Work vehicle

Abstract

To improve quality of inspection in daily inspection on a detector.SOLUTION: A working vehicle includes: a working device; a notification device; a control device having a plurality of control modes and capable of controlling the working device and the notification device respectively; and detection parts 2F, 2B, 2L, 2R for detecting objects in a periphery of a machine body and outputting a detection signal indicating that an object is detected to the control device. The control modes include: a normal mode of changing an operation state of the working device in accordance with a detection signal that is output from the detection parts 2F, 2B, 2L, 2R; and a test mode of issuing a notification from the notification device in accordance with a detection signal that is output from the detection parts 2F, 2B, 2L, 2R.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] For example, the work vehicle disclosed in Patent Document 1 (referred to as a "field work vehicle" in the document) is equipped with a detection unit (referred to as a "photography unit" in the document) that detects objects around the vehicle. Detection signals from the detection unit are sent to a control device (referred to as a "self-propelled driving calculation unit" in the document). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-101943 Summary of the Invention [Problem to be solved by the invention]

[0004] During factory inspections (pre-shipment inspections, maintenance inspections, etc.), workers may inspect the detection unit of a work vehicle while walking around it. It is desirable to minimize the burden on the workers during such inspections. Furthermore, the detection accuracy of the detection unit of a work vehicle may be degraded due to factors such as the adhesion of mud. Therefore, it is desirable to have a configuration in which daily inspections of the detection unit are performed. In this case, it is desirable for the configuration to be such that the operator can easily perform the daily inspection and easily confirm whether the daily inspection was performed appropriately and with a certain level of quality or above.

[0005] An object of the present invention is to provide a work vehicle that allows an operator or the like to inspect a detection unit easily and with high quality. [Means for solving the problem]

[0006] The work vehicle of the present invention is equipped with a work device, an alarm device, a control device having a plurality of control modes and capable of controlling each of the work device and the alarm device, and a detection unit that detects objects around the vehicle and outputs a detection signal indicating that the object has been detected to the control device, and the plurality of control modes include a normal mode in which the work device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the alarm device is caused to issue an alarm in response to the detection signal being output by the detection unit. In the test mode, the control device controls the alarm device to change the alarm mode in accordance with the mode of the detection signal, which includes near detection for detecting the object within a predetermined range from the detection unit, and far detection for detecting the object within a range farther away than the near detection range. It is characterized by the following.

[0007] According to the present invention, the control mode of the control device includes a test mode, and when the control device is in the test mode, the alarm device issues an alarm in response to the detection signal from the detection unit. Therefore, when a factory inspection or routine inspection is performed, an operator can switch the control mode of the control device to the test mode and inspect the detection unit while walking around the detection unit, and can easily confirm from the alarm device whether the inspection was performed properly with a certain level of quality or above. This reduces the risk of placing an extra burden on the operator when inspecting or checking the detection unit, and realizes a work vehicle that allows the operator to inspect the detection unit easily and with high quality.

[0008]

[0009] Also, With this configuration, the notification mode of the notification device corresponds to the mode of the detection signal, so an operator or the like can easily check whether the detection signal is normal by checking the notification mode of the notification device.

[0010] In the present invention, it is preferable that the detection unit has a plurality of sensors, and that the control device, in the test mode, causes the alarm device to change the alarm mode depending on which of the sensors has detected the object.

[0011] With this configuration, the notification mode of the notification device corresponds to the detection status of each of the multiple sensors. Therefore, an operator or the like can easily check which sensor is normal or abnormal by checking the notification mode of the notification device.

[0012] In the present invention, a control device having a plurality of control modes and capable of controlling each of the work device and the notification device; and a detection unit that detects an object around the machine body and outputs a detection signal indicating that the object has been detected to the control device. a storage unit that stores, as a detection history, the fact that the detection unit has detected the object; and, is provided, the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection unit outputting the detection signal, and a test mode in which the notification device is caused to issue a notification in response to the detection unit outputting the detection signal, and the detection history includes near detection by the detection unit, which detects the object within a predetermined range from the detection unit, far detection by the detection unit, which detects the object within a range farther than the near detection range, and non-detection by the detection unit, which does not detect the object farther than the far detection range; The detection unit has a plurality of sensors, and the control device detects all of the sensors in the test mode. The near detection, the far detection, and the non-detection is stored in the storage unit, the switching to the normal mode is permitted. R .

[0013] According to the present invention, the control mode of the control device includes a test mode, and when the control device is in the test mode, the alarm device issues an alarm in response to the detection signal from the detection unit. Therefore, when a factory inspection or daily inspection is carried out, an operator or the like can switch the control mode of the control device to the test mode and inspect the detection unit while walking around the detection unit, and can easily confirm from the alarm device whether the inspection was carried out properly with a certain level of quality or above. With this configuration, the detection of an object by the detection unit is stored in the storage unit as a detection history, so that the control mode of the control device can be switched to the normal mode only after the operator has inspected all of the multiple sensors. This reduces the risk of placing an extra burden on the operator when inspecting or checking the detection unit, and realizes a work vehicle that allows the operator to inspect the detection unit easily and with high quality.

[0014] In the present invention, a control device having a plurality of control modes and capable of controlling each of the work device and the notification device; and a detection unit that detects an object around the machine body and outputs a detection signal indicating that the object has been detected to the control device. Light-emitting device and, is provided, the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device is caused to issue a notification in response to the detection signal being output by the detection unit, The detection unit has a plurality of sensors, and the control device, in the normal mode, calculates the direction in which the object exists around the aircraft based on the detection states of each of the plurality of sensors, and causes the light-emitting device to change its light-emitting mode in accordance with the direction. R .

[0015] According to the present invention, the control mode of the control device includes a test mode, and when the control device is in the test mode, the alarm device issues an alarm in response to the detection signal from the detection unit. Therefore, when a factory inspection or daily inspection is carried out, an operator or the like can switch the control mode of the control device to the test mode and inspect the detection unit while walking around the detection unit, and can easily confirm from the alarm device whether the inspection was carried out properly with a certain level of quality or above. If the alarm device is configured to always issue an alarm based on the detection state of the detection unit when the control device is in the normal control mode, it is possible that the operator may find it annoying. According to this configuration, a light-emitting device separate from the alarm device is provided, and the light-emitting mode of the light-emitting device changes depending on the direction in which the object is located. In other words, with this configuration, the operator can grasp the direction in which the object is located relative to the aircraft by checking the light-emitting device as needed. This reduces the risk of placing an extra burden on the operator when inspecting or checking the detection unit, and realizes a work vehicle that allows the operator to inspect the detection unit easily and with high quality.

[0016] In the present invention, when in the normal mode, the control device preferably calculates the distance between the aircraft and the object based on the detection state of each of the multiple sensors, and causes the light-emitting device to change its light-emitting mode according to the combination of the direction and the distance.

[0017] With this configuration, the light-emitting device changes its light-emitting behavior depending on the direction of the object and the distance between the aircraft and the object. In other words, with this configuration, an operator or the like can grasp the direction and distance of the object relative to the aircraft by checking the light-emitting device as needed. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 2 is a plan view of the entire combine harvester and a diagram showing the detection range of the detection unit. [Figure 2] FIG. 2 is a block diagram showing a configuration related to a control unit. [Figure 3] FIG. 10 is a logic graph diagram showing the processing performed in the test mode. [Figure 4] FIG. 10 is a flowchart showing a process performed in a test mode. DETAILED DESCRIPTION OF THE INVENTION

[0019] An embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow "F" in the drawings will be referred to as "front" and the direction of the arrow "B" will be referred to as "rear." Furthermore, the direction of the arrow "L" in the drawings will be referred to as "left" and the direction of the arrow "R" will be referred to as "right."

[0020] [Basic configuration of work vehicle] In this embodiment, a conventional combine harvester is used as an example of a work vehicle. As shown in Figure 1, the conventional combine harvester 1 includes a harvesting section H, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 3.

[0021] A crawler-type traveling device 11 (see FIG. 2) is provided on the lower part of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by using the traveling device 11.

[0022] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An operator can ride in the driving section 12 to monitor the operation of the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0023] The vertical conveying cylinder part of the grain discharge device 18 is adjacent to the rear of the grain tank 14, and the horizontal conveying cylinder part of the grain discharge device 18 is provided above the grain tank 14. In addition, the satellite positioning module 3 is attached to the upper surface of the driving unit 12.

[0024] The harvesting section H is provided at the front of the combine 1. The transport section 16 is provided behind the harvesting section H. The harvesting section H also includes a reaping device 15 and a reel 17.

[0025] The reaping device 15 reaps crops in the field. While not particularly limited, the crops may be, for example, wheat, barley, rice, soybeans, etc. The reel 17 rotates around a reel axis that runs along the left-right direction of the machine body, raking in the crops to be harvested. The crops reap by the reaping device 15 are sent to the conveying section 16.

[0026] With this configuration, the harvesting section H harvests crops in the field. The combine 1 is capable of working while traveling on the traveling device 11 while reaping crops in the field with the reaping device 15.

[0027] The crops harvested by the harvesting section H are transported to the rear of the machine body by the transport section 16. In this way, the crops are transported to the threshing device 13.

[0028] The crop is threshed in the threshing device 13. The harvested material (grains) obtained by the threshing process is stored in a grain tank 14. The harvested material stored in the grain tank 14 is discharged outside the machine by a grain discharge device 18 as needed.

[0029] [Automatic driving of combine harvesters] The combine harvester 1 can travel automatically in a field where crops are planted. The automatic travel includes travel while working and travel without working.

[0030] In this embodiment, automatic driving, manual driving, and automatic steering driving are defined as follows: Automatic driving is driving in which both vehicle speed and steering are automatically controlled by the control device 20. No manual operation is required during automatic driving. Manual driving is driving in which vehicle speed and steering are controlled based on manual operation. Automatic steering driving is driving in which vehicle speed is controlled based on manual operation, and steering is automatically controlled by the control device 20.

[0031] The combine harvester 1 first travels around the periphery of the field while harvesting crops, and then travels to a target work area of ​​the field to harvest crops in the field.

[0032] The peripheral area is the area on the outer periphery of the field, and the work area is the area surrounded by the peripheral area.

[0033] In this embodiment, the circumferential travel in the outer peripheral area is performed by manual travel. However, the present invention is not limited to this, and some or all of the circumferential travel may be performed by automatic travel or automatic steering travel. Work travel in the work target area is performed by automatic travel. In other words, the combine harvester 1 is capable of automatic work travel.

[0034] In this embodiment, the number of revolutions in the outer circumferential region is one. However, the present invention is not limited to this, and the number of revolutions in the outer circumferential region may be a number other than one (for example, two or three).

[0035] The combine harvester 1 includes a detection unit 2. The detection unit 2 detects objects around the vehicle by emitting inspection waves, which are electromagnetic waves or sound waves, and measuring the reflected waves. In this embodiment, the detection unit 2 is a radar, and the inspection waves and the reflected waves are radio waves. The detection unit 2 is a Time of Flight (ToF) The measuring device is a (of Flight) measurement type. The detecting unit 2 may be a laser scanner (LiDar). The detecting unit 2 may be a sonar. In this case, the inspection wave and the reflected wave are sound waves.

[0036] The detection unit 2 is equipped with a sensor 2F that detects objects in front of the machine body, a sensor 2B that detects objects behind the machine body, a sensor 2L that detects objects on the left side of the machine body, and a sensor 2R that detects objects on the right side of the machine body. Objects around the machine body of the combine harvester 1 are detected by the four sensors 2F, 2B, 2L, and 2R.

[0037] In the combine harvester 1 of this embodiment, the operation travel is controlled based on the detection results of each of the four sensors 2F, 2B, 2L, and 2R. For example, when the sensors 2F, 2B, 2L, and 2R detect the approach of an object (such as a worker), the combine harvester 1 decelerates, steers, or stops.

[0038] The combine harvester 1 includes a satellite positioning module 3. The satellite positioning module 3 receives positioning signals from artificial satellites GS used in GNSS (Global Navigation Satellite Systems, such as GPS, QZSS, Galileo, GLONASS, and BeiDou). Based on the received positioning signals, the satellite positioning module 3 generates positioning data indicating the vehicle position of the combine harvester 1.

[0039] [Control configuration] 2, the combine harvester 1 is equipped with a system including a control device 20. The control device 20 and each element included in the control device 20 may be a physical device such as a microcomputer, or may be a functional unit in software.

[0040] The detection unit 2 and the satellite positioning module 3 are connected to the control device 20 via an input interface (not shown). When the detection unit 2 detects an object around the body of the combine harvester 1, it outputs a detection signal indicating that the object has been detected to the control device 20. The satellite positioning module 3 outputs a positioning signal to the control device 20.

[0041] The control device 20 is configured to be able to control the traveling device 11, the harvesting unit H, the threshing device 13, the grain discharge device 18, the alarm device 24, and the light-emitting device 25 via an output interface (not shown). The alarm device 24 may be, for example, a sound output device such as a horn or speaker, or a display device capable of displaying messages, etc. The light-emitting device 25 may be, for example, a stacked indicator light or a rotating indicator light. The "working device" of the present invention includes the harvesting unit H and the threshing device 13.

[0042] A storage unit 23 is connected to the control device 20. The storage unit 23 stores software for implementing the functional units, temporary data generated by the functional units, and factory data. In particular, the storage unit 23 stores detection history, which will be described later. The storage unit 23 is, for example, a hard disk drive (HDD) or a nonvolatile RAM.

[0043] The control device 20 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 3. The control device 20 then generates a field map based on the position coordinates. This field map includes a map showing the outline of the field and a map showing the work area where work will be performed. The map showing the outline of the field can be generated based on the position information acquired during circular travel in the outer periphery area.

[0044] The position coordinates may be the position coordinates of the satellite positioning module 3 of the combine 1, the position coordinates of the sensor 2F, or the coordinates of the center position of the harvesting section H in the left-right direction.

[0045] In this embodiment, the control device 20 has a plurality of control modes. The plurality of control modes include an automatic mode, a manual mode, and a test mode. The "normal mode" of the present invention includes the automatic mode and the manual mode.

[0046] In the manual mode, the control device 20 controls the manual running of the combine harvester 1 based on human operation.

[0047] In the automatic mode, the control device 20 generates a target travel route for automatic travel in the work target area of ​​the field map. Then, in the automatic mode, the control device 20 controls the travel device 11 so that the combine 1 automatically travels along the target travel route based on the vehicle position based on the positioning signal and the target travel route. At the same time, in the automatic mode, the control device 20 controls the harvesting unit H and the threshing device 13 so that they perform work travel in the work target area of ​​the field.

[0048] As described above, when the detection unit 2 detects an object around the body of the combine harvester 1, it outputs a detection signal to the control device 20. When the control device 20 receives a detection signal from at least one of the four sensors 2F, 2B, 2L, and 2R, it causes the alarm device 24 to output a notification. The notification output from the alarm device 24 includes, for example, sound output from a horn or speaker, display of a message on a display screen, etc. Furthermore, when the control device 20 receives a detection signal from at least one of the four sensors 2F, 2B, 2L, and 2R, it causes the light-emitting device 25 to emit light. The light-emitting output from the light-emitting device 25 includes lighting, flashing, changing the light color, etc.

[0049] If none of the four sensors 2F, 2B, 2L, and 2R outputs a detection signal when the combine harvester 1 is traveling to work, the alarm device 24 does not issue an alarm and the light emitting device 25 emits blue light.

[0050] For example, when the sensor 2F detects an object in front of the machine as the combine 1 moves forward, the control device 20 stops the running device 11 and the harvesting unit H, causes the alarm device 24 to notify the presence of an object in front of the machine, and causes the light-emitting device 25 to emit red light (which may be pink, the same applies below).

[0051] Furthermore, when the sensor 2B detects an object behind the combine harvester 1 while the combine harvester 1 is moving backward, the control device 20 stops the traveling device 11, causes the alarm device 24 to notify the presence of an object behind the combine harvester, and causes the light emitting device 25 to emit red light. Note that the "forward" and "backward" states include "forward" and "backward" that involve turning.

[0052] In other words, when the detection unit 2 detects that an object is present in the direction of travel of the combine 1, the control device 20 stops the running device 11, causes the alarm device 24 to notify that an object is present in the direction of travel of the machine, and causes the light-emitting device 25 to emit red light.

[0053] When sensor 2L or sensor 2R detects an object laterally outside the vehicle body, control device 20 causes alarm device 24 to notify that an object is present laterally outside the vehicle body and causes light-emitting device 25 to emit a green light (it may be yellow; the same applies below). Furthermore, when sensor 2B detects an object behind the vehicle body as the combine harvester 1 moves forward, control device 20 causes alarm device 24 to notify that an object is present behind the vehicle body and causes light-emitting device 25 to emit a green light. Furthermore, when sensor 2B detects an object ahead of the vehicle body as the combine harvester 1 moves backward, control device 20 also causes alarm device 24 to notify that an object is present ahead of the vehicle body and causes light-emitting device 25 to emit a green light.

[0054] In other words, when the detection unit 2 detects the presence of an object in a direction other than the direction of travel of the combine harvester 1, the control device 20 causes the alarm device 24 to notify the presence of an object around the machine body and causes the light emitting device 25 to emit green light. At this time, the operating or stopped states of the traveling device 11 and the harvesting unit H remain unchanged. In this way, when in automatic mode or manual mode, the control device 20 changes the operating state of at least one of the traveling device 11 and the working device in response to the detection signal output by the detection unit 2.

[0055] In this way, when in manual mode or automatic mode, the control device 20 calculates the direction in which an object is located around the aircraft based on the detection states of each of the four sensors 2F, 2B, 2L, and 2R, and causes the light-emitting device 25 to change its light-emitting mode depending on the direction.

[0056] The intensity of the detection signals from the four sensors 2F, 2B, 2L, and 2R increases as the distance to the object decreases. Therefore, in manual mode or automatic mode, the control device 20 calculates the distance between the vehicle and the object based on the detection states of the four sensors 2F, 2B, 2L, and 2R, and controls the light-emitting device 25 to change its light-emitting behavior in response to the combination of the object's direction and distance. For example, when the detection unit 2 detects the presence of an object in a direction other than the direction of travel of the combine harvester 1, the light-emitting device 25 flashes green, and the flashing interval decreases as the distance between the vehicle and the object decreases. Furthermore, when the detection unit 2 detects the presence of an object in the direction of travel of the combine harvester 1, the light-emitting device 25 flashes red, and the flashing interval decreases as the distance between the vehicle and the object decreases.

[0057] [Test mode] As described above, in the combine harvester 1 of this embodiment, work travel control is performed based on the detection results of each of the four sensors 2F, 2B, 2L, and 2R. However, if, for example, foreign matter adheres to the sensors 2F, 2B, 2L, and 2R or if the sensors 2F, 2B, 2L, and 2R malfunction, control based on normal detection results may not be performed. For this reason, in this embodiment, the control device 20 is provided with a test mode as one of multiple control modes.

[0058] In this embodiment, the control device 20 switches the control mode to the test mode, for example, at the start of use of the day. For example, when the operator starts the combine harvester 1 at the beginning of the day, the control mode of the control device 20 is initially switched to the test mode. This allows daily inspection of the sensors 2F, 2B, 2L, and 2R. In addition, for example, during a factory inspection (pre-shipment inspection, maintenance inspection, etc.) of the combine harvester 1, the control device 20 can switch the control mode to a test mode by manual operation such as button operation.

[0059] 3 and 4, the control device 20 permits switching to the manual mode or the automatic mode when it receives detection signals from all four sensors 2F, 2B, 2L, and 2R. For example, the operator may check the detection of the four sensors 2F, 2B, 2L, and 2R while walking around the machine. Alternatively, the control device 20 may permit switching to the automatic mode when it receives detection signals from all four sensors 2F, 2B, 2L, and 2R while the combine harvester 1 is moving from a storage shed to a target field.

[0060] The state in which each of the four sensors 2F, 2B, 2L, and 2R outputs a detection signal is shown in a time series graph in FIG. 3. In FIG. 3, the state in which each of the four sensors 2F, 2B, 2L, and 2R outputs a detection signal is indicated by "far" and "near," and the state in which each of the four sensors 2F, 2B, 2L, and 2R does not output a detection signal is indicated by "OFF." Also, in FIG. 1, the detection ranges of each of the four sensors 2F, 2B, 2L, and 2R are indicated by "far" and "near." "Far" means that the distance between the sensor 2F, 2B, 2L, and 2R and an object is far, and the detection strength is weak (this is referred to as "far detection"). "Near" means that the distance between the sensor 2F, 2B, 2L, and 2R and an object is close, and the detection strength is strong (this is referred to as "near detection").

[0061] 3 also shows a permission flag indicating whether switching to manual mode or automatic mode is permitted. When the permission flag is OFF, switching of the control mode to manual mode or automatic mode is not permitted. When the permission flag is ON, switching of the control mode to manual mode or automatic mode is permitted.

[0062] In the example shown in Fig. 3, sensor 2F starts outputting a detection signal at timing T11. Furthermore, sensor 2F finishes outputting the detection signal at timing T12. A series of output history from when sensor 2F starts to output the detection signal until it finishes outputting is stored as output history in memory 23. Far detection, near detection, and non-detection of sensor 2F are stored in memory 23. In other words, the series of output history of sensor 2F includes far detection, near detection, and non-detection of sensor 2F.

[0063] In the example shown in Fig. 3, the sensor 2R starts outputting a detection signal at timing T21. The sensor 2R finishes outputting the detection signal at timing T22. A series of output history from when the sensor 2R starts outputting the detection signal to when it finishes outputting is stored as an output history in the memory unit 23. The memory unit 23 stores the far detection, near detection, and non-detection of the sensor 2R. In other words, the series of output history of the sensor 2R includes the far detection, near detection, and non-detection of the sensor 2R.

[0064] In the example shown in Fig. 3, sensor 2B starts outputting a detection signal at timing T31. Furthermore, sensor 2B finishes outputting the detection signal at timing T32. A series of output history from when sensor 2B starts to output the detection signal until it finishes outputting is stored as output history in memory 23. Far detection, near detection, and non-detection of sensor 2B are stored in memory 23. In other words, the series of output history of sensor 2B includes far detection, near detection, and non-detection of sensor 2B.

[0065] In the example shown in Fig. 3, the sensor 2L starts outputting a detection signal at timing T41. The sensor 2L finishes outputting the detection signal at timing T42. A series of output history from when the sensor 2L starts to output the detection signal until it finishes outputting is stored as an output history in the memory unit 23. The memory unit 23 stores the far detection, near detection, and non-detection of the sensor 2L. In other words, the series of output history of the sensor 2L includes the far detection, near detection, and non-detection of the sensor 2L.

[0066] At timing T42, all of the four sensors 2F, 2B, 2L, and 2R have output detection signals. In other words, at timing T42, the output histories of all of the four sensors 2F, 2B, 2L, and 2R are stored in the storage unit 23. At this timing T42, the permission flag switches from OFF to ON, making it possible to switch the control mode between manual mode and automatic mode.

[0067] Explained based on the flowchart of FIG. 4, after switching the control mode to the test mode, the control device 20 performs the determination process of steps #01 to #04 shown in FIG. 4. Step #01 is a determination as to whether a series of output histories from sensor 2F has been stored in the storage unit 23. Step #02 is a determination as to whether a series of output histories from sensor 2R has been stored in the storage unit 23. Step #03 is a determination as to whether a series of output histories from sensor 2B has been stored in the storage unit 23. Step #04 is a determination as to whether a series of output histories from sensor 2L has been stored in the storage unit 23. That is, if all of steps #01 to #04 are determined to be Yes, the control device 20 switches the permission flag shown in FIG. 3 from OFF to ON (step #05).

[0068] In this way, the control device 20 allows switching to the manual mode and the automatic mode when, in the test mode, the detection histories for all of the sensors 2F, 2B, 2L, and 2R are stored in the memory unit 23. In other words, the control device 20 allows switching to the manual mode and the automatic mode when, in the test mode, the histories of far detection, near detection, and non-detection for all of the sensors 2F, 2B, 2L, and 2R are stored in the memory unit 23.

[0069] In the test mode, the control device 20 causes the alarm device 24 to issue an alarm in response to the detection signal output by the detection unit 2. In the test mode, the control device 20 causes the alarm device 24 to change the alarm mode in response to which of the four sensors 2F, 2B, 2L, and 2R has detected an object.

[0070] When the alarm device 24 is a sound output device such as a horn or a speaker, the control device 20 may be configured to change the tone of the alarm device 24 or the pattern of the voice guidance depending on which of the four sensors 2F, 2B, 2L, and 2R has detected an object. In this case, for example, the horn sounding pattern and the voice guidance pattern may be configured to have a total of eight patterns, combining four patterns (front, back, left, right) and two patterns (far and near).

[0071] Furthermore, when the alarm device 24 is a display device, the control device 20 may be configured to display on a display screen which of the four sensors 2F, 2B, 2L, and 2R has detected an object. In this case, for example, the display screen may be configured to have a total of eight display patterns, combining four patterns (front, back, left, right) and two patterns (far and near).

[0072] As described above, the strength of the detection signals from the four sensors 2F, 2B, 2L, and 2R increases as the distance to the object decreases. Therefore, if the alarm device 24 is a sound output device such as a horn or speaker, the stronger the strength of the detection signals from the sensors 2F, 2B, 2L, and 2R, the louder the volume of the alarm device 24 will be and the shorter the interval between horn sounds will be. Furthermore, if the alarm device 24 is a display device, the stronger the strength of the detection signals from the sensors 2F, 2B, 2L, and 2R, the more a picture or the like representing the object will flash or be highlighted on the display screen. That is, in the test mode, the control device 20 causes the notification device 24 to change the notification mode in accordance with the mode of the detection signal.

[0073] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

[0074] (1) Each of the four sensors 2F, 2B, 2L, and 2R may be a camera that captures visible light or an infrared light.

[0075] (2) In the above-described embodiment, the detection unit 2 is provided with four sensors, but this is not limiting. For example, the detection unit 2 may be configured with three or fewer sensors, or may be configured with five or more sensors. In other words, the detection unit 2 may be configured with multiple sensors. Also, the detection unit 2 may be configured with a single sensor.

[0076] (3) In the above-described embodiment, the working implement is the harvesting unit H, but is not limited to this embodiment. The working implement may be, for example, a corn header, a mowing implement (such as a boom mower or chopper), a plow, a mulcher, a stone picker, a seeding implement, a rake, a tedder, a towed harvesting and sorting implement, a topping implement, or a tillage management implement.

[0077] (4) The above-described light emitting device 25 may not be provided.

[0078] (5) The storage unit 23 may not store the detection history. Also, the storage unit 23 may not be provided.

[0079] (6) The "normal mode" of the present invention may be either an automatic mode or a manual mode.

[0080] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be modified as appropriate within the scope of the purpose of the present invention. [Industrial Applicability]

[0081] The present invention is applicable to work vehicles, and therefore is not limited to the general-purpose combine harvester 1 illustrated in this embodiment, but can also be applied to head-feeding combine harvesters, various harvesters (e.g., corn harvesters, sugarcane harvesters, potato harvesters, beet harvesters, carrot harvesters, etc.), tractors, rice transplanters, fertilizer management machines, self-propelled spreaders, self-propelled grass cutters, etc. [Explanation of symbols]

[0082] 2: Detection unit 2B: Sensor 2F: Sensors 2L: Sensor 2R: Sensor 20: Control device 23: Storage section 24: Alarm device 25: Light-emitting device H: Harvesting unit (working equipment)

Claims

1. A working device; An alarm device; a control device having a plurality of control modes and capable of controlling each of the working device and the notification device; a detection unit that detects an object around the aircraft and outputs a detection signal indicating that the object has been detected to the control device, the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device is caused to issue a notification in response to the detection signal being output by the detection unit, When in the test mode, the control device causes the alarm device to change the alarm mode depending on the mode of the detection signal, which includes near detection, which detects the object within a predetermined range from the detection unit, and far detection, which detects the object within a range farther away than the near detection range.

2. the detection unit has a plurality of sensors, 2. The work vehicle according to claim 1, wherein the control device, in the test mode, causes the alarm device to change the alarm mode depending on which of the sensors has detected the object.

3. A work device, An alarm device; a control device having a plurality of control modes and capable of controlling each of the working device and the notification device; a detection unit that detects an object around the aircraft and outputs a detection signal indicating that the object has been detected to the control device; a storage unit that stores the fact that the detection unit has detected the object as a detection history, the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device is caused to issue a notification in response to the detection signal being output by the detection unit, the detection history includes near detection by the detection unit that detects the object within a preset range from the detection unit, far detection by the detection unit that detects the object within a range farther than the near detection range, and non-detection by the detection unit that does not detect the object farther than the far detection range, the detection unit has a plurality of sensors, The control device allows the work vehicle to switch to the normal mode when the near detection, far detection, and non-detection are stored in the memory unit for all of the sensors when in the test mode.

4. A work device, An alarm device; a control device having a plurality of control modes and capable of controlling each of the working device and the notification device; a detection unit that detects an object around the aircraft and outputs a detection signal indicating that the object has been detected to the control device; a light emitting device, the plurality of control modes include a normal mode in which the working device is caused to change its operating state in response to the detection signal being output by the detection unit, and a test mode in which the notification device is caused to issue a notification in response to the detection signal being output by the detection unit, the detection unit has a plurality of sensors, When in the normal mode, the control device calculates the direction in which the object is located around the vehicle based on the detection states of each of the multiple sensors, and causes the light-emitting device to change its light-emitting mode depending on the direction.

5. The work vehicle of claim 4, wherein the control device, when in the normal mode, calculates the distance between the vehicle body and the object based on the detection state of each of the plurality of sensors, and causes the light-emitting device to change its light-emitting mode according to the combination of the direction and the distance.

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