steer the traveling machine body 4.

[0015] As shown in Figures 1 and 2, the control unit 9 includes a display panel 13 arranged in front of the steering handle 12, a main shift lever 14 arranged on the left side of the steering handle 12 for switching between forward and reverse movement of the tractor 1, an accelerator lever 17 arranged on the right side of the steering handle 12, a lift lever 19 arranged in front of the accelerator lever 17 for controlling the lifting and lowering operation of the work equipment, a turn signal lever 16 arranged on the rear side of the accelerator lever 17, and a floor step 18, which is a floor surface provided between the seat 11 and the steering handle 12.

[0016] A steering device 20 is provided between the rotation axis of the steering handle 12 and the upper end of the steering shaft 21, which rotates and drives the steering shaft 21 to control (assist) the steering of the traveling machine body 4. The steering device 20 is attached to the upper end side of the steering shaft 21, and is attached and fixed to the upper side of a steering column 22 that covers the steering shaft 21. As a result, the steering shaft 21 is configured to be rotated (steered) by an operator via the steering handle 12, and to be controlled (assisted) in steering by being rotated by the steering device 20.

[0017] [Steering section] 2, the steering section 25 is provided with an operation panel 30, a panel changeover switch 31 for changing the display of the display panel 13, and a key switch 32 for starting the engine. The operation panel 30 is disposed to the left of the steering column 22, and the panel changeover switch 31 and the key switch 32 are disposed to the right of the steering column 22. The display panel 13 can display a speedometer, a tachometer, etc., or an image captured by the camera unit 15, by operating the panel changeover switch 31.

[0018] The operation panel 30 has an operation ON / OFF switch 33, a mode switching dial 34, a sensitivity adjustment button 35, etc. By pressing the operation ON / OFF switch 33, it is possible to switch ON / OFF of the automatic steering mode of the steering device 20. In other words, when the operation ON / OFF switch 33 is pressed, the steering drive motor 26 of the steering device 20 is turned ON / OFF.

[0019] The control unit 40 of the tractor 1 can selectively execute a work mode in which work is performed in a field and a travel mode in which the tractor moves along roads and in a field. In the work mode, the control unit 40 is configured to selectively execute a manual steering mode in which the operator steers the traveling body 4, and an automatic steering mode in which the steering of the traveling body 4 is controlled based on a captured image (image data) obtained by the imaging operation of the camera unit 15. In this embodiment, there are four automatic steering modes.

[0020] By rotating the mode switching dial 34, the automatic steering mode of this embodiment can be turned OFF, or any of the automatic steering modes including "distant view straight ahead mode," "V-groove following mode," "previous stroke following mode," and "ridge following mode" can be selected. The "distant view straight ahead mode" is used mainly in one stroke of farm work, and controls the steering device 20 so that the traveling machine body 4 moves straight ahead, aiming for a part of the distant view in front of the camera unit 15 in the captured image.

[0021] The "V groove following mode" is a mode in which the steering device 20 is controlled so that the traveling body 4 moves straight along the V groove, which is formed in a straight line on the basis of the captured image. The V groove line is a marker formed on the field in the process immediately preceding the current process (hereinafter referred to as the previous process). In other words, the tractor 1 can form a V groove line to be used in the next process on the field while performing the work of the current process by traveling along the V groove formed in the previous process. The "previous process following mode" is a mode in which the steering device 20 is controlled so that the traveling body 4 moves straight along the work trace (e.g., ridge) of the previous process that is formed in a straight line on the field and is located to the side of the traveling body 4, on the basis of the captured image.

[0022] The "ridge following mode" is a mode in which the steering device 20 is controlled so that the traveling body 4 moves straight along the ridge on the side of the traveling body 4 based on the captured image, and is used, for example, during perimeter work in which work is done while going around the perimeter of a field. On the other hand, the "distant view straight mode", "V-groove following mode" and "previous stroke following mode" are used, for example, when working in a straight line back and forth on the inside of a field after perimeter work.

[0023] The sensitivity adjustment button 35 is a button for adjusting the steering sensitivity of the steering wheel when the automatic steering mode is executed, and in this embodiment, there are three levels: "low", "medium", and "high". LED lamps corresponding to each button are provided next to the buttons corresponding to "low", "medium", and "high", and the user can check the steering sensitivity of the steering wheel by visually checking the LED lamps.

[0024] [Camera unit] As shown in Fig. 3(a), camera unit 15 as an imaging section is disposed in front of steering section 25, and is, for example, a small module in which a monocular digital camera and a processor are integrated. Camera unit 15 has housing 15a, an imaging element (not shown) disposed inside housing 15a, communication section 41 (see Fig. 4) consisting of a communication antenna, and arm 15b that holds housing 15a. Camera unit 15 can be moved between a working position (position shown in Fig. 3(a)) and a storage position (position shown in Fig. 3(b)) by rotating arm 15b.

[0025] When the camera unit 15 is located at the working position, as shown in FIG. 3(a), the camera unit 15 can capture the scenery in front of the traveling body 4. In this embodiment, if the traveling body 4 is traveling in a field, the scenery in front of the traveling body 4 that fits in the angle of view of the camera unit 15 includes the field (ground) and a distant view. That is, while the traveling body 4 is traveling in a field, the camera unit 15 can capture the field and a distant view in front of the traveling body 4. For example, the camera unit 15 is set so that the field from directly below the camera unit 15 to a predetermined distance in front of the camera unit 15 does not fit in the angle of view of the camera unit 15 so that the camera unit 15 can capture an image about 10 m ahead of the traveling body 4. In this case, while the running body 4 is running for work, the work traces of the previous stroke on the side of the running body 4 may disappear from the angle of view of the camera unit 15, but the control unit 40 (see Figure 4) can detect the position of the end of the previous stroke from the images captured during the work run that has already been completed.

[0026] When the tractor 1 is not automatically steered or when it is traveling on a road, the camera unit 15 is stored in the storage position as shown in Fig. 3(b). When the camera unit 15 is in the storage position, the housing 15a of the camera unit 15 has a chamfered portion 15c with a chamfered corner in order to ensure the operator's forward visibility.

[0027] [Control Block] Fig. 4 is a block diagram of the main parts of the control system of the tractor 1 according to this embodiment. The control unit 40 provided in the steering device 20 (see Fig. 2) is configured by a computer such as a microcomputer, and has a CPU, ROM, RAM, I / O, etc. (not shown). The control unit 40 is configured by a computer separate from the ECU (not shown). The ECU is a unit that controls the traveling body 4 and the work machine. The steering device 20 shown in Fig. 2 includes a steering angle sensor 42, the control unit 40, and a steering drive motor 26.

[0028] The input side of the control unit 40 is connected to the camera unit 15, the steering angle sensor 42, and the switches and LEDs of the operation panel 30, and the output side of the control unit 40 is connected to the steering drive motor 26 and the display panel 13. The camera unit 15 captures a landscape, generates a captured image (image data), and outputs the captured image to the control unit 40. The captured image captured by the camera unit 15 can be transmitted to the mobile terminal 50 via the communication unit 41, and thus the captured image of the camera unit 15 can be displayed on the display 50a of the mobile terminal 50.

[0029] Similarly, the image captured by the camera unit 15 can be displayed on the display panel 13 of the steering section 25, and the display on the display panel 13 can be switched to the captured image, a speedometer, etc. by operating the panel changeover switch 31.

[0030] The steering angle sensor 42 is a device that detects the steering angle of the front wheels 2. The steering drive motor 26 is an electric motor that rotates the steering shaft 21, and is composed of, for example, a stepping motor. The steering drive motor 26 is controlled by the control unit 40. A reduction mechanism (not shown) that reduces the speed by a gear is provided on the motor output shaft of the steering drive motor 26. The rotation output by the steering drive motor 26 is reduced in speed by the reduction mechanism and transmitted to the steering shaft 21.

[0031] The above-mentioned manual steering mode and automatic steering mode are switched by pressing the ON / OFF switch of the operation panel 30. Then, when the automatic steering mode is ON, the mode switching dial 34 is rotated to select one of the "distant view straight ahead mode", "V groove following mode", "previous stroke following mode" and "ridge following mode" in the automatic steering mode.

[0032] The control process by the control unit 40 will be described below. The control unit 40 judges whether the ON / OFF switch 33 is in the ON or OFF state. When working in a field with the tractor 1, the ON / OFF switch 33 is turned on by the operator. Note that, before switching to the automatic steering mode, the operator points the traveling body 4 in a target direction in advance in the manual steering mode, and in that state operates the ON / OFF switch 33 to the ON state to switch to the automatic steering mode.

[0033] When the ON / OFF switch 33 is in the on state, the control unit 40 executes steering control according to the automatic steering mode selected from the above-mentioned four modes by the mode switching dial 34. Note that when the operator turns the steering wheel 12 while executing steering control corresponding to the selected automatic steering mode, that is, when the control unit 40 detects the turning of the traveling machine body 4, it cancels the automatic steering mode and transitions from the automatic steering mode to the manual steering mode.

[0034] [Automatic steering control] Next, the automatic steering control of the control unit 40 when the front stroke following mode is selected as the automatic steering mode will be described with reference to Fig. 5 to Fig. 9(b). In addition, a ridge forming machine is attached to the tractor 1 as a working machine. Note that the "V-groove following mode", "front stroke following mode" and "ridge following mode" are all follow-up controls that control the steering unit 25 so that the traveling body 4 moves straight by following the field shape on the side of the traveling body 4. Below, the flowcharts of Fig. 5 and Fig. 6 will be described using the "front stroke following mode" as an example, but the flowcharts of Fig. 5 and Fig. 6 can also be applied to the "V-groove following mode" and "ridge following mode".

[0035] 5, when the previous stroke tracking mode is started (step S1), the control unit 40 acquires captured images (image data) from the camera unit 15 at a predetermined time interval (step S2). Next, the control unit 40 calculates and acquires the travel distance of the traveling body 4 from the difference between the captured image acquired last time, i.e., a predetermined time ago (step S3).

[0036] 9(a), the height of the imaging position of the camera unit 15 is the camera height CAH, the direction of the horizontal line passing through the imaging position is the horizontal line direction JV, the straight line toward the image center of the captured image when viewed in the left-right direction is the image center JC, the angle between the image center JC and the horizontal line direction JV when viewed in the left-right direction is the horizontal line angle θvc, the distance from the camera unit 15 to the target position on the field is the target distance ZA, and the angle between the straight line connecting the image center JC and the target position when viewed in the left-right direction is the target angle θ0. In this case, the target distance ZA is expressed by the following formula. ZA=CAH / tan(θvc+θ0) ···(1)

[0037] Next, Fig. 9(b) shows the state in which the tractor 1 has moved a distance Zd from the position in Fig. 9(a). As shown in Fig. 9(b), when viewed in the left-right direction, the angle between the image center JC and the line connecting the target position is the target angle θ1, and the distance from the camera unit 15 to the target position on the field is the target distance ZB. At this time, the target distance ZB is expressed by the following formula. ZB=CAH / tan(θvc+θ1) ···(2) The moving distance Zd is expressed by the following formula. Zd = Z A - Z B (3)

[0038] From these formulas (1), (2), and (3), the control unit 40 can calculate the movement distance Zd from the position where the previous captured image was acquired to the position where the current captured image is acquired. Note that, when the first captured image is acquired after the previous stroke tracking mode is started, steps S3 and S4 are skipped.

[0039] Next, the control unit 40 acquires the ground shape from the difference with the previous captured image (step S4). The control unit 40 can acquire the ground shape by analyzing the captured image and detecting the height difference between the work trace and the ground (field scene) that is not the work trace in the captured image.

[0040] Fig. 7 is a diagram showing the tractor 1 traveling to work in a field, and an image captured by the camera unit 15. For example, in the previous stroke following mode, the control unit 40 can detect the work trace of the previous stroke on the side of the traveling body 4 and the stroke end of the previous stroke by detecting the height difference due to the inclined surface of the ridge formed in the field within the imaging area AR1 as the target shape TG1, as shown in Fig. 7. This allows the control unit 40 to calculate information about the travel line required for the traveling body 4 to travel to work by following the work trace of the previous stroke.

[0041] Then, the control unit 40 judges whether the target shape TG1 has been detected (step S5). If the target shape TG1 has been detected (step S5: YES), the control unit 40 executes steering control to control the steering unit 25 so that the traveling body 4 travels along the work trail of the previous process (step S6).

[0042] On the other hand, if the target shape TG1 cannot be detected (step S5: NO), the control unit 40 detects the position of the stroke end of the previous stroke from the captured image and calculates the working end position of the current stroke (step S7). This allows the control unit 40 to calculate the remaining travel distance of the current stroke. Specifically, as shown in FIG. 8, when the work trace of the previous stroke (target shape of the ridge) disappears from the imaging area AR2 of the camera unit 15, the control unit 40 determines that the above-mentioned target shape TG1 cannot be detected. At this time, the control unit 40 can recognize the position of the stroke end (working end) of the previous stroke from the captured image before the target shape TG1 cannot be detected, and therefore calculates the unworked distance D1 as the remaining travel distance of the current stroke.

[0043] The control unit 40 also calculates the unfinished work distance D1 and switches the automatic steering mode from the previous process tracking mode as the first control to the distant view straight ahead mode as the second control (step S8). In the distant view straight ahead mode, unlike the previous process work trace in the previous process tracking mode, as described above, a part of the distant scenery in front of the camera unit 15 is set as the target point TG2 as shown in Fig. 8. Therefore, even if the work trace in the previous process disappears from the imaging area AR2, i.e., the angle of view, the target point TG2 in the distant view straight ahead mode does not disappear from the imaging area AR2.

[0044] After being switched to the distant view straight ahead mode, the control unit 40 executes the work end steering control until the currently unfinished work is completed (step S9). As shown in FIG. 6, in the work end steering control, the control unit 40 acquires captured images (image data) from the camera unit 15 at a predetermined time interval (step S11). Then, the control unit 40 controls the steering unit 25 so that the traveling machine body 4 travels straight ahead toward the target point TG2 in the captured image (step S12). Next, the control unit 40 acquires the travel distance (step S13) in the same manner as described in step S3 of FIG. 5.

[0045] Furthermore, the control unit 40 determines whether or not the tractor 1 has reached the work end position based on the unworked distance D1 and the travel distance acquired in step S13 and step S15 described later (step S14). If it is not determined that the tractor 1 has reached the work end position (step S14: NO), the control unit 40 adds up the travel distance acquired in step S13 (step S15).

[0046] On the other hand, when it is determined that the tractor 1 has reached the working end position (step S14: YES), the control unit 40 ends the working end steering control, executes the turning assist control shown in FIG. 5 (step S10), and ends the automatic steering control. In this embodiment, as the turning assist control, a display is made on the display panel 13 as a notification unit to notify that the tractor 1 has reached the current working end and that the automatic steering control has ended. This display includes a message, or turning on or off an illustration or mark. That is, the control unit 40 operates the display panel 13 after traveling the uncompleted working distance D1. Note that a similar display may be made not only on the display panel 13 but also on the display 50a of the mobile terminal 50.

[0047] As described above, in this embodiment, even if the work trace of the previous process disappears from the captured image while the previous process tracking mode is being executed, the mode is automatically switched from the previous process tracking mode to the distant view straight ahead mode, and automatic steering is continued. Also, the unworked distance D1 at the time of switching from the previous process tracking mode to the distant view straight ahead mode is calculated, and the unworked distance D1 is traveled straight ahead in the distant view straight ahead mode, and work can be continued to the work end of the current section. As a result, the tractor 1 can be traveled while being automatically steered along the target shape TG1 of the work trace of the previous process or the target point TG2 in the distant view from the start of automatic steering to the work end of the current section, so that the tractor 1 can be traveled accurately and stably, and workability can be improved.

[0048] In addition, when the tractor 1 reaches the end of the current working range, the display panel 13 can notify the operator that automatic steering has ended, allowing the operator to be sure that automatic steering has ended and saving the operator the trouble of having to end automatic steering, allowing the operator to concentrate on turning operations and improving workability.

[0049] The camera unit 15 and the steering device 20 are configured so as to be retrofittable to the tractor 1. Furthermore, since the moving distance of the tractor 1 is obtained using the image captured by the camera unit 15 and the steering of the steering device 20 is controlled, a positioning device such as a GPS is not required, allowing for a simple configuration and reducing costs.

[0050] In this embodiment, the end of automatic steering is notified to the operator by the display panel 13, but this is not limited to this. For example, instead of the display panel 13, the operator may be notified by other methods such as a horn, a speaker, a lamp, or a vibration generator that vibrates the steering wheel 12.

[0051] <Second embodiment> Next, a second embodiment of the present invention will be described, in which the contents of the turning assist control (step S10) are changed from those of the first embodiment. Therefore, the same configurations as those of the first embodiment will be described by omitting illustrations or by assigning the same reference numerals in the drawings.

[0052] [Control Block] 10 is a block diagram of the main parts of the control system of the tractor 1 according to the second embodiment. In the second embodiment, the control unit 40 is connected to a work control unit 60 provided in the tractor 1 via a CAN, and the control unit 40 and the work control unit 60 together constitute a control unit 100.

[0053] The work control unit 60 is connected to the double speed changeover valve 51, the auto brake changeover valve 52, the work machine lifting valve 53, the horn 54, and the lamp 55. The double speed changeover valve 51 opens and closes to switch on and off a front wheel double speed control that drives the front wheels at a peripheral speed approximately twice that of the rear wheels.

[0054] The auto brake switching valve 52 opens and closes to switch on and off the auto brake control that automatically brakes the rear wheels on the inside of a turn when the front wheels are steered significantly with the steering wheel. The work implement lifting valve 53 opens and closes to raise and lower the work implement connected to the tractor 1. The horn 54 can alert the worker by sounding, and the lamp 55 can alert the worker by turning off, on, flashing, etc. The display panel 13, the horn 54 and the lamp 55 make up a notification unit.

[0055] In the second embodiment, the automatic steering control shown in Figures 5 and 6 can also be executed. However, only the content of the turning assist control in step S10 in Figure 5 differs from that in the first embodiment. In this embodiment, when the tractor 1 reaches the end of the current work range and the turning assist control is executed (step S10), the work control unit 60 executes the following operations.

[0056] That is, the work control section 60 controls the double speed switching valve 51, the auto brake switching valve 52, and the work implement lifting valve 53 to turn on the front wheel double speed control and the auto brake control, raise the work implement, and execute a preparatory operation for turning. This eliminates the need for the operator to manually perform a preparatory operation for turning, reducing malfunctions and improving workability.

[0057] Furthermore, as part of the turning assist control, the work control unit 60 sounds the horn 54 and turns on the lamp 55. This allows the operator to be sure that the automatic steering has ended. Note that, as in the first embodiment, the operation of notifying the operator that the automatic steering has ended by the display panel 13 may or may not be performed in the second embodiment.

[0058] In any of the above-described embodiments, the notification by at least one of the display panel 13, the horn 54, and the lamp 55 may be performed at other timings, not limited to when the tractor 1 reaches the working end of the current range. For example, the notification by at least one of the display panel 13, the horn 54, and the lamp 55 (hereinafter, referred to as a notification unit) may be performed immediately before the tractor 1 reaches the working end of the current range.

[0059] Also, when the mode is switched from the previous stroke following mode to the distant view straight ahead mode in step S8, the above-mentioned notification unit may be operated in a first mode, and when the tractor 1 reaches the working end position in step S14, that is, after the tractor 1 has traveled the unworked distance D1 in the distant view straight ahead mode, the notification unit may be operated in a second mode different from the first mode. For example, the horn 54 may sound once in the first mode and sound twice in the second mode. For example, the lamp 55 may flash in the first mode and be lit for a predetermined time in the second mode.

[0060] In the second embodiment, the control unit 40 and the work control unit 60 are configured by separate computers, but this is not limited thereto, and for example, the control unit 40 and the work control unit 60 may be configured by one computer. In addition, the control unit 40, the work control unit 60, and the ECU are configured by different computers, but this is not limited thereto, and for example, the control unit 40 and the work control unit 60 may be included in the ECU. That is, the functions of the control unit 40 and the work control unit 60 may be part of the functions of the ECU.

[0061] Also, although the case where camera unit 15 is a monocular camera has been described, the present invention is not limited to this. For example, camera unit 15 may be a stereo camera. [Explanation of symbols]

[0062] 1: Tractor (work vehicle) 4: Running body 13: Notification section (display panel) 15: Camera unit (imaging section) 20: Steering gear 40,100: Control unit 54: Announcement Department (Horn) 55: Notification section (lamp) D1: Distance traveled (unworked distance)

Claims

1. A traveling machine capable of traveling in a field; An imaging unit provided on the traveling body and capable of imaging the front of the traveling body; A steering device for steering the traveling machine body; A control unit capable of executing a first control for controlling the steering device so that the traveling body travels along a work mark of a previous process on the side of the traveling body in an image obtained from the imaging unit, and a second control for controlling the steering device so that the traveling body travels straight toward a target point in the image obtained that is different from the work mark; A notification unit for notifying an operator, When the work trace of the previous process disappears from the captured image while the first control is being executed, the control unit calculates a remaining travel distance of the current process based on the captured image, switches from the first control to the second control, and operates the notification unit after traveling the travel distance. A work vehicle characterized by:

2. The control unit executes a preparatory operation for turning after traveling the movement distance in the second control.

2. The work vehicle according to claim 1 .

3. The control unit ends the second control after traveling the travel distance in the second control.

3. A work vehicle according to claim 1 or 2.

4. The control unit, when switching from the first control to the second control, operates the notification unit in a first mode, and after traveling the travel distance under the second control, operates the notification unit in a second mode different from the first mode.

3. A work vehicle according to claim 1 or 2.

Images