Work vehicle

Abstract

To suppress deterioration in work efficiency and convenience of a work vehicle.SOLUTION: A combine 1 includes: an outside-vehicle sensor 2 for detecting a situation of a detection region A outside of a vehicle; a line of sight sensor 12a for detecting a line of sight of an operator M who is aboard on an operation part 12; and a processing part for executing processing on the basis of, output of the outside-vehicle sensor 2 and output of the line of sight sensor 12a. The processing part executes first processing in the case where it is determined that the operator M is looking at the detection region A, and executes second processing different from the first processing in the case where it is detected that the operator is not looking at the detection region A.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] The tractor disclosed in Patent Document 1 has an obstacle collision avoidance function. When an obstacle sensor detects an obstacle, the tractor executes processing such as slowing down the vehicle speed or stopping the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-192024 Summary of the Invention [Problem to be solved by the invention]

[0004] The detection range of obstacle sensors tends to be set relatively wide. This means that even if the operator visually recognizes an obstacle and determines that there is no risk of a collision, the obstacle sensor may detect an obstacle and cause the work vehicle to slow down or stop. This reduces the work efficiency and convenience of the work vehicle.

[0005] An object of the present invention is to prevent a decrease in the work efficiency and convenience of a work vehicle. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the work vehicle of the present invention has: a vehicle body, a driving unit provided on the vehicle body, and a driving unit provided on the vehicle body, Detects the situation in the detection area outside the vehicle Multiple An exterior sensor; The driving unit is provided with a gaze sensor that detects the gaze of an operator in the driver's section, and a processing unit that executes processing based on the output of the vehicle exterior sensor and the output of the gaze sensor, the detection areas of the plurality of outside-vehicle sensors are different from one another; The processing unit is configured to The vehicle exterior sensor that detected the obstacle When it is determined that the operator is looking at the detection area, a first process is executed, and the operator The vehicle exterior sensor that detected the obstacle When it is determined that the user is not looking at the detection area, a second process different from the first process is executed.

[0007] According to the above feature, different processes are executed depending on whether the operator is looking at the detection area. For example, when an external sensor detects an obstacle, if the operator is looking at the detection area, an obstacle notification process (example of a first process) is executed, and if the operator is not looking at the detection area, a deceleration process (example of a second process) is executed. In this way, according to the above feature, it is possible to prevent a decrease in the work efficiency and convenience of the work vehicle.

[0008]

[0009]

[0010] In the present invention, the line-of-sight sensor is preferably a camera provided in the driving section for capturing an image of the face of the operator.

[0011] According to the above feature, it is easy to appropriately detect the line of sight of the operator.

[0012]

[0013]

[0014] In the present invention, the vehicle exterior sensor is preferably a camera, a LiDAR, or a millimeter wave radar.

[0015] According to the above features, the situation outside the vehicle can be detected appropriately.

[0016] In the present invention, it is preferable that the first process is notification and the second process is deceleration.

[0017] According to the above features, when the operator is looking at the detection area (or an obstacle), a warning is issued without deceleration, which can prevent a decrease in the work efficiency and convenience of the work vehicle. Also, when the operator is not looking at the detection area (or an obstacle), deceleration is performed, which can reduce the possibility of a collision.

[0018] In the present invention, it is preferable to include a traveling device and a traveling control unit that controls the traveling device based on the output of the line-of-sight sensor.

[0019] According to the above feature, the operator can easily control the traveling device.

[0020] In the present invention, it is preferable that a switch that accepts manual operation is provided, and the driving control unit controls the driving device based on the output of the line-of-sight sensor when the switch is in the ON state, and does not control the driving device based on the output of the line-of-sight sensor when the switch is in the OFF state.

[0021] According to the above feature, whether or not to control the traveling device based on the output of the line-of-sight sensor is determined based on human operation, so that operation of the traveling device unintended by the operator is suppressed.

[0022] In the present invention, it is preferable to include a work device and a work control unit that controls the work device based on the output of the line-of-sight sensor.

[0023] According to the above feature, the operator can easily control the work implement.

[0024] In the present invention, it is preferable that a switch that accepts manual operation is provided, and the work control unit controls the work device based on the output of the line-of-sight sensor when the switch is in the ON state, and does not control the work device based on the output of the line-of-sight sensor when the switch is in the OFF state.

[0025] According to the above feature, whether or not to control the work implement based on the output of the line-of-sight sensor is determined based on human operation, so that operation of the work implement unintended by the operator is suppressed. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 2 is a plan view showing the detection area of ​​the combine and the external sensor. [Figure 2] FIG. 2 is a block diagram showing a configuration related to control. [Figure 3] FIG. 4 is a flowchart illustrating the operation of a processing unit. [Figure 4] FIG. 4 is a flowchart illustrating the operation of a travel control unit. [Figure 5] FIG. 4 is a flowchart illustrating the operation of the work control unit. [Figure 6] FIG. 4 is a flowchart illustrating the operation of a processing unit. DETAILED DESCRIPTION OF THE INVENTION

[0027] The following describes a standard combine harvester, which is an example of a work vehicle according to the present invention, with reference to the drawings. Note that the present invention is not limited to the following embodiment, and various modifications are possible without departing from the spirit and scope of the present invention.

[0028] As shown in FIG. 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 90.

[0029] In the following explanation, front, back, left, and right are defined based on the forward direction of the combine harvester 1. The side of the combine harvester 1 where the harvesting section H is located is the front. In Figure 1, "front" is indicated by arrow F. Similarly, "rear," "right," and "left" are indicated by arrows B, R, and L, respectively.

[0030] 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.

[0031] The driving unit 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An operator M who operates the combine harvester 1 can sit on the driving unit 12. The driving unit 12 is provided with a line-of-sight sensor 12a and a switch 12b that accepts manual operation. The line-of-sight sensor 12a and the switch 12b will be described in detail later.

[0032] The grain discharge device 18 is provided on the upper side of the grain tank 14. In addition, the satellite positioning module 90 is attached to the upper surface of the driving section 12.

[0033] The harvesting unit H is provided at the front of the combine 1. The transport unit 16 is provided behind the harvesting unit H. The harvesting unit H also includes a reaping device 15 and a reel 17. The harvesting unit H can be raised and lowered by an actuator (not shown).

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] The combine harvester 1 includes a satellite positioning module 90. The satellite positioning module 90 receives positioning signals from artificial satellites GS used in GNSS (Global Navigation Satellite Systems, such as GPS, QZSS, Galileo, GLONASS, and BeiDou). The satellite positioning module 90 then generates positioning data indicating the vehicle position of the combine harvester 1 based on the received positioning signals.

[0039] [Automatic driving of combine harvesters] The combine harvester 1 is configured to be capable of automatic driving, manual driving, and automatic steering driving in a field where crops are planted. Automatic driving includes driving while working and driving without working.

[0040] 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 80. No human operation is required during automatic driving. Manual driving is driving in which vehicle speed and steering are controlled based on human operation. Automatic steering driving is driving in which vehicle speed is controlled based on human operation, and steering is automatically controlled by the control device 80.

[0041] 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.

[0042] 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.

[0043] 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. The 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.

[0044] 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).

[0045] [External sensor] Combine 1 is the detection area outside the vehicle. 3 The vehicle is equipped with an exterior sensor 2 that detects the situation of the vehicle. Specifically, the exterior sensor 2 detects obstacles around the vehicle by emitting inspection waves, which are electromagnetic waves or sound waves, and measuring the reflected waves. In this embodiment, the exterior sensor 2 is a millimeter-wave radar, and the inspection waves and reflected waves are radio waves. The exterior sensor 2 is a measurement device that uses a ToF (Time of Flight) measurement method. The exterior sensor 2 may be a laser scanner (LiDAR). The exterior sensor 2 may be a sonar. In this case, the inspection waves and reflected waves are sound waves.

[0046] When the external sensor 2 detects an obstacle around the body of the combine harvester 1, it outputs a detection signal to the control device 80 indicating that an obstacle has been detected.

[0047] The vehicle exterior sensor 2 may be a camera. In this case, the vehicle exterior sensor 2 detects obstacles by analyzing images captured by the camera. For detecting obstacles by image analysis, it is preferable to use artificial intelligence (AI) generated by machine learning or the like.

[0048] In this embodiment, the external sensors 2 include a front sensor 2F that detects obstacles in front of the machine body, a rear sensor 2B that detects obstacles behind the machine body, a left sensor 2L that detects obstacles on the left side of the machine body, and a right sensor 2R that detects obstacles on the right side of the machine body. Obstacles around the machine body of the combine harvester 1 are detected by the four external sensors 2. Figure 1 shows the detection area of ​​the front sensor 2F. 3 The pre-detection region is 3 F, detection area of ​​rear sensor 2B 3 After detection area 3 B, Detection area of ​​right sensor 2R 3 The right detection area is 3 Detection area of ​​R and left sensor 2L 3 The left detection area is 3 L is shown.

[0049] [Gaze sensor] The combine harvester 1 includes a gaze sensor 12a that detects the gaze of an operator M seated in the driving section 12. Specifically, the gaze sensor 12a is a camera that is provided in the driving section 12 and captures an image of the operator M's face.

[0050] The gaze sensor 12a performs image analysis on the captured image to detect the gaze of the operator M. For example, the gaze sensor 12a identifies the positions of specific points (e.g., the corners of the eyes, nose, mouth, etc.) and pupils of the operator M's face in the captured image, identifies the orientation of the operator M's face from the captured image, and identifies the gaze direction of the operator M from the identified data. The gaze direction may be identified as an angle (angle or solid angle in a horizontal plane) based on the orientation of the aircraft, or as a geographical orientation (such as an angle based on east-west, north-south, or north), or as a two-dimensional or three-dimensional vector in a horizontal plane. The gaze sensor 12a outputs a detection signal indicating the gaze (gaze direction) of the operator M to the control device 80.

[0051] The gaze sensor 12a may be provided on something worn by the operator M (for example, glasses, goggles, a hat, etc.). The gaze sensor 12a may include a device for identifying the direction of the face of the operator M (for example, an IMU or a direction sensor, etc.).

[0052] The gaze sensors 12a may be fixed around the operator M in the driving section 12. For example, one gaze sensor 12a may be arranged in front of the operator M. Multiple gaze sensors 12a may be arranged around the operator M. Two gaze sensors 12a may be arranged in opposing positions across the operator M (for example, front and rear or left and right).

[0053] [Control configuration] 2, the combine harvester 1 is equipped with a system including a control device 80. The control device 80 and each element included in the control device 80 may be a physical device such as a microcomputer, or may be a functional unit in software.

[0054] The control device 80 is connected to the external sensors 2 (front sensor 2F, rear sensor 2B, left sensor 2L, and right sensor 2R) via an input interface (not shown), the satellite positioning module 90, and the line-of-sight sensor 12a. When the external sensors 2 detect an obstacle around the body of the combine harvester 1, they output a detection signal indicating the detection of the obstacle to the control device 80. The line-of-sight sensor 12a outputs a detection signal indicating the line of sight (direction of line of sight) of the operator M to the control device 80. The satellite positioning module 90 outputs a positioning signal to the control device 80.

[0055] The control device 80 is configured to be able to control the traveling device 11, the harvesting unit H, the threshing device 13, the grain discharge device 18, and the alarm device 24 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 harvesting unit H is included in the "working device" of the present invention.

[0056] The control device 80 is provided with a storage unit 89. The storage unit 89 stores software for implementing the functional units, temporary data generated by the functional units, and factory data. The storage unit 89 is, for example, a HDD or a non-volatile RAM.

[0057] The control device 80 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 90. The control device 80 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.

[0058] The position coordinates may be the position coordinates of the satellite positioning module 90 of the combine 1, the position coordinates of the front sensor 2F, or the coordinates of the center position of the harvesting section H in the left-right direction.

[0059] In this embodiment, the control device 80 has a plurality of control modes, including a manual mode, an automatic steering mode, and an automatic mode.

[0060] In the manual mode, the control device 80 controls the traveling of the combine 1 based on manual operation.

[0061] In the automatic steering mode, the control device 80 automatically controls the steering of the combine 1 based on manual operation.

[0062] In the automatic mode, the control device 80 generates a target travel route for automatic travel in the work target area on the field map. Then, in the automatic mode, the control device 80 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 80 controls the harvesting unit H and the threshing device 13 so that they perform work travel in the work target area.

[0063] [Processing section] The control device 80 includes a processing unit 81 that executes processing based on the output of the vehicle exterior sensor 2 and the output of the line-of-sight sensor 12a. 3If it is determined that the operator M is looking at the detection area, the first process is executed. 3 If it is determined that the user has not viewed the message, a second process different from the first process is executed.

[0064] When a detection signal is output from the vehicle exterior sensor 2, the processing unit 81 determines whether the operator M is in the detection area based on the output of the line-of-sight sensor 12a. 3 Specifically, the processing unit 81 determines whether the line of sight of the operator M is in the detection area of ​​the vehicle exterior sensor 2 that detected the obstacle. 3 When operator M is facing the detection area, 3 The processing unit 81 determines that the line of sight of the operator M is in the detection area of ​​the vehicle exterior sensor 2 that detected the obstacle. 3 When operator M is not facing the detection area, 3 For example, the processing unit 81 determines that the user is not looking at the detection area stored in advance in the storage unit 89. 3 The determination is made by comparing the data indicating the direction of the line of sight with the line of sight direction indicated by the output of line of sight sensor 12a.

[0065] In the example of FIG. 1, a worker W is standing in front of the combine harvester 1 as an obstacle. The front sensor 2F of the external sensors 2 detects the worker W and outputs a detection signal to the control device 80. As the operator M is looking at the worker W, the line of sight E of the operator M is directed diagonally forward to the right. The line of sight sensor 12a transmits an output indicating the direction of the line of sight E to the control device 80. The processing unit 81 determines whether the direction of the line of sight E (diagonally forward to the right) is within the front detection area of ​​the front sensor 2F. 3 Since the area is within the range of F direction (85° left and right centered on the forward direction), operator M is in the front detection area. 3 It determines that it is looking at F.

[0066] The processing unit 81 is configured to process the detection area 3Based on the determination of whether the operator M is looking at the obstacle, the first process or the second process is executed. In this embodiment, the first process is to notify the operator M. The processing unit 81 operates the notification device 24 to notify the operator M of the presence of an obstacle. The second process is to decelerate the vehicle. The processing unit 81 controls the traveling device 11 to decelerate the vehicle.

[0067] In abstract terms, the first process is a process that has little effect on driving, and the second process is a process that has a greater effect on driving. However, the combination of the first process and the second process is not limited to this.

[0068] For example, the first process is a notification, and the second process is a stop. The first process is a deceleration, and the second process is a stop. The first process is a deceleration, and the second process is a greater deceleration than the first process. The first process is a silent notification, and the second process is a sound notification. The first process is a sound notification, and the second process is a louder notification than the first process.

[0069] The operation of the processing unit 81 will be described with reference to the flowchart of FIG.

[0070] First, the outside sensor 2 detects the area outside the vehicle. 3 The situation is detected (step S101). The line-of-sight sensor 12a detects the line of sight of the operator M (step S102).

[0071] Detection Area 3 If no obstacle is detected (step S103: No), the processes of steps S101 and S102 are repeated.

[0072] Detection Area 3 If an obstacle is detected in the detection area (step S103: Yes), the processing unit 81 3 (Detection area where obstacles are detected 3 ) is viewed (step S104).

[0073] Operator M is in the detection area 3If the user is viewing the image (step S104: Yes), the processing unit 81 executes a notification (first process) (step S105).

[0074] Operator M is in the detection area 3 If the vehicle is not seeing the speed change (step S104: No), the processing unit 81 executes deceleration (second process) (step S106).

[0075] When step S105 or step S106 is completed, the processing routine is terminated. This processing routine is repeatedly executed during the operation of the combine harvester 1.

[0076] [Travel Control Unit] The control device 80 includes a travel control unit 82 that controls the travel device 11 based on the output of the line-of-sight sensor 12a. Specifically, the travel control unit 82 controls the travel device 11 so that the combine harvester 1 travels in a direction corresponding to the line-of-sight direction indicated by the output of the line-of-sight sensor 12a. For example, when the line-of-sight direction is to the right, the travel control unit 82 makes the combine harvester 1 turn right. When the line-of-sight direction is to the left, the travel control unit 82 makes the combine harvester 1 turn left. When the line-of-sight direction is upward, the travel control unit 82 increases the speed of the combine harvester 1. When the line-of-sight direction is downward, the travel control unit 82 decelerates or stops the combine harvester 1.

[0077] In this embodiment, the traveling control unit 82 controls the traveling device 11 based on the output of the line-of-sight sensor 12a when the switch 12b is in the ON state, and does not control the traveling device 11 based on the output of the line-of-sight sensor 12a when the switch 12b is in the OFF state. The switch 12b is ON while accepting a manual operation and is OFF while not accepting a manual operation. The form of the switch 12b is not limited to this. For example, the switch 12b may be one that changes state between the ON state and the OFF state each time it accepts a manual operation. The switch 12b may be a push button, a lever, or an object displayed on a touch panel display device.

[0078] The operation of the driving control unit 82 will be described with reference to the flowchart of FIG.

[0079] The line-of-sight sensor 12a detects the line of sight of the operator M (step S201).

[0080] If the switch 12b is in the OFF state (step S202: No), the processing routine ends.

[0081] If the switch 12b is in the ON state (step S202: Yes), the travel control unit 82 controls the travel device 11 based on the output of the line-of-sight sensor 12a (step S203). Then, the processing routine ends. This processing routine is repeatedly executed while the combine harvester 1 is in operation.

[0082] [Work control section] The control device 80 includes a work control unit 83 that controls the harvesting unit H (an example of a work device) based on the output of the line-of-sight sensor 12a. Specifically, the work control unit 83 controls the harvesting unit H so as to correspond to the direction of the line of sight indicated by the output of the line-of-sight sensor 12a. For example, when the line of sight is upward, the work control unit 83 raises the harvesting unit H. When the line of sight is downward, the work control unit 83 lowers the harvesting unit H.

[0083] In this embodiment, the work control unit 83 controls the harvesting unit H based on the output of the line of sight sensor 12a when the switch 12b is in the ON state, and does not control the harvesting unit H based on the output of the line of sight sensor 12a when the switch 12b is in the OFF state.

[0084] The operation of the travel control unit 82 and the work control unit 83 may be controlled depending on the state of one switch 12b. A switch 12b corresponding to the travel control unit 82 and another switch 12b corresponding to the work control unit 83 may be provided in the driving unit 12. Another switch may be provided in the driving unit 12 that specifies whether the travel control unit 82 or the work control unit 83 operates depending on the state of switch 12b.

[0085] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments. Other representative embodiments of the present invention will be described below.

[0086] (1) The processing unit 81 may be configured to execute a first process when it is determined that the operator M is looking at an obstacle, and to execute a second process different from the first process when it is determined that the operator M is not looking at an obstacle. In this embodiment, the outside sensor 2 outputs the position of the detected obstacle to the control device 80.

[0087] This will be explained in detail below. When a detection signal is output from the vehicle exterior sensor 2, the processing unit 81 determines whether or not the operator M is looking at an obstacle based on the output of the line-of-sight sensor 12a. Specifically, the processing unit 81 determines that the operator M is looking at an obstacle when the line of sight of the operator M is directed toward the obstacle detected by the vehicle exterior sensor 2. The processing unit 81 determines that the operator M is not looking at an obstacle when the line of sight of the operator M is not directed toward the obstacle detected by the vehicle exterior sensor 2. For example, the processing unit 81 makes this determination by comparing the position coordinates of the obstacle detected by the vehicle exterior sensor 2 with the line-of-sight direction indicated by the output of the line-of-sight sensor 12a.

[0088] In the example of FIG. 1, a worker W is standing in front of the combine harvester 1 as an obstacle. The front sensor 2F of the external sensors 2 detects the worker W and outputs a detection signal including position coordinates to the control device 80. As the operator M is looking at the worker W, the line of sight E of the operator M is directed diagonally forward to the right. The line of sight sensor 12a transmits an output indicating the direction of the line of sight E to the control device 80. The processing unit 81 determines that the operator M is looking at the obstacle (worker W) because the worker W is located on an extension of the direction of the line of sight E (diagonally forward to the right).

[0089] The operation of the processing unit 81 will be described with reference to the flowchart of Fig. 6. Note that the processes other than step S403 are the same as those in the flowchart of Fig. 3.

[0090] First, the outside sensor 2 detects the area outside the vehicle. 3The situation is detected (step S401). The line-of-sight sensor 12a detects the line of sight of the operator M (step S402).

[0091] Detection Area 3 If no obstacle is detected (step S403: No), the processes of steps S401 and S402 are repeated.

[0092] Detection Area 3 If an obstacle is detected (step S403: Yes), the processing unit 81 determines whether the operator M is looking at the obstacle (step S404).

[0093] If the operator M sees an obstacle (step S404: Yes), the processing unit 81 executes a notification (first process) (step S405).

[0094] If the operator M does not see the obstacle (step S404: No), the processing unit 81 executes deceleration (second process) (step S406).

[0095] When step S405 or step S406 is completed, the processing routine is terminated. This processing routine is repeatedly executed during the operation of the combine harvester 1.

[0096] (2) In the above embodiment, the combine harvester 1 includes four external sensors 2. The number of external sensors 2 may be one to three, or five or more.

[0097] (3) In the above-described embodiment, the control device 80 has a manual mode, an automatic steering mode, and an automatic mode as driving control modes. The first process and the second process may be changed depending on the control mode. For example, the first process / second process in the manual mode may be notification / deceleration, the first process / second process in the automatic steering mode may be notification / stopping, and the first process / second process in the automatic mode may be deceleration / stopping.

[0098] (4) In the above-described embodiment, a harvester (a conventional combine harvester) is exemplified as the work vehicle, and the harvesting unit H is exemplified as an example of the work device. When the work vehicle is a rice transplanter, the work device is a planting device. When the work vehicle is a tractor, the work device is various implements. [Industrial Applicability]

[0099] The present invention is applicable to work vehicles. That is, the present invention is not limited to the general-purpose combine harvester 1 exemplified 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]

[0100] 2: Outside vehicle sensor 2B: Rear sensor 2F: Front sensor 2L: Left sensor 2R: Right sensor 11: Running gear 12: Driving section 12a: Eye sensor 12b: Switch 81: Processing section 82: Driving control unit 83: Work control section 3 :Detection area E: Gaze H: Harvesting unit (working equipment) M: Operator W: Worker (obstacle)

Claims

1. A vehicle body, A driving unit provided on the vehicle body; a plurality of outside sensors provided on the vehicle body for detecting conditions in a detection area outside the vehicle; a line-of-sight sensor provided in the driving section and configured to detect the line of sight of an operator seated in the driving section; a processing unit that executes processing based on the output of the vehicle exterior sensor and the output of the line-of-sight sensor, the detection areas of the plurality of outside-vehicle sensors are different from one another; The processing unit executes a first process when it determines that the operator is looking at the detection area corresponding to the external sensor that detected the obstacle, and executes a second process different from the first process when it determines that the operator is not looking at the detection area corresponding to the external sensor that detected the obstacle.

2. 2. The work vehicle according to claim 1, wherein the line-of-sight sensor is a camera provided in the driver's section for capturing an image of the face of the operator.

3. The work vehicle according to claim 1 , wherein the external sensor is a camera, LiDAR, or millimeter-wave radar.

4. 2. The work vehicle according to claim 1, wherein the first process is a warning and the second process is deceleration.

5. Running gear and The work vehicle according to claim 1 , further comprising: a travel control unit that controls the travel device based on an output of the line-of-sight sensor.

6. Equipped with a switch that accepts manual operation, 6. The work vehicle according to claim 5, wherein the travel control unit controls the travel device based on the output of the line-of-sight sensor when the switch is in the ON state, and does not control the travel device based on the output of the line-of-sight sensor when the switch is in the OFF state.

7. A working device; The work vehicle according to claim 1 , further comprising: a work control unit that controls the work device based on an output of the line-of-sight sensor.

8. Equipped with a switch that accepts manual operation, 8. The work vehicle according to claim 7, wherein the work control unit controls the work device based on the output of the line-of-sight sensor when the switch is in an ON state, and does not control the work device based on the output of the line-of-sight sensor when the switch is in an OFF state.

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