Work vehicles

Abstract

To provide a work vehicle capable of automatically traveling between farm fields, in which an obstacle sensor can execute proper sensing according to the situation.SOLUTION: There is provided a work vehicle 1 comprising: a plurality of obstacle sensors 2 which is installed on the work vehicle, and can detect obstacles which exist in the surroundings of the work vehicle, for example, in the front and on the sides of the work vehicle; scheduled travel path state determination means C1A which mounts a camera 30 on the work vehicle 1 and determines a state of a scheduled travel path on the basis of imaging data. When presence / absence of plants and an overgrowth state of plants are determined on the scheduled travel path, and if it is determined that an amount of plants is large, detection sensitivity of the obstacle sensors 2 is lowered.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work vehicle for controlling a work vehicle, and particularly relates to an obstacle detection control system. [Background Art]

[0002] Among work vehicles that perform work traveling through automatic driving, a work vehicle that automatically moves to another farm field after completing work is publicly known. Further, a configuration is publicly known in which a tractor is provided with an obstacle sensor 2 for detecting surrounding obstacles, and is capable of detecting surrounding obstacles such as those in front and to the side (Patent Document 1). [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2022-78440 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, the environment around the vehicle differs greatly between when working and traveling in a farm field and when traveling on a farm road. Therefore, if the vehicle travels on a farm road with the arrangement and detection range of the obstacle sensors set for traveling in the farm field, or travels in the farm field with the arrangement and detection range of the obstacle sensors set for traveling on the farm road, unnecessary stops may occur.

[0005] An object of the present invention is to provide a work vehicle that automatically moves between farm fields, in which an obstacle sensor can perform appropriate sensing in accordance with the situation. [Means for Solving the Problem]

[0006] The above problems of this invention are solved by the following solution. The invention described in claim 1 includes an obstacle sensor (2) installed in multiple locations on a work vehicle (1) and configured to detect obstacles in the surroundings, such as in front or to the side, and a planned route condition determination means (C1A) mounted on the work vehicle (1) which determines the condition of the planned route based on the image data. The planned route condition determination means (C1A) determines whether there are many plants on the planned route based on predetermined criteria. If there are many plants, the detection sensitivity of the obstacle sensor (2) will be set to be lower. This was the structure.

[0007] The invention described in claim 2 is configured to provide a driving mode switching switch 31 for switching between field driving mode and road driving mode in the invention described in claim 1, and to reduce the detection sensitivity of the obstacle sensor 2 when in field driving mode. [Effects of the Invention]

[0008] According to the invention described in claim 1, obstacles can be detected appropriately by automatically adjusting to avoid misidentifying plants such as weeds as obstacles.

[0009] According to the invention described in claim 2, in addition to the effects described in claim 1, since driving in a field may cause false detection of weeds and the like, and the driving speed is slow, the sensitivity can be reduced to properly detect obstacles. [Brief explanation of the drawing]

[0010] [Figure 1] This is an explanatory diagram of a control system for a work vehicle according to an embodiment of the present invention. [Figure 2] This is an explanatory diagram of an example of a field where work is performed using the control system for the work vehicle according to the above embodiment. [Figure 3] This is an explanatory diagram of the control unit of the control system for the work vehicle according to the same embodiment as above. [Figure 4] This is a plan view showing an example of obstacle sensor placement. [Figure 5] (A) A schematic diagram showing the millimeter-wave radar detection status, and (B) A graph of the detected reflectance intensity. [Figure 6] This is a flowchart. [Figure 7] (A) An explanatory diagram of the state before selecting a field, (B) An explanatory diagram of the state after selecting a field, and (C) An explanatory diagram of the state after setting the boundaries of the farm. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described below with reference to the drawings. In Figure 1, the control system S for a work vehicle according to an embodiment of the present invention has a tractor 1 as an example of a work vehicle. The tractor 1 is a work vehicle that can perform tilling, plowing, leveling, sowing, fertilizing, etc., by changing the implement attached to the rear. Tractor 1 is equipped with obstacle sensors 2 that detect obstacles in the surrounding area. Multiple obstacle sensors 2 are installed on tractor 1 and are configured to detect obstacles in the surrounding area, such as in front and to the sides. The obstacle sensors 2 can be any conventionally known type, such as those that use light reflection, sound waves, or cameras to detect obstacles through image analysis.

[0012] Furthermore, the tractor 1 is equipped with a GPS device 3 as an example of a positioning device. The GPS device 3 can determine its own position by communicating with GPS satellites 4. In the control system S of the work vehicle of this embodiment, there are multiple tractors 1, and each tractor 1 is equipped with an obstacle sensor 2 and a GPS device 3. Tractor 1 is connected to server 6, which is an example of an information processing device, via a communication line such as a mobile phone line or an internet line.

[0013] Furthermore, server 6 is connected via a communication line to tablet terminal 7, which is an example of an information processing device. Tablet terminal 7 is configured to allow workers to view and input displayed information.

[0014] Fig. 2 is an explanatory diagram of an example of a farm field where work is performed by the work vehicle control system according to the embodiment. In Fig. 2, in the work vehicle control system S according to the embodiment, a tractor 1 autonomously travels within a farm (including a plurality of farm fields 8 and a farm road 9 as an example of an inter-field movement section). A sign 10 indicating a boundary is installed at the boundary between a range A1 where the tractor 1 performs autonomous traveling and a range A2 where the tractor 1 does not perform autonomous traveling. In the embodiment, the sign 10 is installed on the farm road 9 at the boundary of the farm (farm fields 8 + farm road 9). As an example, the sign 10 can be in a form like a so-called standing signboard or triangular cone, and is preferably in a form that can be installed by an operator at the boundary of the range where the tractor 1 moves on a working day. Note that the form of the sign 10 is not limited to the illustrated forms, and can be any form such as a road sign whose base is embedded in the farm road.

[0015] Further, the sign 10 of the embodiment is provided with a GPS device (not shown) as an example of a second positioning device. The GPS device of the sign 10 acquires information on the current position of the sign 10, and can transmit the position information to the server 6 via a communication line. Note that, when the sign 10 is detected by the obstacle sensor 2, the tractor 1 of the embodiment regards the sign 10 as an obstacle and stops, thereby preventing the tractor 1 from moving outside the sign 10.

[0016] (Description of Control Unit) Fig. 3 is an explanatory diagram of a control unit of the work vehicle control system according to the embodiment. In Fig. 3, the control unit Ca of the tractor 1, which is an example of a control means, the control unit Cb of the server 6, and the control unit Cc of the tablet terminal 7 include an input / output interface I / O that performs signal input / output and the like with the outside. Each of the control units Ca to Cc further includes a ROM (read-only memory) that stores programs, information and the like for performing necessary processing. Each of the control units Ca to Cc also includes a RAM (random access memory) that temporarily stores necessary data. Each of the control units Ca to Cc further includes a CPU (central processing unit) that performs processing in accordance with a program stored in the ROM or the like. Therefore, the control units Ca to Cc according to the embodiment are configured by an information processing device, that is, a so-called computer. Accordingly, the control units Ca to Cc can realize various functions by executing programs stored in the ROM or the like.

[0017] (Signal input elements connected to the control unit Ca of the tractor 1) In Fig. 3, signals from the obstacle sensor 2, the GPS device 3, and other unillustrated signal input members are input to the control unit Ca of the tractor 1.

[0018] The obstacle sensor 2 detects obstacles around the tractor 1. The obstacle sensor 2 is disposed on the front portion and the left and right side portions of the tractor 1, and is, for example, a millimeter wave radar (Fig. 4).

[0019] The GPS device 3 measures the position of the tractor 1. (Controlled elements connected to the control unit Ca of the tractor 1) The control unit Ca of the tractor 1 outputs control signals to the engine 11, the steering wheel 12, the brake 13, the work implement 14 of the tractor 1, and other unillustrated controlled elements.

[0020] (Description of the control unit Ca of the tractor 1) The control unit Ca of the tractor 1 has the following functions (functional means, program modules).

[0021] The obstacle detection means C1 detects obstacles based on the detection results of the obstacle sensor 2. Specifically, the millimeter-wave radar 2 positioned on the front and left and right sides of the tractor 1 is a known configuration that estimates the distance to the object by irradiating it with millimeter-wave radio waves, detecting the reflected radio waves, and measuring the time it takes for the waves to travel back and forth. The positioning means C2 measures the position of the tractor 1 based on the positioning results of the GPS device 3.

[0022] Communication means C3 transmits and receives information with server 6, i.e., communicates. In this embodiment, communication means C3 transmits to server 6 the results of obstacle detection, location information of tractor 1, and status of tractor 1 (working, moving, stopped, etc.), and receives from server 6 the location information of the next field to be worked on, the work area and work details in the field, and instructions for moving or stopping.

[0023] The driving control means C4 includes a deviation detection means C4A and controls the engine 11, steering wheel 12, brakes 13, etc. of the tractor 1 to control the movement of the tractor 1. In Figure 2, when the server 6 issues an instruction to move to a target field 8, the driving control means C4 of the embodiment drives the tractor 1 to move to the target field 8 along the movement path 22 transmitted from the server 6 (inter-field movement mode). Also, when the server 6 issues an instruction to work within the field 8, the tractor 1 is controlled to move along the work path 23 transmitted from the server 6 (work mode). When the server 6 issues an instruction to stop and wait, the tractor 1 is stopped (standby mode). Furthermore, when the server 6 issues an instruction to move to a specific waiting position 24 and wait, the tractor 1 is moved to the waiting position 24 and then stopped. In this embodiment, if the obstacle detection means C1 detects an obstacle, the driving control means C4 stops the tractor 1 (abnormal stop, emergency stop) and has it wait in place (abnormal stop mode).

[0024] Here, the obstacle detection means C1 will be explained in detail. The millimeter-wave radar, acting as the obstacle sensor 2, is configured to estimate the presence or absence of an obstacle by comparing the detected radio wave reflection intensity with a set threshold. When the millimeter-wave radar receives an obstacle S on the ground G where weeds and other plants (hereinafter referred to as weeds) Z are growing, the reflection intensity D is as shown in Figure 5. If we try to determine the obstacle S using a constant threshold α, some of the weeds Z will be mistakenly identified as obstacles S, making it difficult to identify the true obstacle. As a countermeasure, a CFAR threshold β is adopted. CFAR is a common technique that dynamically changes the optimal threshold. In other words, CFAR reduces the detection sensitivity of the millimeter-wave radar.

[0025] Using millimeter-wave radar as the obstacle sensor 2 for tractor 1 has the effect of reliably recognizing obstacles even in the presence of rain, fog, or dust, making it ideal for tractor 1 working in the field and preventing it from stopping due to false detections, thus reducing work efficiency. Furthermore, CFAR can detect only signal points with outstanding reflection intensity by referring to the surrounding intensity values ​​of the millimeter-wave radar's reflection intensity. Therefore, by enabling the CFAR threshold β in environments with many weeds in the field, the problem of tractor 1 stopping due to false detections and reducing work efficiency can be solved.

[0026] The tractor 1 is equipped with a camera 30 capable of capturing images of the area in front of it, and has a planned route condition determination means C1A that determines the condition of the planned route based on the captured data. This means determines whether the planned route for the tractor 1 is within a field or on a farm road, whether it is a paved road or an unpaved road, and the condition of weed growth.

[0027] Next, an example of the state determination of the planned travel path state determination means C1A and millimeter-wave radar threshold selection control will be explained based on the flowchart in Figure 6. The imaging data from camera 30 is input, and it is determined whether or not the planned travel path immediately before tractor 1 is a field (S101). If it is determined to be YES (field 8), the presence and density of weeds are determined (S103, S104). If it is determined to be "weeds present, many weeds", the CFAR is switched to the "enabled" side (S105), and the CFAR threshold β is set (S106). Subsequently, millimeter-wave radar detection data is input and compared with the CFAR threshold β. If the detection data exceeds this CFAR threshold, it is determined that there is an obstacle, and the system enters abnormal stop mode (tractor 1 stops traveling, implement stops) (S107~S110).

[0028] By enabling the CFAR threshold β, the millimeter-wave radar can detect only signal points with exceptionally high reflection intensity, based on the surrounding intensity values. This reduces the likelihood of misidentifying dense weeds as obstacles, preventing tractor malfunctions due to false detections and thus avoiding a decrease in work efficiency.

[0029] If it is determined in S102 that it is NO (farm road 9), it is determined whether it is a paved or unpaved road (S111), and if it is a paved road, it is switched to the CFAR "disabled" side (S112). Therefore, it is set to the constant threshold α (S113). Subsequently, millimeter-wave radar detection data is input and compared with the constant threshold α, and if the detection data exceeds this constant threshold α, it is determined that there is an obstacle and the system enters abnormal stop mode (tractor 1 stops moving, implement stops) (S114~S117).

[0030] Furthermore, if the S104 indicates "weeds are present" but the growth status is determined to be NO ("weeds present, few weeds"), the process proceeds to S112, and the CFAR is switched to the "invalid" side.

[0031] Furthermore, if the road is determined to be unpaved in S111, the process proceeds to S103, where the presence and extent of weed growth are determined (S103, S104).

[0032] When driving on paved roads, where there are fewer weeds and other obstacles, safety can be ensured by setting a constant threshold α to reliably detect reflectivity above a specified value, rather than dynamically changing the threshold for detecting reflectivity.

[0033] As described above, the CFAR threshold β is enabled only when necessary, meaning that the sensor sensitivity of the obstacle sensor 2 is reduced, thereby reducing false detections and enabling safer detection during stable driving with relatively few disturbances (such as on paved roads).

[0034] In the example shown in Figure 6, the switching between enabling and disabling CFAR was performed automatically, but a configuration that allows for manual switching is also possible. In fields with relatively few weeds, safety can be enhanced by visually checking and switching CFAR back to disabled even after it has been enabled.

[0035] Furthermore, although the system in S102 is configured to determine whether the vehicle is traveling in a field or on a farm road based on camera imaging, it may also be possible to provide a driving mode switching switch 31 to switch between field driving mode and road (farm road) driving mode, and to enable or disable CFAR based on the switching status. In a field, there is a possibility of false detection of weeds and the driving speed is slow, so it is better to enable CFAR and lower the detection sensitivity.

[0036] Furthermore, in the above example, the system was configured to select whether to enable or disable CFAR depending on whether the road is paved or unpaved in S111. However, it is also possible to configure the system to adjust the CFAR parameters, i.e., the amount of change Δβ of the threshold β according to the reflectance. For example, the CFAR threshold β in Figure 5 can be lowered for paved roads and left unchanged or raised for unpaved roads. It is also effective to adjust these parameters based on the driving speed during road (farm road) driving mode. Since the up-down, left-right movement of the tractor 1 itself changes according to the vehicle speed, optimal obstacle detection can be achieved by changing the parameters accordingly. The obstacle detection means C1 has the following functions. That is, the obstacle detection area and detection conditions are different when driving in a field and when driving on a farm road. For example, the obstacle detection area when driving on a farm road is set based on vehicle information, implement information, vehicle movement status and farm information, and is different from when driving in a field. Here, vehicle information includes vehicle dimensions, implement information includes the dimensions of the attached implement, vehicle movement information includes vehicle speed, front wheel steering angle, and forward / reverse movement information, and farm information includes road width, terrain information, road gradient information, and field entrance information.

[0037] The deviation detection means C4A determines whether the tractor 1 has deviated from the travel path 22 or work path 23, which are examples of predetermined paths. In the embodiment, if the tractor 1 has deviated from the paths 22 or 23, the deviation detection means C4A determines, based on information about the current position of the tractor 1 and information about the shape of the field 8, whether the tractor 1 will move in a way that crosses the boundary line between the field 8 and the farm road 9 (the outer perimeter of the field 8). In other words, it determines whether the tractor 1 traveling in the field 8 is about to enter the farm road 9, or whether the tractor 1 traveling on the farm road 9 is about to enter the field 8.

[0038] The driving control means C4 controls the steering wheel 12, etc., to return the tractor 1 to paths 22, 23 if it deviates from the paths 22, 23 and does not move to cross the boundary line between the field 8 and the farm road 9. Also, if the obstacle detection means C1 detects an obstacle while the tractor 1 is traveling on the field 8 and the farm road 9, the driving control means C4 stops the tractor 1 (abnormal stop), and if it enters abnormal stop mode, it transmits information to the server 6 via the communication means C3. The implement control means C5 controls the implement to perform work in the field 8. In this embodiment, the implement control means C5 activates the implement to perform work when the tractor 1 enters the work area 25 transmitted from the server 6. Then, if the tractor 1 moves outside the work area 25, the implement is stopped. If the implement is a tiller or plow, the implement is lowered when working and raised when not working. In this embodiment, the work machine control means C5 stops the work machine (abnormal stop, emergency stop) when the obstacle detection means C1 detects an obstacle.

[0039] (Signal input element connected to the control unit Cc of the tablet device 7) In Figure 3, the control unit Cc of the tablet terminal 7 receives signals from a touch panel 7a, which is an example of a display unit and an example of an input unit, and other signal input members (not shown). The touch panel 7a detects the position touched by the operator's finger.

[0040] (Controlled element connected to the control unit Cc of the tablet terminal 7) The control unit Cc of the tablet terminal 7 outputs control signals to the touch panel 7a and other controlled elements (not shown). The touch panel 7a displays an image in response to the control signals sent from the server 6 and the control unit Cc.

[0041] (Explanation of the control unit Cc of tablet device 7) The display control means C11 controls the touch panel 7a to display images. The touch panel 7a can display images showing the working status of the tractor 1, images for setting the work plan of the tractor 1 (field to be worked on, content of work, work range, work route, etc.), and images to notify of abnormal situations such as abnormal stopping of the tractor 1.

[0042] Figure 7 is an explanatory diagram of an example of the farm's scope, including fields and inter-field movement sections, in the embodiment. Figure 7(A) is an explanatory diagram of the state before field selection, Figure 7(B) is an explanatory diagram of the state after field selection, and Figure 7(C) is an explanatory diagram of the state after the farm's scope has been set. In Figure 7, when selecting the scope of the fields 8 to be worked on in the work plan, the field selection image 26 shown in Figure 7(A) is displayed as an example. The field selection image 26 displays map images of multiple fields 8. When a worker selects a field 8 in the field selection image 26, the color of the selected field 8 changes, as shown in Figure 7(B). Once the selection of fields 8 is complete, an outer frame line 27 surrounding all fields 8 is automatically created, as shown in Figure 7(C), and the outer frame line 27 represents the scope of the farm (fields 8 + farm roads 9). In essence, the selected fields 8 are grouped together.

[0043] Furthermore, it is possible to register multiple groups of these field 8s according to differences in work timing and the types of plants planted in the fields, allowing workers to easily set the scope of work to be performed on the day by selecting from the registered groups. It is preferable to register these groups on the server 6 rather than the tablet terminal 7. In addition, if there are unselected field 8s inside the outer border 27 after the outer border 27 has been generated, it is possible to display a confirmation message to the worker such as, "Are you sure you want to proceed even though this field 8 is not selected?"

[0044] The input detection means C12 detects the input content based on the detection result of the finger touching the touch panel 7a and the displayed image. Communication means C13 communicates with server 6. In this embodiment, communication means C13 transmits work plan information entered on touch panel 7a to server 6 and receives work status information and abnormal situation information transmitted from server 6.

[0045] (Description of the control unit Cb of Server 6) The control unit Cb of server 6 has the following functions (function means, program modules): The field information storage means C21 stores information about field 8. In this embodiment, the field information storage means C21 stores field information (farm information) including the location information of field 8, the shape information of field 8, the location information of the field entrance / exit 31, and information about the farm road 9 which is the section between fields 8. The work plan storage means C22 stores the work plan for the field using tractor 1. In this embodiment, the work plan storage means C22 stores the range of the farm (field 8 + farm road 9) where the work will be performed, the content of the work to be performed in each field 8, the work range, and the work route as part of the work plan. The work content stored includes tasks such as tilling, leveling, and sowing performed in field 8. Furthermore, a specific area within the field 8 (including the entire field) set on the tablet terminal 7 is stored as the work area 25. In addition, the path that the tractor 1 will take is stored as the work path 23. The work path 23 can be manually entered by the operator from the tablet terminal 7, or it can be configured so that the software automatically creates a work path 23 that the implement 14 will take, according to the size and shape of the set work area 25.

[0046] Therefore, as an example, when tilling, leveling, and sowing operations are to be performed in a field 8(8A), the work plan is stored that a tractor 1(1A) equipped with a tilling implement 14, a tractor 1(1B) equipped with a leveling implement 14, and a tractor 1(1C) equipped with a sowing implement 14 will enter the field in order and perform the work according to the work area 25 and work path 23 set for each operation.

[0047] As another example, the system stores turn signal start and stop points along with intersection information in the farm road 9 information for the inter-field movement section, and outputs a turn signal flashing or stop output when the tractor 1 reaches each point. Furthermore, if the tractor 1 is stopped due to obstacle detection, the system is configured to output a brake light illumination output and a hazard light flashing output.

[0048] Communication means C23 communicates with tractor 1, tablet terminal 7, and signpost 10. Communication means C23 receives information from tractor 1 such as the tractor 1's current location and current work status (work mode, standby mode, etc.), and transmits information to tractor 1 such as information about the next field 8 to be headed to, standby, and instructions on the content of the work to be performed in field 8. In addition, communication means C23 receives input information of the work plan from tablet terminal 7 and transmits work status information to tablet terminal 7. Furthermore, communication means C23 receives location information of signpost 10 from signpost 10.

[0049] The work vehicle position acquisition means C24 acquires position information for each tractor 1 based on the position information transmitted from the tractor 1.

[0050] The work instruction means C25, based on the implements 14 equipped on each tractor 1 and the work plan to be carried out in each field, transmits information to each tractor 1 regarding the next target field 8 to be worked on, the travel route 22 to field 8, and the work to be performed in field 8 (work area 25, work route 23), and instructs the tractor to carry out the work.

[0051] The work vehicle status acquisition means (abnormal stop detection means) C26 acquires the work status of each tractor 1 based on location information and work status (work mode, etc.) information transmitted from each tractor 1. For example, it acquires work status such as: one tractor 1A is in work mode in field 8, another tractor 1B is in inter-field movement mode and its current location is at a location detected by GPS device 3, and yet another tractor 1C is waiting at a location detected by GPS device 3. In this embodiment, if the work vehicle status acquisition means C26 receives information from tractor 1A indicating an abnormal stop mode, it determines that tractor 1A is in an abnormal stop state and causes the tablet terminal 7 to transmit information that tractor 1A is in an abnormal stop state via the communication means C23. Furthermore, it is desirable to save the location information and work status history data of tractor 1 so that other tractors 1 can refer to it when moving on to the next task. It is desirable to retain the history data for a predetermined period and discard data as the predetermined period expires to prevent the amount of data from becoming excessive. However, it is desirable to save the information on abnormal stop modes separately as an error history without discarding it in order to prevent recurrence and investigate the cause. The sign position confirmation means C27 confirms the position of sign 10. In this embodiment, the sign position confirmation means C27 acquires the location information of sign 10 via the communication means C23 when any of the tractors 1 enter inter-field movement mode. Then, based on the location information of sign 10 and the information on the range of the farm (field 8 + farm road 9) in the work plan, it is determined whether the position of sign 10 is within a predetermined range (for example, within a distance of 1m) from the outer edge of the farm (field 8 + farm road 9). If the position of sign 10 is within a predetermined range from the outer edge of the farm (field 8 + farm road 9), it is determined that the position of sign 10 is not a problem. On the other hand, if the position of the marker 10 is outside a predetermined range from the outer edge of the farm (field 8 + farm road 9), it is determined that the position of the marker 10 is inappropriate. If it is determined that the position of the marker 10 is inappropriate, the marker position confirmation means C27 instructs the tractor 1 in inter-field movement mode to stop via the communication means C23, and also notifies the tablet terminal 7 that the position of the marker 10 is inappropriate.

[0052] In the control system S for work vehicles of the embodiment having the above configuration, each tractor 1 moves autonomously to perform work according to the work plan. In this embodiment, if a tractor 1 deviates from the paths 22 and 23 and crosses the boundary line between the field 8 and the farm road 9 from the inside to the outside of the field 8, the deviation is so large that the tractor 1 working in the field 8 will go outside the field 8, so for safety reasons, the movement of the tractor 1 is stopped. Also, if a tractor 1 traveling on the farm road 9 enters the field 8, it is assumed that the tractor 1 has temporarily entered the field 8 side due to unevenness in the farm road 9 or passing another tractor 1, and the movement of the tractor 1 is continued. Therefore, the tractor 1 traveling on the farm road 9 continues to move without stopping, and movement between fields is smoother compared to when it stops. Thus, safety can be ensured while multiple work vehicles work autonomously.

[0053] In the above embodiment, the configuration is illustrated in which each process is performed in a distributed manner by the control units Ca to Cc of the tractor 1, tablet terminal 7, and server 6, but the system is not limited to this. For example, it is also possible to configure the system so that all processes are performed collectively by the server 6, or to configure the system so that some of the processes that were performed by the server 6 are performed by the tractor 1. [Explanation of Symbols]

[0054] 1. Tractor (work vehicle) 2 Obstacle Sensor 30 Cameras 3. 1. Driving mode selector switch C1A Planned Route Condition Determination Method

Claims

1. The work vehicle (1) is equipped with multiple obstacle sensors (2) configured to detect obstacles in the surrounding area, such as in front and to the sides, and the work vehicle (1) is equipped with a camera (30) and a planned route condition determination means (C1A) that determines the condition of the planned route based on the image data. The planned route condition determination means (C1A) determines whether there are many plants on the planned route based on predetermined criteria, A work vehicle characterized in that, when there are many plants, the detection sensitivity of the obstacle sensor (2) is set to be lower.

2. The work vehicle according to claim 1, further comprising a driving mode switching switch (31) for switching between field driving mode and road driving mode, and configured to reduce the detection sensitivity of the obstacle sensor (2) when in field driving mode.

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