Work vehicles

Abstract

To provide a work vehicle capable of suppressing deterioration in work efficiency when a preceding work vehicle stops working.SOLUTION: A work vehicle of one embodiment of the present invention includes: a travelling vehicle body; a work machine attached to the travelling vehicle body; and a control device for automatically operating the travelling vehicle body and the work machine at a working field where work has been executed by a preceding vehicle for executing work by automatic operation. When the preceding vehicle stops working, the control device calculates a workable range of the working field where the travelling vehicle body and the work machine can execute work. and causes the travelling vehicle body and the work machine to execute work up to the workable range.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] 2. Description of the Related Art Conventionally, there is known a control system that acquires position information by a positioning satellite system and performs work in a field using a plurality of automatically operable tractors (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 129671 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned technology, when a plurality of tractors are used to work on the same field and a leading tractor has a malfunction and stops working, the following tractor cannot continue working and stops working. Therefore, the control system may reduce the work efficiency.

[0005] The present invention has been made in consideration of the above, and has an object to provide a work vehicle that suppresses a decrease in work efficiency when the work of a leading work vehicle stops. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, a work vehicle (1b) according to one aspect of the embodiment includes a traveling body (Bb), a work implement (Wb) attached to the traveling body (Bb), and a control device (40) that automatically drives the traveling body (Bb) and the work implement (Wb) along the same travel route (L) as the preceding vehicle (1a) performing work by automatic driving in a work site where the preceding vehicle (1a) has performed work. When the preceding vehicle (1a) stops working, the control device (40) Among the travel route (L) consisting of a plurality of parallel straight-line processes where the preceding vehicle (1a) performed work, the process from the process where the preceding vehicle (1a) stopped to the process that is a predetermined distance away is Working range (A) As The travelling vehicle body (Bb) and the work machine (Wb) are caused to carry out work up to the workable range (A). Effect of the Invention

[0007] According to one aspect of the embodiment, the work vehicle can suppress a decrease in work efficiency even when the work of the preceding work vehicle has stopped. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a control system for a work vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing the control system for the work vehicle according to the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of the configuration of a control system and an information processing device according to the embodiment. [Figure 4] FIG. 4 is a block diagram showing an example of a control system of a leading vehicle (following vehicle). [Diagram 5] FIG. 5 is a diagram illustrating an example in which a problem occurs in a leading vehicle. [Figure 6] FIG. 6 is a flowchart illustrating the same field work processing of the following vehicle according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] First, the overall configuration of a control system S for a work vehicle 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the configuration of a control system S for a work vehicle 1 according to an embodiment. Note that, in the following, a tractor 1 will be used as an example of the work vehicle 1 to be described.

[0011] The tractor 1, which is a work vehicle 1, is an agricultural tractor that performs work in fields or the like by automatic driving (also called autonomous driving). That is, the tractor 1 travels in a field and performs work without a driver (also called an operator) on board. The tractor 1 performs a predetermined task while traveling autonomously in the field, with each part controlled by a control system centered on a control device 40 (see FIG. 4), which will be described later. The tractor 1 may also perform a predetermined task while traveling in the field with a driver on board.

[0012] In the following description, the fore-aft direction refers to the direction of travel of the tractor 1 when traveling straight ahead, with the forward side of the traveling direction being defined as "front" and the rearward side being defined as "rear".

[0013] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. In the following, left and right are defined as facing the "front." In other words, when the operator of the tractor 1 is seated in the operator's seat and facing forward, the left hand side is the "left" and the right hand side is the "right."

[0014] The up-down direction is a direction parallel to the vertical direction. The front-rear direction, the left-right direction, and the up-down direction are perpendicular to each other. Note that each direction is defined for the convenience of explanation, and the present invention is not limited to these directions.

[0015] As shown in FIG. 1, the control system S has a first tractor 1a and a second tractor 1b. The first tractor 1a and the second tractor 1b are connected to each other so as to be able to communicate in both directions via a predetermined communication network N. The first tractor 1a and the second tractor 1b cooperate with each other to collect and pack grass in a field. Specifically, the first tractor 1a collects grass scattered on the ground ahead of the second tractor 1b, and the second tractor 1b collects the collected grass and packs it in a roll. In the following description, the first tractor 1a is referred to as the leading vehicle 1a, and the second tractor 1b is referred to as the following vehicle 1b.

[0016] The leading vehicle 1a includes a traveling body Ba and a work implement Wa connected to the traveling body Ba. The following vehicle 1b includes a traveling body Bb and a work implement Wb connected to the traveling body Bb. The traveling bodies Ba and Bb include wheels, a bonnet, an engine E (see FIG. 4), a cockpit, etc.

[0017] The working implement Wa is a so-called rake that is attached to the rear of the leading vehicle 1a and collects grass clippings scattered on the ground. The working implement Wa is driven by a PTO (Power Take-off) shaft (not shown) provided on the leading vehicle 1a. The PTO shaft is a member that transmits power taken from the engine E to the working implement Wa. The working implement Wa may be referred to as a grass collection implement Wa.

[0018] The work machine Wb is a so-called roll baler that is attached to the rear of the following vehicle 1b and collects grass clippings collected by the leading vehicle 1a to produce grass rolls R and pack them in rolls. The work machine Wb is driven by a PTO shaft (not shown) equipped on the following vehicle 1b. The PTO shaft is a member that transmits power taken from the engine E to the work machine Wb. The work machine Wb may also be referred to as a packing machine Wb.

[0019] As shown in Fig. 2, the leading vehicle 1a and the following vehicle 1b autonomously travel along a preset travel route L. The leading vehicle 1a and the following vehicle 1b autonomously travel along the travel route L based on position information acquired from a positioning device 30 (see Fig. 4) provided in each vehicle and information on the travel route L. Fig. 2 is a diagram showing an example of travel in a farm field of the leading vehicle 1a and the following vehicle 1b according to the embodiment. The following vehicle 1b may autonomously travel along a travel path actually traveled by the leading vehicle 1a.

[0020] As shown in FIG. 3, the control system S is constructed in a state in which a plurality of tractors 1 can be connected to at least one information processing device 3 via a communication network N. FIG. 3 is a diagram showing an example of the configuration of the control system S and the information processing device 3 according to the embodiment. Each tractor 1 can autonomously travel between fields according to instructions from the information processing device 3. That is, each tractor 1 can move between fields without being operated by an operator. Each tractor 1 may also obtain information about a travel route L from the information processing device 3.

[0021] The information processing device 3 is a computer equipped with a processing device such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a HDD (Hard Disk Drive), and further an input / output device.

[0022] The information processing device 3 stores field map information indicating the location of the field and work information in the field. The information processing device 3 also stores inter-field travel routes used when moving between fields. The information processing device 3 stores the work status of each tractor 1.

[0023] Next, a control system of the leading vehicle 1a (following vehicle 1b) centered on the control device 40 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing an example of the control system of the leading vehicle 1a (following vehicle 1b). Note that, except for the different types of work machines Wa, Wb, the control systems of the leading vehicle 1a and the following vehicle 1b are the same, so the following description will be given taking the leading vehicle 1a as an example.

[0024] As shown in Fig. 4, the control device 40 includes an engine ECU (Electronic Control Unit) 41, a traveling system ECU 42, and a work implement lifting system ECU 43. The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the rotation of the drive wheels to control the traveling speed of the preceding vehicle 1a. The work implement lifting system ECU 43 controls the lifting device 12 to control the lifting and lowering of the work implement Wa.

[0025] The control device 40 is capable of controlling each part through electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, as well as a memory unit in which various programs and necessary data such as the driving route L of the leading vehicle 1a (following vehicle 1b) that is preset for each field are stored.

[0026] Various sensors are connected to the control device 40, such as a positioning device (GNSS) 30, an engine revolution sensor 23, a vehicle speed sensor 24, a turning angle sensor 25, an obstacle sensor 20 (front sensor 21 and rear sensor 22), and a lift arm sensor 26. The engine revolution sensor 23 detects the number of revolutions of the engine E. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the preceding vehicle 1a. The turning angle sensor 25 detects the turning angle of the front wheels, which are steered wheels. The turning angle sensor 25 detects the turning of the preceding vehicle 1a.

[0027] The control device 40 receives inputs of position information of the preceding vehicle 1a in a field or the like from the positioning device 30, the number of revolutions of the engine E from the engine revolution sensor 23, the traveling speed of the preceding vehicle 1a from the vehicle speed sensor 24, the turning angle of the front wheels from the turning angle sensor 25, the detection result of an obstacle from the obstacle sensor 20, and the height of the work implement Wa from the lift arm sensor 26. When the control device 40 causes the preceding vehicle 1a to travel autonomously, it automatically steers the steering wheel by controlling a steering cylinder connected to the steering wheel while feeding back the turning angle of the front wheels using the detection result from the turning angle sensor 25.

[0028] In addition, in the control device 40 , the engine ECU 41 is connected to the engine E, the driving system ECU 42 is connected to the steering device 51 , the transmission 52 , the braking device 53 , etc., and the work implement lifting system ECU 43 is connected to the lifting device 12 .

[0029] Of these, the work machine lifting system ECU 43 outputs a work machine lifting signal to the lifting device 12. The lifting device 12 drives the work machine Wa to lift or lower based on the work machine lifting signal output from the work machine lifting system ECU 43.

[0030] The control device 40 is also wirelessly connected to, for example, an information processing terminal 100 (information terminal) that can be carried by the worker. The control device 40 controls each part of the preceding vehicle 1a based on an instruction signal from the information processing terminal 100 operated by the worker. The control device 40 may also be configured to hold a machine information database of the preceding vehicle 1a, and to be able to transmit and receive information such as the model from the information processing terminal 100, etc. The information processing terminal 100 can also set various parameters of the work machines Wa, Wb.

[0031] For example, the information processing terminal 100 can set the working width (width of the grass collection position) of the grass collection machine Wa and the working position (position and range for collecting grass clippings) of the packing machine Wb.

[0032] The control device 40 also has an "automatic driving mode" in which the tractor 1 performs work while autonomously traveling. In the automatic driving mode, the control device 40 predetermines a travel route L for each field according to the work content of the work machine Wa, digitizes it, and stores it in the storage unit, and controls each part such as the engine E, steering device 51, transmission 52, braking device 53, and lifting device 12 so that the tractor travels along the stored travel route L based on the measurement results of the positioning device 30. The travel route L is set according to the shape and size of the field, the width, length, and number of ridges formed in the field, and the type of crop.

[0033] The control device 40 is also wirelessly connected to the control device 40 of the following vehicle 1b. The control device 40 transmits information on the work state of the leading vehicle 1a, information on the travel trajectory of the leading vehicle 1a, information on the grass collection position of the work implement Wa, information on the travel route L (if necessary) of the following vehicle 1b, and the like to the control device 40 of the following vehicle 1b. Then, the control device 40 of the following vehicle 1b controls each ECU based on the information received from the control device 40 of the leading vehicle 1a to cause the following vehicle 1b to travel autonomously along, for example, the travel route L.

[0034] The working state of the preceding vehicle 1a includes a state of whether the work implement Wa of the preceding vehicle 1a is working or not. For example, if a malfunction occurs in the preceding vehicle 1a, the work implement Wa of the preceding vehicle 1a stops. That is, the working state of the preceding vehicle 1a includes a state of malfunction occurrence in the preceding vehicle 1a.

[0035] The occurrence state of the malfunction includes the type of malfunction in the preceding vehicle 1a. The type of malfunction may be classified as the level of the malfunction. For example, the types of malfunction are classified as "serious" and "mild." A severe malfunction includes, for example, a case where a trouble occurs in the engine E or a value of a sensor detecting the state of the engine E indicates an abnormal value. A minor malfunction includes, for example, a case where a fuel shortage occurs or a regeneration process is executed in the DPF (Diesel Particulate Filter).

[0036] When a malfunction occurs in the leading vehicle 1a, the control device 40 of the following vehicle 1b calculates a workable range A of a work site where work can be performed by the following vehicle 1b.

[0037] For example, as shown in FIG. 5, when a malfunction occurs in the leading vehicle 1a, the leading vehicle 1a stops on the travel route L on which work is performed in the field and stops working, the control device 40 of the following vehicle 1b calculates the workable range A. FIG. 5 is a diagram for explaining an example in which a malfunction occurs in the leading vehicle 1a. In FIG. 5, the travel route L on which work is not performed by the leading vehicle 1a and the following vehicle 1b among the travel routes L in the field is shown by a dashed line, and the travel route L on which work is performed by the leading vehicle 1a and the following vehicle 1b is not performed is shown by a dashed line. In addition, the travel route L on which work is performed by the leading vehicle 1a and the following vehicle 1b is shown by a solid line.

[0038] Specifically, the control device 40 of the following vehicle 1b calculates a work area on the travel route L that is one step away from the travel route L on which the work was performed by the preceding vehicle 1a as the workable range A. In order to prevent contact between the preceding vehicle 1a and the following vehicle 1b, the control device 40 of the following vehicle 1b calculates a work area on the travel route L that is one step away from the travel route L on which the work was performed by the preceding vehicle 1a as the workable range A.

[0039] The control device 40 of the following vehicle 1b performs work by the work implement Wb up to the workable range A, and then performs control according to the type of malfunction.

[0040] Specifically, if the malfunction is a serious malfunction and there is another field where the following vehicle 1b can work, the control device 40 of the following vehicle 1b moves the following vehicle 1b to the other field and causes the following vehicle 1b to work in the other field. For example, the control device 40 of the following vehicle 1b sets the driving mode of the following vehicle 1b to an inter-field movement mode and moves the following vehicle 1b to the other field. The movement of the following vehicle 1b in the inter-field movement mode is performed by autonomous driving along an inter-field movement route.

[0041] Other fields where work can be performed are, for example, fields that have been set as fields where work will be performed by the following vehicle 1b, fields where there are no other tractors 1, and fields where work has been completed by the leading vehicle 1a (including other leading vehicles 1a).

[0042] Information on the other fields is transmitted from the information processing device 3 to the control device 40 of the following vehicle 1b. An inter-field travel route to the other fields may be generated by the information processing device 3 or may be generated by the following vehicle 1b.

[0043] When the following vehicle 1b arrives at the other field, the control device 40 of the following vehicle 1b changes the driving mode to the automatic driving mode and causes the following vehicle 1b to perform work in the other field. The following vehicle 1b in the automatic driving mode performs work by autonomous driving.

[0044] The control device 40 of the following vehicle 1b continues the work in the other field until the work in the other field is completed. For example, even if the malfunction of the leading vehicle 1a that has occurred is resolved during the work in the other field and the work of the leading vehicle 1a is resumed, the control device 40 of the following vehicle 1b continues the work in the other field until the work in the other field is completed.

[0045] When work in another field is completed, the control device 40 of the following vehicle 1b moves the following vehicle 1b to the original field, i.e., the original field where the work area where the preceding vehicle 1a performed work, and has the following vehicle 1b perform work in the original field.

[0046] The following vehicle 1b, which has traveled to the original field, travels to the position where work was interrupted before moving to the other field, specifically, to the end point of the workable range A, and resumes work from the position where work was interrupted.

[0047] When the work in the other field is completed, the control device 40 of the following vehicle 1b sets the driving mode to the inter-field movement mode. The control device 40 of the following vehicle 1b may move to an inter-field movement standby position in the other field and stop once. Furthermore, the control device 40 of the following vehicle 1b may check the state of the leading vehicle 1a in the original field again.

[0048] If the malfunction of the leading vehicle 1a is serious and there is no other field that can be worked by the following vehicle 1b, or if the malfunction of the leading vehicle 1a is minor, the control device 40 of the following vehicle 1b causes the following vehicle 1b to wait in a state where the work implement Wb is performing work until the workable range A is reached.

[0049] Next, the same field work processing of the following vehicle 1b according to the embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart illustrating the same field work processing of the following vehicle 1b according to the embodiment.

[0050] The control device 40 of the following vehicle 1b judges whether or not a malfunction has occurred in the preceding vehicle 1a (S100). When a malfunction has occurred in the preceding vehicle 1a, information on the malfunction is transmitted from the preceding vehicle 1a to the following vehicle 1b. The information on the malfunction of the preceding vehicle 1a may be transmitted to the following vehicle 1b via the information processing device 3.

[0051] If no malfunction has occurred in the leading vehicle 1a (S100: No), the control device 40 of the following vehicle 1b performs work in the same field as the leading vehicle 1a along the travel route L following the leading vehicle 1a (S101).

[0052] When a malfunction occurs in the leading vehicle 1a (S101: Yes), the control device 40 of the following vehicle 1b calculates the workable area A (S102).

[0053] The control device 40 of the following vehicle 1b causes the following vehicle 1b to perform work up to the workable range A (S103). The control device 40 of the following vehicle 1b determines whether the malfunction of the leading vehicle 1a is a serious malfunction (S104).

[0054] If the malfunction of the leading vehicle 1a is not a serious malfunction (S104: No), that is, if the malfunction of the leading vehicle 1a is a minor malfunction, the control device 40 of the following vehicle 1b causes the following vehicle 1b to wait (S105). As a result, the following vehicle 1b waits at the end point of the workable range A. The following vehicle 1b stops when the work in the workable range A is completed.

[0055] If the malfunction of the leading vehicle 1a is severe (S104: Yes), the control device 40 of the following vehicle 1b determines whether there are other fields that can be worked by the following vehicle 1b (S105). The control device 40 of the following vehicle 1b obtains information about the other fields from the information processing device 3 and determines whether there are other fields that can be worked by the following vehicle 1b.

[0056] If there is no other field that can be worked by the following vehicle 1b (S105: No), the control device 40 of the following vehicle 1b causes the following vehicle 1b to wait (S106).

[0057] If there is another field in which the following vehicle 1b can work (S105: Yes), the control device 40 of the following vehicle 1b moves the following vehicle 1b to the other field (S107).

[0058] The following vehicle 1b that has moved to the other field continues working there until the work there is completed. If the malfunction of the leading vehicle 1a is resolved while working in the other field, the leading vehicle 1a moves back to the original field after the work in the other field is completed.

[0059] The effects of the work vehicle 1 according to the embodiment will be described.

[0060] The following vehicle 1b, which is the work vehicle 1, is equipped with a traveling body Bb, a work machine Wb, and a control device 40. The work machine Wb is attached to the traveling body Bb. The control device 40 automatically drives the traveling body Bb and the work machine Wb in a work area where work has been performed by the preceding vehicle 1a, which is performing work by automatic driving. When the work of the preceding vehicle 1a stops, the control device 40 calculates a workable range A of the work area where work can be performed by the traveling body Bb and the work machine Wb, and causes the traveling body Bb and the work machine Wb to perform work up to the workable range A.

[0061] As a result, for example, if a malfunction occurs in the leading vehicle 1a and the leading vehicle 1a stops working, the following vehicle 1b can perform work up to the workable range A, thereby preventing a decrease in work efficiency.

[0062] When the work of the leading vehicle 1a is stopped and there is another field available for work, the control device 40 of the following vehicle 1b moves the traveling body Bb to the other field and causes work to be performed in the other field.

[0063] This allows the following vehicle 1b to carry out work in another field, thereby preventing a decrease in work efficiency.

[0064] When the leading vehicle 1a resumes work while the following vehicle 1b is working in another field, the control device 40 of the following vehicle 1b continues the work in the other field until the work in the other field is completed.

[0065] This allows the following vehicle 1b to complete the work in the other field where it has started, thereby improving work efficiency.

[0066] When the work in the other field is completed, the control device 40 of the following vehicle 1b moves the traveling vehicle body Bb to the original field and causes the traveling vehicle body Bb to perform work in the original field.

[0067] This allows the following vehicle 1b to carry out work in the field where the preceding vehicle 1a has resumed work.

[0068] The control device 40 of the following vehicle 1b controls the traveling body Bb of the following vehicle 1b and the work machine Wb of the following vehicle 1b according to the type of malfunction that has occurred in the leading vehicle 1a. Specifically, the control device 40 of the following vehicle 1b causes the traveling body Bb of the following vehicle 1b to wait in the current field or moves the traveling body Bb of the following vehicle 1b to another field according to the type of malfunction of the leading vehicle 1a.

[0069] This allows the following vehicle 1b to carry out a process according to the type of malfunction that has occurred in the preceding vehicle 1a, thereby improving work efficiency.

[0070] When a malfunction occurs in the leading vehicle 1a and the work of the leading vehicle 1a is stopped, the control device 40 of the following vehicle 1b may stop the work of the current process after the work is completed and calculate the workable range A. For example, the following vehicle 1b may transmit information indicating the stop to the information processing device 3 after stopping.

[0071] The control device 40 of the following vehicle 1b may determine whether there is any obstacle to movement along the inter-field movement route when moving to another field. For example, the control device 40 of the following vehicle 1b determines whether there will be a fuel shortage when working in another field. Also, for example, the control device 40 of the following vehicle 1b determines whether there is an obstacle on the inter-field movement route. When there is no obstacle to movement along the inter-field movement route, the control device 40 of the following vehicle 1b moves the following vehicle 1b to the other field. When there is an obstacle to movement along the inter-field movement route, the control device 40 of the following vehicle 1b makes the following vehicle 1b wait without moving to the other field.

[0072] The movement of the following vehicle 1b between the fields may be given priority over the movement of the other tractors 1 between the fields.

[0073] When the malfunction of the leading vehicle 1a is resolved, the work of the leading vehicle 1a is completed, and the driving mode of the leading vehicle 1a is the inter-field movement mode, the movement between fields by the leading vehicle 1a may be prioritized. In this case, the movement between fields of the following vehicle 1b, which has been working in another field, is performed after the movement between fields of the leading vehicle 1a. That is, when the work in the other field is completed, the following vehicle 1b waits in the other field until the movement between fields of the leading vehicle 1a is completed. For example, when the movement between fields of the leading vehicle 1a is completed and the driving mode of the leading vehicle 1a is changed from the inter-field movement mode to an automatic driving mode, the following vehicle 1b starts moving to the original field.

[0074] The following vehicle 1b is given priority over the other tractors 1 in moving back to the original field.

[0075] When the control device 40 of the following vehicle 1b moves the following vehicle 1b to the original field, the control device 40 may cause the following vehicle 1b to wait at a waiting position in the field.

[0076] When a serious malfunction occurs in the leading vehicle 1a and there is another field where the following vehicle 1b is scheduled to work (hereinafter referred to as the "scheduled work field"), the control device 40 of the following vehicle 1b makes the following vehicle 1b wait in the current field. The scheduled work field is a field set as a field where the following vehicle 1b will work, and is a field where a preceding vehicle 1a other than the leading vehicle 1a where the malfunction occurred exists.

[0077] When the leading vehicle 1a moves out of the planned work field and the planned work field becomes another workable field, the control device 40 of the following vehicle 1b moves the following vehicle 1b to the other workable field. After moving to the other workable field, the control device 40 of the following vehicle 1b may temporarily stop at a waiting position in the other workable field and check the status of the leading vehicle 1a.

[0078] If there is no other field available for work, the control device 40 of the following vehicle 1b checks the fuel level of the following vehicle 1b. If the fuel level is equal to or greater than a predetermined level, the control device 40 of the following vehicle 1b stops the engine E. If the fuel level is less than the predetermined level, the control device 40 of the following vehicle 1b moves the following vehicle 1b to a refueling position and stops the engine E.

[0079] When the malfunction of the preceding vehicle 1a is a minor malfunction, the control device 40 of the following vehicle 1b checks the fuel value of the following vehicle 1b at the timing of completing the work in the workable range A and stopping the following vehicle 1b. When the fuel value is less than a predetermined value, the control device 40 of the following vehicle 1b moves the following vehicle 1b to a refueling position and makes the engine E wait without stopping it. When the fuel value is equal to or greater than a predetermined value, the control device 40 of the following vehicle 1b makes the engine E wait at the end point of the workable range A without stopping it. The control device 40 of the following vehicle 1b stops the engine E after a predetermined time has elapsed. The control device 40 of the following vehicle 1b may check the reception state of the information processing terminal 100. When the reception state of the information processing terminal 100 is normal, the control device 40 of the following vehicle 1b may not stop the engine E, and when the reception state of the information processing terminal 100 is abnormal, the control device 40 of the following vehicle 1b may stop the engine E.

[0080] When the control device 40 of the following vehicle 1b stops the engine E, the control device 40 turns on the anti-theft function.

[0081] After completing the work in the workable range A and stopping the following vehicle 1b, the control device 40 of the following vehicle 1b may control the operation of the following vehicle 1b in response to an instruction from the information processing terminal 100, i.e., an operation by the worker. After stopping the following vehicle 1b, the control device 40 of the following vehicle 1b notifies the information processing terminal 100 and receives a control signal in response to the operation of the information processing terminal 100 by the worker. For example, the worker selects a desired operation from among (1) waiting without stopping the engine E, (2) stopping the engine E, and (3) moving to another field. The information processing terminal 100 generates a signal to execute the selected operation and transmits it to the following vehicle 1b.

[0082] The operation of the following vehicle 1b when the malfunction of the leading vehicle 1a is a minor malfunction may be set in advance by an operator.

[0083] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0084] 1 Tractor (work vehicle) 1a First tractor (leading vehicle) 1b Second tractor (following vehicle) 30 Positioning device 40 Control device A. Workable range Ba Running vehicle Bb Running vehicle L Travel route Wa Work Machine (Grass Collection Machine) Wb Work machine (packaging work machine)

Claims

1. A running vehicle body, A work machine attached to the traveling vehicle body; a control device that automatically drives the traveling vehicle body and the work machine along the same travel route as the preceding vehicle in a work site where work has been performed by the preceding vehicle that is performing work by automatic driving; Equipped with When the work of the preceding vehicle is stopped, the control device calculates a workable range from the process where the preceding vehicle stopped to a process that is a predetermined distance away from the process where the preceding vehicle stopped among the travel route consisting of multiple parallel straight process steps where the work was performed by the preceding vehicle, and causes the traveling vehicle body and the work machine to perform work up to the workable range. A work vehicle characterized by:

2. When the work of the preceding vehicle has been stopped and there is another field in which the work by the preceding vehicle has been completed, the control device moves the traveling vehicle body to the other field and causes the traveling vehicle body to perform work in the other field.

2. The work vehicle according to claim 1 .

3. when the work of the leading vehicle is resumed during the work in the other field, the control device continues the work in the other field until the work in the other field is completed.

3. The work vehicle according to claim 2.

4. When the work in the other field is completed, the control device moves the traveling vehicle body to the field of the work site and causes the traveling vehicle body to perform work in the field of the work site.

4. The work vehicle according to claim 3.

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