Work vehicle

Abstract

To provide a work vehicle which acquires necessary information on a field surface and a road surface with a low-cost configuration.SOLUTION: A traveling vehicle body mounted with a positioning device 3 is provided with a laser sensor 2F which emits a laser beam in a two-dimensional direction and detects a position of an object in a direction of emission. Three-dimensional data is obtained by integrating detection data from the laser sensor 2F based on positioning information from the positioning device 3. Additionally, when a change equal to or greater than a predetermined value in the height direction can be calculated from the integrated three-dimensional data, travel control is performed to avoid traveling over a corresponding area. When a section in a travel direction is detected where the generated three-dimensional data significantly differs from past recorded data, a vehicle is temporarily stopped.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] This invention relates to a work vehicle that controls a work vehicle, and more particularly to an obstacle detection control system.

Background Art

[0002] There is a known work vehicle equipped with a sensor that acquires three-dimensional data of an object in the front space of the vehicle by irradiating a laser in three-dimensional directions and detecting the reflection (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to Patent Document 1, highly accurate automatic driving control can be realized by acquiring the front space as three-dimensional data. However, high computing power is required for information processing, and the sensor is expensive.

[0005] An object of the present invention is to provide a work vehicle that acquires necessary information in a farm field or on a road surface with an inexpensive configuration.

Means for Solving the Problems

[0006] The above problems of the present invention are solved by the following means. The invention according to claim 1 is configured such that a laser sensor 2F that irradiates a laser in a two-dimensional direction and detects the position of an object in the irradiation direction is provided on a traveling vehicle body including a positioning device 3, and three-dimensional data is acquired by integrating the detection data of the laser sensor 2F according to the positioning information obtained by the positioning device 3.

[0007] The invention according to claim 2 is configured such that, in the invention according to claim 1, when a change of a predetermined amount or more in the height direction can be calculated in the integrated three-dimensional data, travel control is performed so as not to travel to that location.

[0008] The invention according to claim 3 is configured such that, in the invention according to claim 2, when three-dimensional data is recorded in time series and a portion where the created three-dimensional data is significantly different from the past data recorded is detected in the traveling direction, the vehicle is temporarily stopped.

Advantages of the Invention

[0009] According to the invention described in claim 1, in a low-speed work vehicle as compared with a general passenger vehicle, since there is a low necessity to recognize a distant object early, safety-required information can be obtained by recognizing the state of the ground near immediately in front of the work vehicle, and three-dimensional data can be obtained by integrating the detection results of the measurement points of the laser sensor 2F that irradiates laser light in the two-dimensional direction. Therefore, it can be configured at low cost.

[0010] According to the invention described in claim 2, in addition to the effect described in claim 1, when a large displacement in the height direction is calculated, since it is assumed that there is a hole or a cliff, safe travel can be achieved by avoiding that location.

[0011] The invention according to claim 3, in addition to the effect described in claim 2, since a change in an obstacle or road surface condition is assumed, by temporarily stopping, it can be confirmed by the administrator before traveling.

Brief Description of the Drawings

[0012]

Figure 1

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Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0014] In FIG. 1, the control system S of the work vehicle according to the embodiment of the present invention has a tractor 1 as an example of the work vehicle. The tractor 1 is a work vehicle capable of tilling, plowing, land leveling, seeding, fertilizing, etc. by replacing the work implement at the rear.

[0015] The tractor 1 is provided with an obstacle sensor 2 for detecting surrounding obstacles. A plurality of obstacle sensors 2 are installed on the tractor 1 and are configured to be able to detect surrounding obstacles such as in the front and side. Note that the obstacle sensor 2 can adopt any conventionally known one, such as those using light reflection, those using sound waves, and those using a camera to detect obstacles by image analysis.

[0016] In addition, the tractor 1 is provided with a GPS device 3 as an example of a positioning device. The GPS device 3 can measure its own position through communication with the GPS satellite 4. Note that in the control system S of the work vehicle according to the embodiment, there are a plurality of tractors 1, and each tractor 1 is equipped with an obstacle sensor 2 and a GPS device 3.

[0017] The tractor 1 is connected to a server 6 as an example of an information processing device via a communication line such as a mobile phone line or the Internet.

[0018] Further, the server 6 is connected to a tablet terminal 7 as an example of an information processing device via a communication line. The tablet terminal 7 is configured such that an operator can view the displayed information and input data.

[0019] FIG. 2 is an explanatory diagram of an example of a farm field where work is performed by the control system of the work vehicle according to the embodiment. In FIG. 2, in the control system S of the work vehicle according to the embodiment, the tractor 1 can autonomously move within a farm (farm field 8 + farm road 9) having a plurality of farm fields 8 and a farm road 9 as an example of an interval for moving between farm fields. At the boundary portion between the range A1 where the tractor 1 performs autonomous driving and the range A2 where it does not perform autonomous driving, a sign 10 indicating the boundary is installed. In the embodiment, the sign 10 is installed on the farm road 9 at the boundary of the farm (farm field 8 + farm road 9). The sign 10 can be in the form of, for example, a so-called stand-up signboard or a triangular cone, and it is desirable that it can be installed at the boundary of the range where the tractor 1 moves on the day when work is performed. Note that the form of the sign 10 is not limited to the illustrated form, and it can be in any form such as a road sign with its base buried in the farm road.

[0020] Further, a GPS device (not shown) as an example of a second positioning device is installed in the sign 10 according to the embodiment. The GPS device of the sign 10 can acquire information on the current position of the sign 10 and transmit the position information to the server 6 via a communication line. Note that when the tractor 1 according to the embodiment detects the sign 10 with the obstacle sensor 2, it is regarded as an obstacle and stops, thereby preventing it from moving outside the sign 10.

[0021] (Explanation of the control unit) FIG. 3 is an explanatory diagram of the control unit of the control system of the work vehicle according to the embodiment. In FIG. 3, the control unit Ca of the tractor 1 as an example of the control means, the control unit Cb of the server 6, and the control unit Cc of the tablet terminal 7 have an input / output interface I / O for inputting and outputting signals to and from the outside. Further, the control units Ca to Cc have a read-only memory ROM in which programs and information for performing necessary processing are stored. Further, the control units Ca to Cc have a random access memory RAM for temporarily storing necessary data. Further, the control units Ca to Cc have a central processing unit CPU for performing processing according to the programs stored in the ROM and the like. Therefore, the control units Ca to Cc according to the embodiment are configured by an information processing device, a so-called computer. Therefore, the control units Ca to Cc can realize various functions by executing the programs stored in the ROM and the like.

[0022] (Signal input element connected to the control unit Ca of the tractor 1) In FIG. 3, signals from the obstacle sensor 2, the GPS device 3, and other signal input members (not shown) are input to the control unit Ca of the tractor 1.

[0023] The obstacle sensor 2 detects obstacles around the tractor 1. The obstacle sensor 2 is arranged at the front part and the left and right side parts of the tractor 1. For example, a 2D lidar 2F as a laser sensor is arranged at the front part of the tractor 1, and millimeter wave radars 2S, 2S are arranged at the left and right side parts (FIG. 4).

[0024] The GPS device 3 measures the position of the tractor 1. (Controlled element connected to the control unit Ca of the tractor 1) The control unit Ca of the tractor 1 outputs control signals to the engine 11, the steering wheel 12, the brake 13, the work implement 14, and other controlled elements (not shown) of the tractor 1.

[0025] (Explanation of the control unit Ca of the tractor 1) The control unit Ca of the tractor 1 has the following functions (function means, program modules).

[0026] The obstacle detection means C1 detects obstacles based on the detection results of the obstacle sensor 2. That is, the millimeter-wave radars 2S, 2S arranged on the left and right sides of the tractor 1 are a known configuration that can irradiate millimeter-wave radio waves to an object, detect the radio waves that bounce back, and estimate the distance to the object by measuring the time taken for the round trip.

[0027] The positioning means C2 measures the position of the tractor 1 based on the positioning results of the GPS device 3.

[0028] The communication means C3 communicates, that is, transmits and receives information with the server 6. The communication means C3 in the embodiment transmits the detection results of obstacles, the position information of the tractor 1, and the status of the tractor 1 (such as during work, moving, parking, etc.) to the server 6, and receives from the server 6 the position information of the field where the next work is to be carried out, the working area and work content in the field, and instruction information for moving and parking.

[0029] The travel control means C4 has a deviation determination means C4A and controls the engine 11, steering wheel 12, brake 13, etc. of the tractor 1 to control the travel of the tractor 1. In FIG. 2, when the travel control means C4 in the embodiment is instructed to move to the target field 8 from the server 6, it causes the tractor 1 to travel along the movement route 22 transmitted from the server 6 to move to the target field 8 (field-to-field movement mode). Also, when instructed to work within the field 8 from the server 6, it controls the tractor 1 to travel along the work route 23 transmitted from the server 6 (work mode). When instructed to stop and wait from the server 6, it stops the tractor 1 (standby mode). When instructed to move to a specific standby position 24 from the server 6 and wait, it stops the tractor 1 after moving the tractor 1 to the standby position 24. Note that the travel control means C4 in the embodiment stops (abnormally stops, emergency stops) the tractor 1 and makes it wait on the spot (abnormal stop mode) when the obstacle detection means C1 detects an obstacle.

[0030] Here, among the obstacle detection means C1, the front 2D lidar 2F will be described in detail.

[0031] The front 2D lidar 2F can detect the position of an object in the irradiation direction by irradiating a laser in a two-dimensional direction (Fig. 5). It includes an irradiation unit 2Fa that irradiates laser beams L1, L2, L3... in a predetermined left and right angular range from above the front of the tractor 1 obliquely downward to the front, and a sensor unit 2Fb that detects the reflected light, and can collect a plurality of distance data at measurement points in the two-dimensional direction (Fig. 7). Then, by collecting similar distance data every time the tractor advances as measured by the GPS device 3 as the tractor 1 moves forward (Fig. 6), composite distance map data, that is, three-dimensional data, can be obtained. Based on this three-dimensional data, the field surface X, the bank or slope surface Y, the cliff-like surface Z, the obstacle B, etc. are determined (Fig. 7). This determination result is stored in the server 6. In a work vehicle such as the tractor 1 with a low speed compared to a general passenger vehicle, since there is less need to recognize distant objects early, by recognizing the state of the ground immediately in front of the work vehicle, the information necessary for safety can be obtained, and three-dimensional data can be obtained by integrating the detection results of the measurement points of the 2D lidar 2F that irradiates a laser in the two-dimensional direction. Therefore, it can be configured at a lower cost compared to a 3D lidar.

[0032] When the 2D lidar 2F detects an obstacle B through information transmission from the obstacle detection means C1 to the travel control means C4, the tractor 1 is controlled to avoid this obstacle BS and make a detour, or is put into an abnormal stop mode where it stops and waits.

[0033] Also, the three-dimensional data integrated by the 2D lidar 2F is transmitted to and stored in the server 6 together with the date data. Then, when working in the same field next time, the three-dimensional data integrated by the 2D lidar 2F obtained this time is compared with the stored past three-dimensional data. When it is determined by comparison operation that there is a change, for example, in the height Z direction, the travel is controlled to detour around the changed location. Since a change in the height Z direction assumes the existence of a hole or a cliff, safe travel can be achieved by detouring around the location.

[0034] Furthermore, by storing past 3D data in a time series, when comparing the current 3D data integrated by the current 2D lidar 2F with the stored past field data and detecting a significantly different part in the traveling direction of the tractor 1, the vehicle may be configured to stop. Since obstacles and changes in road surface conditions are assumed, by temporarily stopping, the operator can perform pre-travel checks.

[0035] To detect the attitude of the tractor 1, it may be configured to include an IMU (Inertial Measurement Unit) or an angle sensor / angular velocity sensor, and based on the tractor attitude information obtained from these, convert the 3D data by the 2D lidar 2F into high-precision 3D data. This high-precision 3D data can be held for a certain period of time and used as time-series data. Note that an IMU (Inertial Measurement Unit) is a device that detects three-dimensional inertial motion, that is, translational motion and rotational motion in three orthogonal axis directions. It is a known configuration in which translational motion is detected by an acceleration sensor and rotational motion is detected by an angular velocity (gyro) sensor.

[0036] As described above, on a work vehicle equipped with various sensors necessary for measurement such as a GPS device 3, a camera, a 2D lidar or a laser scanner, an IMU (Inertial Measurement Unit), etc., actually traveling on a field or a road, while specifying the position, the shape, structures, terrain, etc. of the field, the road, and even the area around the road can be digitized, and by accumulating this, high-precision 3D map data can be obtained.

[0037] Next, based on FIGS. 8 and 9, a method for comparing the three-dimensional data by the 2D lidar 2F with preset high-precision three-dimensional map data and determining the road surface condition of the farmland will be described. While actually driving the tractor 1, the pre-acquired high-precision three-dimensional map data is called (S101), and by acquiring the current three-dimensional data and the current position (S102, S103), the three-dimensional data at the current position can be compared with the high-precision three-dimensional map data on the high-precision three-dimensional map data (S104), and it is determined whether the difference between the high-precision three-dimensional map data and this three-dimensional data is more than a certain amount (S105). If it is more than a certain amount, it is determined that the road surface has deteriorated with holes or collapses (S106). In this case, safety is ensured by controlling the tractor 1 to stop driving (S109). Even if the answer in S105 is NO, it is determined whether there is an offset (protrusion) in the Z-axis (height) direction (S107). If there is a large data group, it is determined that there is an obstacle (S108). In this case, detour driving control may be executed, and if detour is impossible, driving stop control may be performed (S109).

[0038] The obstacle detection means C1 has the following functions combined. That is, the obstacle detection area and detection conditions are made different between when driving in the farmland and when driving on the farm road. For example, the obstacle detection area when driving on the farm road is set based on vehicle information, work implement information, the movement state of the vehicle, and farm information, which is different from when driving in the farmland. Here, the vehicle information is the dimensions of the vehicle, the work implement information is the dimensions of the attached work implement, the movement state of the vehicle is vehicle speed information, front wheel cut angle information, forward and backward movement information, and the farm information is the width information of the driving road, ground object information, gradient information of the driving road, farm entrance information, etc.

[0039] The deviation determination means C4A determines whether or not the tractor 1 has deviated from a travel path 22 or a work path 23 as an example of a predetermined path. When the deviation determination means C4A of the embodiment deviates from the paths 22 and 23, based on the information on the current position of the tractor 1 and the information on the shape of the field 8, it determines whether or not the tractor 1 moves so as to cross the boundary line (the outer peripheral line of the field 8) between the field 8 and the farm road 9. That is, it determines whether the tractor 1 running in the field 8 is about to enter the farm road 9, or whether the tractor 1 running on the farm road 9 is about to enter the field 8.

[0040] When the tractor 1 deviates from the paths 22 and 23, the travel control means C4 controls the steering wheel 12 etc. so as to return to the paths 22 and 23 when the tractor 1 does not move so as to cross the boundary line between the field 8 and the farm road 9. Further, when the obstacle detection means C1 detects an obstacle while the tractor 1 is traveling on the field 8 and the farm road 9, the travel control means C4 stops the tractor 1 (abnormal stop), and when it enters the abnormal stop mode, it transmits information to that effect to the server 6 through the communication means C3.

[0041] The work implement control means C5 controls the work implement to perform work in the field 8. When the tractor 1 enters the work area 25 transmitted from the server 6, the work implement control means C5 of the embodiment operates the work implement to perform work. When the tractor 1 moves outside the work area 25, the work implement is stopped. When the work implement is a tiller, a plow, etc., the work implement is lowered during work and raised during non-work. When the obstacle detection means C1 detects an obstacle, the work implement control means C5 of the embodiment stops (abnormally stops, emergently stops) the work implement.

[0042] (Signal input element connected to the control unit Cc of the tablet terminal 7) In FIG. 3, signals from a touch panel 7a, which is an example of a display unit and also an example of an input unit, and other signal input members (not shown) are input to the control unit Cc of the tablet terminal 7. The touch panel 7a detects the position where the operator touches with a finger.

[0043] (The controlled element connected to the control unit Cc of the tablet terminal 7) The control unit Cc of the tablet terminal 7 outputs control signals to the touch panel 7a and other controlled elements (not shown). The touch panel 7a displays an image according to the control signal transmitted from the server 6 or the control unit Cc.

[0044] (Explanation of the control unit Cc of the tablet terminal 7) The display control means C11 controls the touch panel 7a to display an image. On the touch panel 7a, an image indicating the working status of the tractor 1 can be displayed, an image for setting the work plan of the tractor 1 (such as the field to work on, the content of the work, the working range, the working route, etc.) can be displayed, or an image notifying an abnormal situation such as an abnormal stop of the tractor 1 can be displayed.

[0045] FIG. 10 is an explanatory diagram of an example of the range of a farm including the field and the moving section between fields in the embodiment. FIG. 10(A) is an explanatory diagram of the state before the field is selected, FIG. 10(B) is an explanatory diagram of the state where the field is selected, and FIG. 10(C) is an explanatory diagram of the state where the range of the farm is set. In FIG. 10, when selecting the range of the field 8 where the work in the work plan is to be carried out, as an example, the field selection image 26 shown in FIG. 10(A) is displayed. On the field selection image 26, map images of a plurality of fields 8 are displayed. When the operator selects the field 8 on the field selection image 26, the color of the displayed field 8 is changed as shown in FIG. 10(B). Then, when the selection of the field 8 is completed, as shown in FIG. 10(C), an outer frame line 27 surrounding all the fields 8 is automatically created, and the outer frame line 27 becomes the range of the farm (field 8 + farm road 9). So to speak, the selected fields 8 are in a grouped state.

[0046] Note that it is also possible to register multiple types of groups of these grouped fields 8 according to differences such as the working period and the plants planted in the fields, and for the operator to select from the registered groups on the day of work to easily set the scope of work to be performed on that day. Note that it is desirable to perform this group registration on the server 6 rather than on the tablet terminal 7. Further, after the outer frame line 27 is generated, if there are unselected fields 8 inside the outer frame line 27, it is also possible to display a confirmation message to the operator, such as "Although not selected, is it okay?"

[0047] The input detection means C12 detects the input content based on the detection result of the position touched by the finger on the touch panel 7a and the displayed image. The communication means C13 communicates with the server 6. The communication means C13 in the embodiment transmits the work plan information input by the touch panel 7a to the server 6, and receives the work status information and abnormal situation information transmitted from the server 6.

[0048] (Description of the control unit Cb of the server 6) The control unit Cb of the server 6 has the following functions (functional means, program modules). The field information storage means C21 stores information on the field 8. The field information storage means C21 in the embodiment stores field information (farm information) including the position information of the field 8, the information on the shape of the field 8, the position information of the entrance / exit 31 of the field, and the information on the farm road 9 which is the inter-field movement section between the fields 8. The work plan storage means C22 stores the work plan for the field by the tractor 1. The work plan storage means C22 in the embodiment stores, as the work plan, the range of the farm (field 8 + farm road 9) where the work is to be carried out, the content of the work to be carried out in each field 8, the work range, and the work route. As the work content, operations such as plowing, soil preparation, and seeding carried out in the field 8 are stored. Also, as the work area 25, a specific area (including the case of the entire area) within the field 8 set by the tablet terminal 7 is stored. Further, as the work route 23, the route through which the tractor 1 passes is stored. The work route 23 can be manually input by the operator from the tablet terminal 7, or it is also possible to configure it to automatically create, by software, a work route 23 through which the work machine 14 passes through the entire area of the set work area 25 according to the size and shape of the work area 25.

[0049] Therefore, as an example, in a certain field 8 (8A), when operations such as plowing, soil preparation, and seeding are carried out, tractors 1 (1A) equipped with a plowing work machine 14, tractors 1 (1B) equipped with a soil preparation work machine 14, and tractors 1 (1C) equipped with a seeding work machine 14 enter the field in sequence and perform operations according to the work area 25 and the work route 23 set for each work content, which is stored as the work plan.

[0050] Also, as another example, intersection information, a turn signal start point, and a turn signal stop point are stored in the farm road 9 information in the inter-field movement section, and when the tractor 1 reaches each point, a turn signal flashing output or a stop output is performed. Further, when the tractor 1 is stopped by obstacle detection, a brake lamp lighting output and a hazard lamp flashing output are configured.

[0051] The communication means C23 communicates with the tractor 1, the tablet terminal 7, and the sign 10. The communication means C23 receives information on the current position and the current working status (working mode, standby mode, etc.) of the tractor 1 from the tractor 1, or transmits information on the information of the next field 8 to which the tractor 1 is headed, instructions such as standby, and the content of the work to be performed in the field 8. Further, the communication means C23 receives input information on the work plan from the tablet terminal 7, or transmits information on the working status to the tablet terminal 7. Furthermore, the communication means C23 receives the position information of the sign 10 from the sign 10.

[0052] The position acquisition means C24 of the work vehicle acquires the position information of each tractor 1 based on the position information transmitted from the tractor 1.

[0053] Based on the work implement 14 provided in each tractor 1 and the work plan carried out in each field, the work instruction means C25 transmits information on the target field 8 for the next work, the movement route 22 to the field 8, and the work (work area 25, work route 23) to be performed in the field 8 to each tractor 1, and instructs to execute the work.

[0054] The situation acquisition means (abnormal stop detection means) C26 of the work vehicle acquires the working status of each tractor 1 based on the position information and the information on the working status (working mode, etc.) transmitted from each tractor 1. For example, it acquires a working status such that a certain tractor 1A is in the working mode in the field 8, another tractor 1B is in the inter-field movement mode and its current position is at the position detected by the GPS device 3, and still another tractor 1C is waiting at the position detected by the GPS device 3. Note that when the situation acquisition means C26 of the work vehicle in the embodiment receives information on the abnormal stop mode from the tractor 1A, for example, it determines that the tractor 1A is in an abnormal stop state, and causes the communication means C23 to transmit information indicating that the tractor 1A is in an abnormal stop to the tablet terminal 7. In addition, it is desirable to save the position information of the tractor 1 and the historical data of the working status, and make it possible to refer to them when other tractors 1 move to the next work. It is desirable to retain the historical data for a predetermined period and discard the data that has passed the predetermined period to prevent the data volume from becoming excessive. However, regarding the information in the abnormal stop mode, it is desirable to save it separately as an error history without discarding it for the purpose of preventing recurrence and investigating the cause.

[0055] The marking position confirmation means C27 confirms the position of the marking 10. The marking position confirmation means C27 of the embodiment acquires the position information of the marking 10 via the communication means C23 when any of the tractors 1 is in the inter-field movement mode. Then, based on the position information of the marking 10 and the information on the range of the farm (field 8 + farm road 9) in the work plan, it is determined whether the position of the marking 10 is within a predetermined range (for example, within a distance of 1 m) from the outer edge of the farm (field 8 + farm road 9). If the position of the marking 10 is within the predetermined range from the outer edge of the farm (field 8 + farm road 9), it is determined that the position of the marking 10 is okay. On the other hand, if the position of the marking 10 is outside the predetermined range from the outer edge of the farm (field 8 + farm road 9), it is determined that the position of the marking 10 is inappropriate.

[0056] When it is determined that the position of the marking 10 is inappropriate, the marking position confirmation means C27 instructs the tractor 1 in the inter-field movement mode to stop through the communication means C23, and notifies the tablet terminal 7 that the position of the marking 10 is inappropriate.

[0057] In the control system S of the work vehicle according to the embodiment having the above configuration, each tractor 1 autonomously moves and works according to the work plan. In the embodiment, when the tractor 1 deviates from the routes 22 and 23 and straddles the boundary line between the farm field 8 and the farm road 9 from the inside to the outside of the farm field 8, since the tractor 1 working in the farm field 8 deviates so much as to go outside the farm field 8, the running of the tractor 1 is stopped for safety. Also, when the tractor 1 running on the farm road 9 enters the farm field 8, it is regarded that the tractor 1 temporarily enters the farm field 8 side due to the unevenness of the farm road 9 or passing by another tractor 1, and the running of the tractor 1 is continued. Therefore, the tractor 1 running on the farm road 9 continues to move without stopping, and the movement between the farm fields is performed smoothly compared to the case where it stops. Thus, it is possible to ensure safety while causing a plurality of work vehicles to work autonomously.

[0058] In addition, in the above embodiment, each process is exemplified as a configuration in which the processes are distributed and performed in the control units Ca to Cc of the tractor 1, the tablet terminal 7, and the server 6, but it is not limited thereto. For example, it is also possible to adopt a configuration in which all the processes are collectively performed by the server 6, or a configuration in which some of the processes performed by the server 6 are performed by the tractor 1.

Explanation of Signs

[0059] 1 Tractor (Work Vehicle) 2 Obstacle Sensor 2F 2D LiDAR (Laser Sensor) 3 GPS Device (Positioning Device)

Claims

1. A work vehicle having a traveling vehicle body equipped with a positioning device (3), provided with a laser sensor (2F) that irradiates a laser in two-dimensional directions to detect the position of an object in the irradiation direction, and configured to obtain three-dimensional data by integrating the detection data of the laser sensor (2F) according to the positioning information obtained by the positioning device (3).

2. The work vehicle according to claim 1, wherein when a change equal to or greater than a predetermined value in the height direction can be calculated in the integrated three-dimensional data, the vehicle is controlled to not travel to that location.

3. The work vehicle according to claim 2, wherein the three-dimensional data is recorded in time series, and when a portion where the created three-dimensional data is significantly different from the past data recorded is detected in the traveling direction, the vehicle is configured to stop temporarily.

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