Work vehicle

Abstract

To provide a work vehicle capable of accurately detecting a state of a driver seated on a driver's seat by installing a device for monitoring a driver at an appropriate position.SOLUTION: A work vehicle comprises a monitoring device monitoring a driver seated on a driver's seat, and a support member supporting the monitoring device. In plan view, a direction perpendicular to a width direction of the driver's seat is a longitudinal direction, and a side where the driver seated on the driver's seat faces in the longitudinal direction is the front. The monitoring device is placed in front of the driver's seat and at a position offset in the width direction of the driver's seat with respect to a reference axis along the longitudinal direction passing through the center of the width of the driver's seat, and is supported by the support member.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a work vehicle.

Background Art

[0002] For example, Patent Document 1 proposes a driver monitoring device that photographs the face of a driver of a vehicle such as a passenger car with a camera, accurately determines the driver's glance by image analysis, and issues an alarm. The camera is installed on the steering column of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] During driving of a vehicle such as a passenger car, since it is important to pay attention to the front of the vehicle, the frequency with which the driver greatly tilts the line of sight in the left and right directions during driving is relatively low. Further, even if the driver greatly tilts the line of sight in the left and right directions during driving in order to widen the attention range, it is only for an instant. Therefore, when the vehicle being driven is a passenger car, by arranging a camera on the steering column located in front of the driver as in Patent Document 1, it is possible to accurately detect the driver's glance by the camera.

[0005] On the other hand, in a work vehicle such as a tractor, the operator of the work vehicle often proceeds with the work by the work vehicle while looking at the front wheels. In this case, the direction of the operator's line of sight is diagonally downward with respect to the direction in which the operator faces forward (front). Further, in a work vehicle such as a hydraulic excavator, depending on the work location, for example, while swinging the boom in the left and right directions, the arm may be rotated in the up and down directions to perform an excavation work. At this time, the direction of the operator's line of sight may be diagonally upward with respect to the direction in which the operator faces forward.

[0006] Therefore, in a work vehicle where the line of sight is often tilted greatly left and right during operation, when a camera is arranged in front of the operator to detect side glances, there may be a case where it is erroneously detected as a side glance even though the line-of-sight movement during operation does not actually correspond to a side glance. For this reason, countermeasures against erroneous detection are necessary.

[0007] The present invention has been made to solve the above problems, and an object thereof is to provide a work vehicle capable of accurately detecting the state of an operator seated in a driver's seat by installing a device for monitoring the operator at an appropriate position.

Means for Solving the Problems

[0008] A work vehicle according to one aspect of the present invention includes a monitoring device that monitors an operator seated in a driver's seat, and a support member that supports the monitoring device. In a plan view, with the direction perpendicular to the width direction of the driver's seat being the front-rear direction and the side facing the operator seated in the driver's seat in the front-rear direction being the front, the monitoring device is arranged in front of the driver's seat and is displaced in the width direction of the driver's seat with respect to a reference axis along the front-rear direction passing through the center in the width direction of the driver's seat, and is supported by the support member.

Effects of the Invention

[0009] According to the above configuration, a device for monitoring an operator can be installed at an appropriate position, and the state of an operator seated in a driver's seat can be accurately detected.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0011] The embodiments of the present invention will be described as follows with reference to the drawings.

[0012] The embodiments of the present invention will be described as follows with reference to the drawings. In this embodiment, a tractor is taken as an example of a work vehicle for description, but as a work vehicle, in addition to a tractor, a rice transplanter, a combine, a civil engineering and construction work device (for example, a hydraulic excavator), a passenger type work vehicle such as a snow removal vehicle can also be considered.

[0013] In addition, in this specification, the directions are defined as follows. First, the width direction of the driver's seat 9 (see FIG. 1) of the tractor 1 as a work vehicle is defined as the left - right direction. And in plan view, the direction perpendicular to the width direction of the driver's seat 9 is defined as the front - rear direction. In the front - rear direction, the side (front side) facing the operator sitting on the driver's seat 9 is defined as "front", and the opposite side, that is, the back side of the operator sitting on the driver's seat 9 is defined as "rear". Also, the right side when facing forward from the operator sitting on the driver's seat 9 is defined as "right", and the left side is defined as "left". The above - mentioned right side is also one side of the above - mentioned width direction. The above - mentioned left side is also the other side of the above - mentioned width direction. Further, the gravity direction perpendicular to the front - rear direction and the left - right direction is defined as the up - down direction, the upstream side of the gravity direction is defined as "up", and the downstream side is defined as "down". In the drawings, if necessary, the front is indicated by the symbol "F", the rear by "B", the right by "R", the left by "L", the upper by "U", and the lower by "D".

[0014] Note that the definitions of the above - mentioned directions are also applicable to other work vehicles. For example, in a hydraulic excavator, since the upper swing body swings with respect to the lower traveling body, the front - rear direction of the driver's seat provided on the upper swing body may deviate from the direction in which the hydraulic excavator moves forward and backward. However, based on the definition of the above - mentioned directions with the driver's seat as a reference, in a hydraulic excavator as well, the arrangement of each member, the positional relationship, etc. can be considered in the same way as in this embodiment.

[0015] 〔1. Overview of the Work Vehicle〕 FIG. 1 is a left - side view showing a schematic configuration of a tractor 1 which is an example of the work vehicle of this embodiment. The tractor 1 includes a vehicle body 2. A ground - working implement (not shown) can be mounted on the rear side of the vehicle body 2. As the ground - working implement, for example, a tillage device, a plow, a fertilizer applicator can be used, but it is not limited to these.

[0016] The front part of the vehicle body 2 is supported by a pair of left and right front wheels 3. The rear part of the vehicle body 2 is supported by a pair of left and right rear wheels 4. A bonnet 5 is arranged at the front part of the vehicle body 2. An engine 6 as a power source is arranged below the bonnet 5. The engine 6 is composed of, for example, a diesel engine, but is not limited thereto, and may be composed of, for example, a gasoline engine. Further, in addition to the engine 6, or instead of the engine 6, an electric motor may be used as the power source.

[0017] A cabin 7 for the operator to board is provided at the upper part of the vehicle body 2 behind the bonnet 5. A door 7a that opens forward and rotates is provided on the left side of the cabin 7. By opening and closing the door 7a, the operator can get on and off the cabin 7. Note that the door 7a may be provided on the right side of the cabin 7, or may be provided on both the left and right sides of the cabin 7.

[0018] A steering wheel 8 and a driver's seat 9 are provided inside the cabin 7. The operator can determine the traveling direction of the tractor 1 by sitting on the driver's seat 9 and steering the steering wheel 8. The shaft of the steering wheel 8 is covered by a steering column 8a. A display panel is provided inside the dashboard 8b above the steering column 8a. Information of each instrument mounted on the tractor 1, warning lights, etc. are displayed on the display panel.

[0019] The above-described cabin 7 includes a roof 7b. The roof 7b is located above the driver's seat 9 and covers the driver's seat 9. That is, the tractor 1 includes a cabin 7 that covers the driver's seat 9. FIG. 2 is a plan view schematically showing the internal configuration of the cabin 7 of the tractor 1. The roof 7b is supported by the vehicle body 2 by four pillars. The above four pillars are a right front pillar 71R, a left front pillar 71L, a right rear pillar 72R, and a left rear pillar 72L. The right front pillar 71R is a first front pillar disposed in front of the right side of the driver's seat 9. The left front pillar 71L is a second front pillar disposed in front of the left side of the driver's seat 9. The right rear pillar 72R is disposed behind the right side of the driver's seat 9. The left rear pillar 72L is disposed behind the left side of the driver's seat 9. Thus, the cabin 7 has a right front pillar 71R as the first front pillar and a left front pillar 71L as the second front pillar, which are disposed in front of the driver's seat 9 and on one side and the other side in the width direction of the driver's seat 9.

[0020] A three-point link mechanism is provided on the rear side of the vehicle body 2. The three-point link mechanism includes a pair of left and right lower links 10 and an upper link 11. The above-described ground working machine is configured to be attachable to the three-point link mechanism. Further, a lifting device (not shown) having a hydraulic device such as a lifting cylinder is provided on the rear side of the vehicle body 2. By the lifting device lifting the three-point link mechanism, the ground working machine can be lifted and lowered.

[0021] The tractor 1 further includes an antenna unit 12. The antenna unit 12 includes an inertial measurement unit (IMU), a GNSS (Global Navigation Satellite System) antenna, etc., and is a positioning device that detects the position of the vehicle body 2 based on signals transmitted from positioning satellites (not shown). The antenna unit 12 is attached to, for example, the roof 7b of the cabin 7, but may be attached at a position other than the roof 7b. The position information of the tractor 1 acquired by the antenna unit 12 is sent to an assist monitor device 40 (see FIGS. 5 and 6) described later and used to generate information provided to the operator (for example, the straight-ahead driving route of the tractor 1).

[0022] 〔2. Regarding the monitoring device〕 FIG. 3 is a left side view showing an enlarged interior of the cabin 7. As shown in FIGS. 2 and 3, the tractor 1 of this embodiment includes a monitoring device 20. The monitoring device 20 monitors the operator sitting on the driver's seat 9. In this embodiment, in order to prevent accidents during the operation of the tractor 1, the monitoring device 20 monitors at least one of the operator's drowsiness, dozing, distraction, physical condition, and incapacitated driving state. The monitoring device 20 is attached to, for example, the right front pillar 71R of the cabin 7. By installing the monitoring device 20 in such a position, not only the face of the operator but also the posture and movement of the upper body can be monitored (the same applies when the monitoring device 20 is attached to the left front pillar 71L of the cabin 7).

[0023] Here, since the operator of the work vehicle (here, the tractor 1) makes large movements, if only the face of the operator is within the imaging range of the monitoring device 20, there is a possibility of losing sight of the operator. For example, situations may occur where the upper body of the operator falls forward significantly and the face of the operator cannot be imaged by the monitoring device 20, or the upper body of the operator faces the opposite side of the monitoring device 20 and the face of the operator cannot be imaged. By setting the entire upper body of the operator within the imaging range of the monitoring device 20, the operator can be monitored without losing sight of them. Also, even if the face of the operator is lost, the cause (for example, that the upper body of the operator has moved) can be identified. When the monitoring device 20 cannot photograph the face of the operator due to the above circumstances, if it is transient, there is no problem, but if it continues for a certain threshold time or more, it can be determined that the vehicle is in an inoperable state. Details of the position of the monitoring device 20 will be described later.

[0024] Figure 4 is a block diagram showing a schematic configuration of the monitoring device 20. The monitoring device 20 includes a light emitting unit 21, an imaging unit 22, a processing unit 23, and a monitoring communication unit 24. The light emitting unit 21 is a light source that emits light toward a preset eye point EP, and is configured, for example, by a light emitting diode that emits infrared rays. Here, the above-mentioned eye point EP corresponds to the position of the eyes of the operator when the operator is seated on the driver's seat 9. The eye point EP is preset as a position at a predetermined distance above the driver's seat 9 according to the standard. By the light emitting unit 21 emitting light toward the eye point EP, the face of the operator can be illuminated when the operator is seated on the driver's seat 9.

[0025] The imaging unit 22 is a camera that photographs the face of the operator seated on the driver's seat 9 and acquires an image. For example, the imaging unit 22 can acquire an image of the face of the operator by receiving the light irradiated from the light emitting unit 21 and reflected by the face of the operator. The image acquired by the imaging unit 22 may be a still image acquired every predetermined frame, or may be a moving image acquired by continuous shooting.

[0026] The processing unit 23 determines the state of the operator by performing predetermined analysis processing on the image acquired by the imaging unit 22. For example, the processing unit 23 extracts, from the image acquired by the imaging unit 22, features such as the degree of opening and closing, the opening and closing speed, and the direction of the operator's line of sight of the eyes or mouth of the operator, a predetermined time, and when the state where the operator is not reflected in the image of the imaging unit 22 (the state where the operator is not imaged) continues, extracts the non-imaged time, and from the extracted features, identifies the presence or absence of the operator's drowsiness, dozing off, looking aside, and the state of being unable to drive, and outputs the result to the outside. Note that the state of being unable to drive mentioned here includes not only the state of consciousness disorder such as cerebral infarction of the operator or the state of being unable to drive due to sudden illness, but also the state of the operator falling from the driver's seat 9 or being detached, etc.

[0027] Such a processing unit 23 is composed of an arithmetic device specialized for real-time image processing, such as a GPU (Graphics Processing Unit). For example, by pre-training the processing unit 23 in machine learning, the processing unit 23 can execute extraction and identification of features from the input image. Further, the processing unit 23 can also recognize the blood flow of the operator based on the color change of a specific location in the image at a predetermined cycle and acquire data of the heart rate or blood pressure (vital data). Thereby, the processing unit 23 can determine the physical condition of the operator based on the acquired vital data.

[0028] The monitoring communication unit 24 is an interface for communicating with the outside, and includes a terminal or a connector connected to a cable. Note that the monitoring communication unit 24 may be configured to communicate with the outside wirelessly. In this case, the monitoring communication unit 24 includes an antenna, a transmission and reception circuit, a modulation circuit, a demodulation circuit, and the like.

[0029] 〔3. Regarding the position of the monitoring device〕 Next, the details of the position of the monitoring device 20 will be described. As shown in FIG. 2, the tractor 1 includes a support member 75. The support member 75 supports the monitoring device 20. For example, the monitoring device 20 is attached to the right front pillar 71R of the cabin 7 via an attachment member such as a stay. In other words, the right front pillar 71R supports the monitoring device 20 via the above attachment member. Therefore, in this case, the right front pillar 71R constitutes the above support member 75.

[0030] Here, in FIG. 2, an axis along the front-rear direction passing through the center W0 in the width direction of the driver's seat 9 is defined as a reference axis A1. In the present embodiment, since the monitoring device 20 is supported by the right front pillar 71R, the monitoring device 20 is disposed in front of the driver's seat 9 and is displaced in the width direction of the driver's seat 9 with respect to the reference axis A1. In the present embodiment, in a plan view, the angle θ1 formed by the reference axis A1 and the axis M1 connecting the monitoring device 20 and the eye point EP is set to approximately 35°. Note that the angle θ1 may be appropriately set within a range greater than 0° and equal to or less than 50°.

[0031] For example, in the monitoring device 20 (particularly the processing unit 23), when features are extracted from an image captured with the operator's face turned sideways to identify (detect) the operator's state, the degree of opening and closing of the operator's eyes (the area of the eyeballs) in the image is different from that in a frontal view. Therefore, in reality, there may be a case where it is erroneously detected that the operator is looking sideways or dozing off even though the operator is not actually doing so. For this reason, as the image used for feature extraction, it is desirable to use, as much as possible, an image of the operator captured from the direction in which the operator's face is facing.

[0032] When the monitoring device 20 is arranged as shown in FIG. 2, even when the operator sitting in the driver's seat 9 looks to the right frequently during work, the monitoring device 20 can photograph and monitor the operator from the direction in which the operator's face faces (from the right front of the operator). Thereby, the frequency of the monitoring device 20 misdetecting the state of the operator (presence or absence of looking sideways, presence or absence of drowsiness, presence or absence of dozing off, physical condition, presence or absence of incapacitated driving state) can be reduced, and the state of the operator can be detected accurately. That is, the monitoring device 20 for monitoring the operator can be installed at an appropriate position that emphasizes the posture of the operator during operation (especially the direction of the face, the posture and movement of the upper body), and the state of the operator sitting in the driver's seat 9 can be detected accurately.

[0033] Also, in the tractor 1, except for some levers, as shown in FIG. 2, various operation levers 31, operation buttons 32, etc. are often intensively arranged. In this case, the operator often tilts the face to the right for operating the operation lever 31 and the like. Therefore, in the tractor 1, in order to accurately monitor the state of the operator by the monitoring device 20, it is more desirable for the monitoring device 20 to monitor the operator from the right front. In this regard, as in this embodiment, it is very effective that the support member 75 that supports the monitoring device 20 is composed of the right front pillar 71R as the first front pillar and the left front pillar 71L as the second front pillar, and is arranged relatively on the right side, that is, the right front pillar 71R.

[0034] Also, in this embodiment, as shown in FIG. 3, the vertical position of the monitoring device 20 supported by the support member 75 (right front pillar 71R) is lower than the eye point EP. In this embodiment, in a side view, the angle (depression angle) θ2 formed by the axis A2 extending in the front-rear direction passing through the eye point EP and the axis M2 connecting the monitoring device 20 and the eye point EP is set to approximately 30°. Note that the angle θ2 may be appropriately set within a range greater than 0° and equal to or less than 45°. Note that the monitoring device 20 may be provided with a structure that allows the user (operator) to adjust the position of the monitoring device 20 so that the monitoring device 20 can be arranged at a position satisfying the angle shown in FIG. 3 according to the height of the operator. In this case, an online calibration function, that is, a function of automatically correcting according to the camera position, is used to adjust the sensing function of the camera according to the height of the operator.

[0035] The operator who operates the tractor 1 may look at the front wheels 3 (see FIG. 1) during work, and in this case, the operator's line of sight is directed downward. Even when the operator looks downward, in order to accurately monitor the state of the operator, it is desirable for the monitoring device 20 to monitor the operator from below the lower front side of the operator. In this regard, it is desirable for the monitoring device 20 to be at a position lower than the eye point EP as in this embodiment.

[0036] [4. Integration of the Monitoring Device with the Assist Monitor Device] The tractor 1 of this embodiment may further include an assist monitor device 40. The assist monitor device 40 is a control device that assists the automatic straight travel of the tractor 1. FIG. 5 is a front view schematically showing the appearance of the assist monitor device 40. FIG. 6 is a block diagram showing the schematic configuration of the assist monitor device 40.

[0037] The monitoring device 20 is provided integrally with the assist monitor device 40. In the present embodiment, the monitoring device 20 is provided integrally on the upper part of the assist monitor device 40, but the position of the monitoring device 20 with respect to the assist monitor device 40 is not particularly limited. For example, the monitoring device 20 may be provided integrally on the side surface of the assist monitor device 40. Further, the monitoring device 20 may be provided integrally with the assist monitor device 40 and shipped during the manufacture of the assist monitor device 40, or may be attached to the assist monitor device 40 by retrofitting using a bracket or the like after the assist monitor device 40 is shipped as a single unit.

[0038] In terms of arranging the monitoring device 20 and the assist monitor device 40 together in a compact manner, as in the present embodiment, it is desirable that the monitoring device 20 be provided integrally with the assist monitor device 40.

[0039] As shown in FIGS. 5 and 6, the assist monitor device 40 includes an input unit 41, an assist path generation unit 42, an output control unit 43, an information output unit 44, and a control communication unit 45.

[0040] The input unit 41 is an operation unit for the operator to input the start point and end point of straight-ahead travel, etc., and is composed of, for example, push buttons. Note that the input unit 41 may be composed of a touch panel type input unit.

[0041] When using the driving mode that assists straight-ahead driving, the operator drives the tractor 1 to the actual start point of straight-ahead driving and inputs the start point through the input unit 41. Thereby, the position information of the start point is acquired. Next, the operator drives the tractor 1 to the actual end point of straight-ahead driving and inputs the end point through the input unit 41. Thereby, the position information of the end point is acquired.

[0042] The assist path generation unit 42 generates a reference line by connecting the start point and the end point of the straight running input by the input unit 41 with a straight line. Then, the assist path generation unit 42 generates lines arranged in parallel at a predetermined interval (corresponding to the width of the tractor 1) with respect to the reference line as the straight running path.

[0043] The output control unit 43 controls the information output unit 44. The information output unit 44 includes a display unit 44a and an audio output unit 44b. The display unit 44a is configured by, for example, a liquid crystal display device. The audio output unit 44b is configured by, for example, a buzzer. Note that the output control unit 43 may also serve as a main control unit that controls the operations of each unit other than the information output unit 44 in the assist monitor device 40. Such an output control unit 43 is configured by, for example, a central processing unit (CPU). The operation program of the output control unit 43 is stored in a storage unit (not shown) of the assist monitor device 40. Note that the main control unit may be provided separately from the output control unit 43.

[0044] The output control unit 43 causes the display unit 44a to display the straight running path generated by the assist path generation unit 42. At this time, based on the position information of the tractor 1 detected by the antenna unit 12, the output control unit 43 also causes the display unit 44a to display the current running position of the tractor 1 during straight running overlaid on the straight running path. Further, when an abnormality occurs, the output control unit 43 causes a warning sound to be generated from the audio output unit 44b. For example, when it is necessary for the tractor 1 to turn after finishing straight running and a manual turning operation is not performed, a warning sound is emitted from the audio output unit 44b to alert the operator.

[0045] The control communication unit 45 is an interface for communicating with the monitoring device 20 and the antenna unit 12, and includes input / output terminals connected to a cable or wiring. Note that the control communication unit 45 may further include an antenna, a transmission / reception circuit, a modulation circuit, a demodulation circuit, etc., and be configured to communicate wirelessly with the outside.

[0046] In this embodiment, when the monitoring device 20 detects an abnormality of the operator, the output control unit 43 of the assist monitor device 40 causes the information output unit 44 to output a warning. For example, when the monitoring device 20 detects an abnormality of the operator (for example, the operator is dozing off), the output control unit 43 causes the display unit 44a to display a warning such as "An abnormality of the operator has been detected". Further, for example, when the monitoring device 20 detects an abnormality of the operator, the output control unit 43 may cause the sound output unit 44b to output a warning sound.

[0047] In this way, when the monitoring device 20 detects an abnormality of the operator, by using the information output unit 44 of the assist monitor device 40 as a member that issues a warning, it is not necessary to separately provide a dedicated device for outputting the warning from the information output unit 44.

[0048] Further, when the monitoring device 20 detects an abnormality of the operator, by performing a warning display on the display unit 44a, the provision of information to the operator is aggregated on the display unit 44a of the assist monitor device 40. Thereby, the convenience of the operator is enhanced.

[0049] Furthermore, when the monitoring device 20 detects an abnormality of the operator, by using the sound output unit 44b of the assist monitor device 40 to output a warning sound, it is not necessary to separately provide a dedicated device for outputting the warning sound.

[0050] 〔5. Modification Example〕 FIG. 7 is a plan view schematically showing the configuration of a modification example of the tractor 1. As shown in the figure, the monitoring device 20 may be supported by each of the right front pillar 71R and the left front pillar 71L to monitor the operator. That is, the monitoring device 20 may include a right side monitoring device 20R supported by the right front pillar 71R and a left side monitoring device 20L supported by the left front pillar 71L. In this case, each of the right front pillar 71R and the left front pillar 71L constitutes a support member 75 that supports the monitoring device 20.

[0051] In the configuration of FIG. 7, when the operator works while looking to the right side, abnormalities of the operator can be detected based on the monitoring by the right-side monitoring device 20R. Also, when the operator works while looking to the left side, abnormalities of the operator can be detected based on the monitoring by the left-side monitoring device 20L. That is, even when the operator's face is tilted in either the left or right direction to perform work, both situations can be accommodated, and the state of the operator can be detected with higher accuracy.

[0052] Although not shown in the drawings, the monitoring device 20 may be supported only by the left front pillar 71L and monitor the operator. In this case, the left front pillar 71L constitutes a support member 75 that supports the monitoring device 20. In this configuration, when the operator frequently works while looking to the left side, abnormalities of the operator can be accurately detected based on the monitoring by the monitoring device 20. Therefore, when the operator frequently works while looking to the left side, the configuration in which only the left front pillar 71L supports the monitoring device 20 is effective.

[0053] From the above, in this embodiment, it can be said that the support member 75 that supports the monitoring device 20 may be constituted by at least one of the right front pillar 71R as the first front pillar and the left front pillar 71L as the second front pillar.

[0054] FIG. 8 is a left side view schematically showing the configuration of another modification of the tractor 1. FIG. 9 is a plan view of the main part of the tractor 1 in FIG. 8. The tractor 1 shown in FIGS. 8 and 9 does not include the cab 7 shown in FIG. 1 and the like, but includes a rollover protective structure (ROPS) frame 50. The ROPS frame 50 is a guard provided for the purpose of protecting the operator when the tractor 1 overturns, and is erected in an inverted U shape, for example, at the rear part of the driver's seat 9 on the vehicle body 2.

[0055] A floor 2a is provided on the vehicle body 2. That is, the tractor 1 includes the floor 2a. The floor 2a is located at the lower front of the driver's seat 9 and extends in the width direction of the driver's seat 9. The operator can get on and off the driver's seat 9 using the floor 2a as a foothold.

[0056] Thus, when the tractor 1 is of a type without a cabin (non-cabin specification), the support member 75 may be erected on the floor 2a to support the monitoring device 20. At this time, the horizontal and vertical positions of the monitoring device 20 can be set within the same angular ranges of θ1 and θ2 as those of the tractor 1 shown in FIGS. 2 and 3. The support member 75 is constituted by, for example, a column, and supports the monitoring device 20 via a mounting jig (not shown). The mounting jig may be the same member as the above-described mounting member used in the type with a cabin, or may be a different member.

[0057] Even for the non-cabin specification tractor 1, from the viewpoint of accurately monitoring the state of the operator, it is desirable that the monitoring device 20 be supported at the above-described position by the support member 75 as shown in FIG. 8.

[0058] 〔6. Supplementary〕 In the present embodiment, the tractor 1 travels according to the operation of the operator, but may be configured to perform autonomous driving based on an instruction from a wireless communication terminal.

[0059] In the present embodiment, the case where the monitoring device 20 is installed on the tractor 1 has been described. However, it is also possible to install the monitoring device 20 at the same position as in the present embodiment on agricultural machines other than the tractor 1, such as a combine harvester and a rice transplanter, to monitor the state of the operator. Further, it is also possible to install the monitoring device 20 at the same position as in the present embodiment on construction machines such as a hydraulic excavator (including a backhoe) and a wheel loader to monitor the state of the operator.

[0060] In particular, when installing the monitoring device 20 on the hydraulic excavator, the vertical position of the monitoring device 20 may be higher than the eye point EP. Regarding the horizontal position of the monitoring device 20, it is a position shifted horizontally from the front of the operator. When working with a hydraulic excavator, depending on the work location, the direction of the operator's line of sight may be obliquely upward toward the front of the operator. When the operator frequently works while looking obliquely upward, from the perspective of accurately detecting the abnormality of the operator based on the monitoring by the monitoring device 20, a configuration in which the monitoring device 20 is installed at a position higher than the eye point EP is effective.

[0061] 〔7. Supplementary Note〕 The work vehicle such as the tractor 1 described in this embodiment can also be expressed as the work vehicle shown in the following supplementary note.

[0062] The work vehicle of Supplementary Note (1) is a monitoring device for monitoring an operator seated in the driver's seat, and a support member for supporting the monitoring device. In a plan view, with the direction perpendicular to the width direction of the driver's seat being the front-rear direction and the side facing the operator seated in the driver's seat in the front-rear direction being the front, the monitoring device is arranged at a position shifted in the width direction of the driver's seat with respect to a reference axis along the front-rear direction passing through the center in the width direction of the driver's seat and in front of the driver's seat, and is supported by the support member.

[0063] The work vehicle of Supplementary Note (2) is the work vehicle described in Supplementary Note (1), further comprising a cabin covering the driver's seat, the cabin having a first front pillar and a second front pillar arranged on one side and the other side in the width direction of the driver's seat and in front of the driver's seat, the support member being constituted by at least one of the first front pillar and the second front pillar.

[0064] The work vehicle of Supplementary Note (3) is the work vehicle described in Supplementary Note (2), when one side in the width direction of the driver's seat is defined as the right side and the other side is defined as the left side, the support member is composed of a pillar that is disposed relatively on the right side among the first front pillar and the second front pillar.

[0065] The work vehicle of Supplementary Note (4) is the work vehicle described in Supplementary Note (1), further includes a floor that extends in the width direction of the driver's seat and is located at the lower front of the driver's seat, and the support member is erected on the floor to support the monitoring device.

[0066] The work vehicle of Supplementary Note (5) is the work vehicle described in any one of Supplementary Notes (1) to (4), wherein the monitoring device monitors at least any one of drowsiness, dozing, distraction, physical condition, and incapacitation of the operator.

[0067] The work vehicle of Supplementary Note (6) is the work vehicle described in any one of Supplementary Notes (1) to (5), further includes an assist monitor device that assists in automatic straight driving, and the monitoring device is provided integrally with the assist monitor device.

[0068] The work vehicle of Supplementary Note (7) is the work vehicle described in Supplementary Note (6), wherein the assist monitor device has an information output unit and an output control unit, and when the monitoring device detects an abnormality of the operator, the output control unit causes the information output unit to output a warning.

[0069] The work vehicle of Supplementary Note (8) is the work vehicle described in Supplementary Note (7), wherein the information output unit includes a display unit, and when the monitoring device detects an abnormality of the operator, the output control unit causes the display unit to display a warning.

[0070] The work vehicle according to Supplementary Note (9) is the work vehicle described in either Supplementary Note (7) or (8), the information output unit includes a sound output unit, when the monitoring device detects an abnormality of the operator, the output control unit causes the sound output unit to output a warning sound.

[0071] The work vehicle according to Supplementary Note (10) is the work vehicle described in any one of Supplementary Notes (1) to (9), the vertical position of the monitoring device supported by the support member is lower than the eye point corresponding to the position of the eyes of the operator seated on the driver's seat.

[0072] As described above, the embodiments of the present invention have been described. However, the scope of the present invention is not limited thereto, and it can be implemented by expanding or changing it without departing from the gist of the invention.

Industrial Applicability

[0073] The present invention can be used for work vehicles such as agricultural machines and construction machines, for example.

Explanation of Signs

[0074] 1 Tractor (Work Vehicle) 2a Floor 7 Cabin 9 Driver's Seat 20 Monitoring Device 20L Left Monitoring Device 20R Right Monitoring Device 40 Assist Monitoring Device 43 Output Control Unit 44 Information Output Unit 44a Display Unit 44b Sound Output Unit 71L Left Front Pillar (Second Front Pillar, Support Member) 71R Right Front Pillar (First Front Pillar, Support Member) 75 Support Member A1 Reference Axis EP Eye Point W0 Center

Claims

1. A monitoring device for monitoring an operator seated in the driver's seat, and a support member for supporting the monitoring device, comprising: In a plan view, with the direction perpendicular to the width direction of the driver's seat being the front-rear direction, and with the side where the operator seated in the driver's seat faces forward when looking in the front-rear direction being the front, The monitoring device is disposed in front of the driver's seat and at a position shifted in the width direction of the driver's seat with respect to a reference axis along the front-rear direction passing through the center in the width direction of the driver's seat, and is supported by the support member, a work vehicle.

2. Further comprising a cabin covering the driver's seat, The cabin has a first front pillar and a second front pillar disposed in front of the driver's seat and on one side and the other side in the width direction of the driver's seat, The support member is composed of at least one of the first front pillar and the second front pillar, the work vehicle according to claim 1.

3. When one side in the width direction of the driver's seat is defined as the right and the other side is defined as the left, The support member is composed of a pillar disposed relatively on the right side among the first front pillar and the second front pillar, the work vehicle according to claim 2.

4. Further comprising a floor extending in the width direction of the driver's seat and located at the lower front of the driver's seat, The support member is erected on the floor and supports the monitoring device, the work vehicle according to claim 1.

5. The monitoring device monitors at least any one of the driver's drowsiness, dozing, distraction, physical condition, and incapacitated state, the work vehicle according to claim 1.

6. Further comprising an assist monitoring device for assisting automatic straight-ahead driving, The monitoring device is provided integrally with the assist monitoring device, the work vehicle according to claim 1.

7. The assist monitoring device has an information output unit and an output control unit, The output control unit causes the information output unit to output a warning when the monitoring device detects an abnormality of the operator, the work vehicle according to claim 6.

8. The information output unit includes a display unit, The output control unit causes the display unit to display a warning when the monitoring device detects an abnormality of the operator, the work vehicle according to claim 7.

9. The information output unit includes a sound output unit, The output control unit causes the sound output unit to output a warning sound when the monitoring device detects an abnormality of the operator, the work vehicle according to claim 7.

10. The work vehicle according to any one of claims 1 to 9, wherein the vertical position of the monitoring device supported by the support member is lower than the eye point corresponding to the position of the eyes of the operator seated on the driver's seat.

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