Technical field
[0001]
The present invention relates to a work vehicle equipped with a lighting.
Background technology
[0002]
Conventionally, a work vehicle disclosed in Patent Document 1 is known.
The work vehicle disclosed in Patent Document 1 controls a camera element that photographs the surroundings of the vehicle, an illuminance sensor that detects the illuminance in the photographing direction of the camera element, and a lighting device that illuminates the photographing direction of the camera element. It is equipped with a camera module control unit. The camera module control unit includes a lighting device automatic lighting means for automatically turning on the lighting device when the detected illuminance of the illuminance sensor is lower than a predetermined illuminance.
Prior art literature
Patent documents
[0003]
Patent Document 1: Japanese Patent Publication "Japanese Patent Laid-Open No. 2014-63699"
Outline of the invention
Problems to be solved by the invention
[0004]
If the work vehicle is a vehicle that automatically travels along the target travel route, the operator must check whether there is an obstacle in the direction of the destination by looking at the image of the in-vehicle camera at a position away from the vehicle. There are things that must be done. However, in the above disclosed technology, the image of the camera becomes unclear due to the excess or deficiency of the illuminance by the lighting device, and there is a possibility that the confirmation by the operator becomes insufficient during automatic driving. Further, when the vehicle changes direction, it is difficult to properly illuminate the direction of the destination after the change of direction in advance, and there is a possibility that the confirmation of the operator is insufficient.
[0005]
The present invention has been made in view of the above circumstances, and in a work vehicle that automatically travels along a target travel route, an operator can move on the target travel route by performing appropriate lighting during automatic travel. It provides a work vehicle that can reliably confirm the presence or absence of obstacles.
Means to solve problems
[0006]
The work vehicle according to one aspect of the present invention includes a traveling vehicle body that automatically travels along a target traveling route, a plurality of lighting vehicles provided on the traveling vehicle body that illuminate different directions, and the illumination lights during the automatic traveling. It is equipped with a control device that changes the control related to lighting.
Further, before the traveling vehicle body changes direction, the control device turns on an illumination lamp that illuminates the destination direction after the direction change among the plurality of illumination lamps based on the target traveling route.
[0007]
Further, a camera provided on the traveling vehicle body and taking a picture of the surroundings of the traveling vehicle body, an evaluation unit for evaluating the sharpness of the image taken by the camera, and a display device for displaying the image taken by the camera. , The control device changes the control regarding the lighting of the illumination lamp based on the sharpness evaluated by the evaluation unit.
Further, the control device selects and lights one or a plurality of lighting lamps among the plurality of lighting lamps that illuminate the shooting direction of the camera based on the sharpness evaluated by the evaluation unit.
[0008]
Further, the control device changes the illuminance of the illumination lamp that illuminates the shooting direction of the camera based on the sharpness evaluated by the evaluation unit.
Further, the control device includes a storage unit that stores a plurality of lighting patterns that define a combination of a lighting lamp that is turned on and a lighting lamp that is turned off among the plurality of lighting lamps, and the storage unit based on the target traveling route. It has a lighting pattern selection unit for selecting a lighting pattern that illuminates the destination direction after the direction of the traveling vehicle body is changed among the lighting patterns stored in.
[0009]
Further, an illuminance sensor for measuring the illuminance around the traveling vehicle body is provided, and the lighting pattern selection unit selects the lighting pattern based on the illuminance measured by the illuminance sensor.
Further, the control device includes a camera provided on the traveling vehicle body and taking a picture of the surroundings of the traveling vehicle body, and a display device for displaying an image taken by the camera, and the control device has an illuminance measured by the illuminance sensor. It has an image quality prediction unit that predicts the image quality of the image displayed on the display device based on the above, and the lighting pattern selection unit has an image quality predicted by the image quality prediction unit that is suitable for recognizing an object to be photographed. The lighting pattern is selected so as to satisfy the predetermined conditions.
[0010]
Further, the vehicle includes a cabin mounted on the traveling vehicle body, and the lighting includes a plurality of work lights mounted on the upper part of the cabin.
Further, the lighting includes a plurality of headlights attached to the front portion of the traveling vehicle body.
Further, the display device is a mobile terminal that can be arranged at a position away from the traveling vehicle body.
The invention's effect
[0011]
According to the above-mentioned work vehicle, in a work vehicle that automatically travels along a target travel route, the control device can change the control related to the lighting of the lighting during the automatic travel, so that the worker can change the control regarding the lighting of the lighting during the automatic travel. Appropriate lighting that can surely confirm the presence or absence of the above obstacles can be performed.
A brief description of the drawing
[0012]
FIG. 1 is a side view showing an embodiment of a work vehicle according to the present invention.
FIG. 2 is a plan view showing an embodiment of a work vehicle according to the present invention.
FIG. 3A is a plan view showing an example (first lighting pattern) of a lighting pattern of an illuminating lamp.
FIG. 3B is a plan view showing an example (second lighting pattern) of a lighting pattern of an illuminating lamp.
FIG. 3C is a plan view showing an example (third lighting pattern) of a lighting pattern of an illuminating lamp.
FIG. 3D is a plan view showing an example (fourth lighting pattern) of a lighting pattern of an illuminating lamp.
FIG. 3E is a plan view showing an example of a lighting pattern of an illuminating lamp (fifth lighting pattern).
FIG. 3F is a plan view showing an example of a lighting pattern of an illuminating lamp (sixth lighting pattern).
FIG. 3G is a plan view showing an example of a lighting pattern of an illuminating lamp (seventh lighting pattern).
FIG. 3H is a plan view showing an example (eighth lighting pattern) of a lighting pattern of an illuminating lamp.
FIG. 4 is a block diagram showing a schematic configuration of a control system for a work vehicle according to the present invention.
[Fig. 5] Fig. 5 is a diagram showing an example of a target traveling route set in a field.
[Fig. 6] Fig. 6 is a diagram showing an example of a lighting pattern table.
[Fig. 7] Fig. 7 is a diagram showing an example of a mapping table.
[Fig. 8] Fig. 8 is a diagram showing another example of a mapping table.
[Fig. 9] Fig. 9 is a diagram showing still another example of a mapping table.
FIG. 10A is a diagram showing an example of a captured image displayed on the screen of a display device.
[FIG. 10B] FIG. 10B is a diagram showing an example of a captured image displayed on the screen of a display device.
[FIG. 10C] FIG. 10C is a diagram showing an example of a captured image displayed on the screen of a display device.
[Fig. 10D] It is a figure which shows an example of the photographed image displayed on the screen of a display device.
[Fig. 10E] Fig. 10E is a diagram showing an example of a captured image displayed on the screen of a display device.
[Fig. 10F] It is a figure which shows an example of the photographed image displayed on the screen of a display device.
[Fig. 10G] It is a figure which shows an example of the photographed image displayed on the screen of a display device.
FIG. 11A is an explanatory diagram of a change in control regarding lighting of an illuminating lamp by a control device.
[Fig. 11B] Fig. 11B is an explanatory diagram of a change in control regarding lighting of an illuminating lamp by a control device.
[Fig. 11C] Fig. 11C is an explanatory diagram of a change in control regarding lighting of an illuminating lamp by a control device.
[Fig. 11D] Fig. 11D is an explanatory diagram of a change in control regarding lighting of an illuminating lamp by a control device.
Embodiment for carrying out the invention
[0013]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a side view showing one embodiment of the work vehicle 1, and FIG. 2 is a plan view showing one embodiment of the work vehicle 1. Since the work vehicle 1 of the present embodiment is the tractor 1, the work vehicle 1 will be described below as the tractor 1. However, the work vehicle 1 is not limited to the tractor.
Hereinafter, the front side of the driver seated in the driver's seat 11 of the tractor 1 (direction of arrow A1 in FIGS. 1 and 2) is forward, the rear side of the driver (direction of arrow A2 in FIGS. 1 and 2) is rearward, and the driver. The left side (direction of arrow B1 in FIG. 2) will be described as the left side, and the right side of the driver (direction of arrow B2 in FIG. 2) will be described as the right side. Further, a horizontal direction (direction of arrow K2 in FIG. 2), which is a direction orthogonal to the front-rear direction of the tractor 1 (direction of arrow K1 in FIGS. 1 and 2), will be described as a vehicle body width direction.
[0014]
As shown in FIGS. 1 and 2, the tractor 1 includes a vehicle body 3, a traveling device 4, and a mounting portion 5. The vehicle body 3 has a vehicle body frame 6, a clutch housing 7, and a mission case 8. The vehicle body frame 6 extends in the front-rear direction of the vehicle body 3. The prime mover 9 is mounted on the vehicle body frame 6. In the case of this embodiment, the prime mover 9 is an engine 9. The clutch housing 7 is connected to the rear of the engine 9 and houses the clutch. The transmission case 8 is connected to the rear portion of the clutch housing 7 and houses a transmission, a rear wheel differential device, and the like. The transmission includes a main transmission and an auxiliary transmission. The PTO shaft 10 protrudes behind the vehicle body 3 (rear of the mission case 8).
[0015]
The traveling device 4 has a front wheel 4F provided at the front portion of the vehicle body 3 and a rear wheel 4R provided at the rear portion of the vehicle body 3. The front wheel 4F is supported by the vehicle body frame 6. The rear wheel 4R is supported by the output shaft of the rear wheel differential device. A traveling vehicle body 2 capable of traveling is configured by the vehicle body 3 and the traveling device 4.
The vehicle body 3 is equipped with a driver's seat 11 and a cabin 12 that surrounds the driver's seat 11. A steering wheel 13 is provided in front of the driver's seat 11. The steering handle 13 is linked to the left and right front wheels 4F via the power steering mechanism. A display device 14 is provided around the driver's seat 11 (front right). The display device 14 is composed of, for example, a touch panel type liquid crystal display (liquid crystal monitor).
[0016]
A bonnet 16 is provided at the front of the vehicle body 3. The bonnet 16 forms an engine room for accommodating an engine 9 and the like in the front portion of the vehicle body 4. The bonnet 16 is provided so as to be openable and closable so that the front portion moves up and down with the rear portion as a fulcrum.
The mounting portion 5 is provided at the rear portion of the vehicle body 3. The mounting portion 5 is a portion for connecting a ground working machine that performs work on the ground (field) to the rear portion of the tractor 1. The ground work machine is driven by a driving force transmitted from the PTO shaft 10. Examples of the ground work machine include, but are not limited to, a rotary cultivator, a mower, a sprayer (spraying fertilizer, chemicals, etc.), a sowing machine, and the like. The mounting unit 5 is an elevating device that is driven by an actuator such as a hydraulic cylinder to raise or lower the ground work machine. The mounting portion 5 is composed of a three-point link mechanism.
[0017]
As shown in FIGS. 1 and 2, the tractor 1 includes a plurality of illumination lights 17. The plurality of lighting lights 17 are provided on the traveling vehicle body 2. The plurality of illumination lights 17 illuminate different directions. The plurality of illumination lamps 17 include a headlight 18 and a work lamp 19.
The headlight 18 is provided at the front of the traveling vehicle body 2. The headlight 18 includes a first headlight 18A and a second headlight 18B. The first headlight 18A is arranged on the left side of the front part of the bonnet 16 and can illuminate the front left side of the tractor 1. The second headlight 18B is arranged on the right side of the front part of the bonnet 16 and can illuminate the front right side of the tractor 1.
[0018]
The work light 19 is provided on the roof 12a constituting the upper part of the cabin 12. The work light 19 includes a first work light 19A, a second work light 19B, a third work light 19C, a fourth work light 19D, a fifth work light 19E, and a sixth work light 19F. Each work light (1st work light 19A, 2nd work light 19B, 3rd work light 19C, 4th work light 19D, 5th work light 19E, 6th work light 19F) is inclined so that the irradiation direction is diagonally downward. Arranged in a posture.
[0019]
The first work light 19A is arranged on the left side of the front part of the roof 12a and can illuminate the diagonally front left of the tractor 1. The second work light 19B is arranged on the right side of the front part of the roof 12a and can illuminate the diagonally front right side of the tractor 1. The third work light 19C is arranged on the left side of the roof 12a and can illuminate the left side of the tractor 1. The fourth work light 19D is arranged on the right side of the roof 12a and can illuminate the right side of the tractor 1. The fifth work light 19E is arranged on the left side of the rear part of the roof 12a and can illuminate the diagonally rear left side of the tractor 1. The sixth work light 19F is the rear part of the roof 12a. It is located on the right side of the tractor 1 and can illuminate the diagonally rear right of the tractor 1.
[0020]
FIG. 3A is a plan view schematically showing the irradiation direction and irradiation range of the illumination lamp 17 (headlight 18, work lamp 19). The irradiation direction and irradiation range of the first headlight 18A are indicated by reference numeral X1. The irradiation direction and irradiation range of the second headlight 18B are indicated by reference numeral X2. The irradiation direction and irradiation range of the first work light 19A are indicated by reference numeral Y1. The irradiation direction and irradiation range of the second work light 19B are indicated by reference numeral Y2. The irradiation direction and irradiation range of the third work light 19C are indicated by reference numeral Y3. The irradiation direction and irradiation range of the fourth work light 19D are indicated by reference numeral Y4. The irradiation direction and irradiation range of the fifth work light 19E are indicated by reference numeral Y5. The irradiation direction and irradiation range of the sixth work light 19F are indicated by reference numeral Y6. However, the irradiation direction and irradiation range shown in FIG. 3A are examples for explanation and can be changed as appropriate.
[0021]
It is preferable that the lighting 17 (headlight 18, work light 19) is provided with an illuminance changing mechanism capable of changing the illuminance (brightness). Further, the illumination lamp 17 (headlight 18, work lamp 19) may be provided with a direction changing mechanism capable of changing the irradiation direction.
As shown in FIGS. 1 and 2, the tractor 1 includes a plurality of cameras 20. The plurality of cameras 20 are provided on the traveling vehicle body 2 and photograph the surroundings of the traveling vehicle body 2. The camera 20 is provided on the roof 12a of the cabin 12. The camera 20 is, for example, a wide-angle CCD camera for visible light. The camera 20 includes a first camera 20A, a second camera 20B, a third camera 20C, and a fourth camera 20D. Each camera (first camera 20A, second camera 20B, third camera 20C, fourth camera 20D) is arranged in an inclined posture in which the shooting direction is obliquely downward.
[0022]
The first camera 20A is the front part of the roof 12a and is arranged between the first work light 19A and the second work light 19B, and can photograph the front of the tractor 1. The second camera 20B is located on the left side of the roof 12a and in the vicinity of the third work light 19C, and can photograph the left side of the tractor 1. The third camera 20C is located on the right side of the roof 12a and in the vicinity of the fourth work light 19D, and can photograph the right side of the tractor 1. The fourth camera 20D is located at the rear of the roof 12a and is arranged between the fifth work light 19E and the sixth work light 19F, and can photograph the rear of the tractor 1.
[0023]
In the present embodiment, the number of work lights 19 is six, but it is not limited to six as long as it can irradiate light toward at least the front, the rear, the left, and the right of the tractor 1. .. For example, the number of work lights 19 may be four or eight. However, the number and orientation of the work lights 19 are set to the number and orientation in which light can be applied to all the shooting locations by the plurality of cameras 20.
Further, in the present embodiment, the number of cameras 20 is 4, but the number is not limited to 4, and 5 or more (for example, 6 or 8) can be used. However, the number and orientation of the cameras 20 are set to at least the number and orientation in which the front, rear, left, and right sides of the tractor 1 can be photographed.
[0024]
As shown in FIG. 4, the tractor 1 includes an illuminance sensor 21. Although not shown, the illuminance sensor 21 is provided on the traveling vehicle body 2 and measures the illuminance around the traveling vehicle body 2. The illuminance sensor 21 includes a first illuminance sensor 21A that measures the illuminance in the shooting direction of the camera 20, and a second illuminance sensor 21B that measures the illuminance in a direction other than the shooting direction of the camera 20 (for example, above the cabin 12). For example, when the shooting direction of the camera 20 is illuminated by the illumination lamp 17 after sunset, the illuminance measured by the first illuminance sensor 21A is larger (brighter) than the illuminance measured by the second illuminance sensor 21B. )Become.
[0025]
As shown in FIG. 4, the tractor 1 includes a control device (ECU) 15 that controls a traveling system and a working system. The control device 15 includes a calculation unit (CPU or the like), a storage unit (memory), and the like, and executes each control described later based on various control programs stored in the storage unit. Specifically, the control device 15 is mounted on an operation signal when operating various operation tools (lever, switch, dial, etc.) 27 installed around the driver's seat 11, a vehicle body 3, a ground work machine, and the like. The traveling system, the working system, and the like of the tractor 1 are controlled based on the detection signals and the like of the various detection means (sensors and the like) 28. Further, the control device 15 changes the control regarding the lighting of the lighting lights 17 (headlights 18 and work lights 19) when the tractor 1 (traveling vehicle body 2) automatically travels. The control changes related to the lighting of the lighting 17 include a control for changing the lighting 17 from the off state to the lighting state, a control for changing the lighting state to the lighting state, and a control for changing the illuminance (brightness) of the lighting 17. included.
[0026]
The control device 15 includes a travel control unit 15a and a work control unit 15b. The travel control unit 15a has a control program for controlling the travel, and controls the travel of the vehicle body 3 based on the control program. The travel control unit 15a controls, for example, the rotation speed of the engine 9 based on the detection signal from the accelerator pedal sensor, which is one of the detection means 28, and the detection signal from the forward / backward switching lever, which is one of the operating tools 27. Control of the forward / backward switching device based on the above. The work control unit 15b has a control program for controlling the ground work machine, and controls the ground work machine. The work control unit 15b executes, for example, control related to raising / lowering (elevating / lowering the ground work machine) of the mounting unit 5 based on an operation signal from the operating tool 27.
[0027]
The tractor 1 includes a positioning device 22 and an automatic steering device 23.
The positioning device 22 measures the position and orientation of the traveling vehicle body 2 (vehicle body 3) using the Global Navigation Satellite System (GNSS). Specifically, the positioning device 22 obtains the position and orientation of the traveling vehicle body 2 (vehicle body 3) based on the positioning data obtained by receiving the radio waves from the GNSS satellite and the positioning data transmitted from the reference station.
[0028]
The positioning device 22 has a receiving device and an inertial measurement unit (IMU). The receiving device is a device having an antenna or the like and receiving a satellite signal transmitted from a positioning satellite. The receiving device is attached to the upper part of the cabin 12 of the vehicle body 3, for example. The inertial measurement unit has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement unit is provided, for example, below the driver's seat 11 of the vehicle body 3, and the inertial measurement unit can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 2.
[0029]
The automatic steering device 23 steers the left and right front wheels 4F by maintaining or changing the rotation angle of the rotation axis of the steering motor of the power steering unit based on the control signal from the control device 15.
The tractor 1 is provided with a changeover switch that can switch between a manual operation mode and an automatic operation mode as one of the operating tools 27. The control device 15 includes an automatic driving control unit 15c that controls automatic driving of the traveling vehicle body 2 when the changeover switch is switched to the automatic driving mode. The automatic traveling control unit 15c has a control program for controlling the automatic traveling of the traveling vehicle body 2, and controls the automatic traveling of the traveling vehicle body 2 based on the control program.
[0030]
The automatic driving control unit 15c transmits a control signal to the traveling control unit 15a and the automatic steering device 23 based on the positioning result by the positioning device 22 and the preset target traveling route. The target travel route is, for example, a data of a travel route traveled by manual operation in advance based on the positioning result of the positioning device 22, and is stored in the storage unit of the control device 15. FIG. 5 is a diagram showing an example of the target travel path R1 set in the field H1.
[0031]
Based on the control signal from the automatic driving control unit 15c, the traveling control unit 15a controls the operation of the traveling system devices such as the speed change device and the brake control device 29, and the automatic steering device 23 steers the left and right front wheels 4F. The automatic driving control unit 15c controls the traveling speed (vehicle speed) of the tractor 1 (traveling vehicle body 2) by changing the shift stage of the transmission, and steers the left and right front wheels 4F to steer the tractor 1 (traveling vehicle body 2). Control the traveling direction of. Specifically, when the deviation between the position of the vehicle body 3 and the target travel path R1 is less than the threshold value in the situation where the tractor 1 is automatically traveling, the automatic travel control unit 15c sets the rotation axis of the steering motor. Maintain the angle of rotation. When the deviation between the position of the vehicle body 3 and the target travel path R1 is equal to or greater than the threshold value and the tractor 1 is located on the left side of the target travel path R1, the tractor 1 is steered so as to be in the right direction. Rotate the rotating shaft of the motor. When the deviation between the position of the vehicle body 3 and the target travel path R1 is equal to or greater than the threshold value and the tractor 1 is located on the right side of the target travel path R1, the tractor 1 is steered so as to be in the left direction. Rotate the rotating shaft of the motor. Further, the position on the target travel path and the vehicle speed of the tractor 1 at the position are set in association with each other in advance, and the automatic travel control unit 15c controls the vehicle speed of the tractor 1 based on this association. As a result, the tractor 1 (traveling vehicle body 2) can automatically travel along the target traveling route while controlling the traveling direction and the vehicle speed.
[0032]
As shown in FIG. 4, the control device 15 includes a movement destination direction acquisition unit 15d, a work trace direction acquisition unit 15e, and a lighting pattern selection unit 15f. The movement destination direction acquisition unit 15d, the work trace direction acquisition unit 15e, and the lighting pattern selection unit 15f each execute a processing operation based on a predetermined control program stored in the storage unit.
The moving destination direction acquisition unit 15d acquires the moving destination direction of the tractor 1 based on the current position of the tractor 1 (traveling vehicle body 2) acquired by the positioning device 22 and the target traveling route R1. For example, in FIG. 5, when the tractor 1 is at the point A, the movement destination direction acquisition unit 15d acquires "forward" as the movement destination direction of the tractor 1. When the tractor 1 is at the point B, the movement destination direction acquisition unit 15d acquires "right" as the movement destination direction of the tractor 1. When the tractor 1 is at the C point, the movement destination direction acquisition unit 15d acquires "left" as the movement destination direction of the tractor 1.
[0033]
The work trace direction acquisition unit 15e is based on the current position of the traveling vehicle body 2 acquired by the positioning device 22 and the target traveling route R1, and the direction of the work trace (relative to the current position of the vehicle body 3) which is the route already traveled by the tractor 1. (Direction of work trace) is acquired as the work trace direction. The work trace is a trace of work performed by a ground work machine (for example, a rotary cultivator) mounted on the mounting portion 5 of the vehicle body 3. For example, in FIG. 5, when the tractor 1 is at the point D, the work trace direction acquisition unit 15e acquires "left" and "rear", which are the routes on which the tractor 1 has already traveled, as the work trace direction.
[0034]
The lighting pattern selection unit 15f selects a specific lighting pattern from the lighting patterns of the plurality of lightings 17. The lighting pattern and the lighting pattern selection unit 15f will be described in detail later.
Further, the tractor 1 is provided with a monitoring device 24.
As shown in FIG. 4, the monitoring device 24 has a camera 20 and an image processing unit 25.
[0035]
The camera 20 includes the plurality of cameras described above (first camera 20A, second camera 20B, third camera 20C, fourth camera 20D). The image processing unit 25 processes the video signals transmitted from the first camera 20A, the second camera 20B, the third camera 20C, and the fourth camera 20D to generate an image, and displays the generated image on the display device 14. ..
The display device 14 is provided around the driver's seat 11 when the worker sits on the driver's seat 11 and the tractor 1 travels (see FIG. 1), but the worker does not sit on the driver's seat 11 and the work vehicle 1 When driving, smartphones (multifunctional mobile phones) and tablets A mobile terminal such as a terminal is used as the display device 14. In this case, the display device 14 is a portable terminal that can be arranged at a position away from the tractor 1 (traveling vehicle body 2). When the display device 14 is a mobile terminal, the image processing unit 25 transmits and displays an image generated by wireless communication to the display device 14. As a result, the operator can see the image taken by the camera 20 through the mobile terminal (display device 14) outside the tractor 1, and monitor the automatic traveling of the tractor 1 from a remote position (remote monitoring). ) Is possible.
[0036]
As shown in FIG. 4, the control device 15 has an image quality prediction unit 15g that predicts the image quality of the image displayed on the display device 14. The image quality prediction unit 15g predicts the image quality of the image displayed on the display device 14 based on the illuminance measured by the illuminance sensor 21. The image quality prediction unit 15g has an image quality prediction program stored in the storage unit of the control device 15, and predicts the image quality of the image displayed on the display device 14 based on the program. The image quality prediction unit 15g may be provided by the display device 14 or the monitoring device 24.
[0037]
The image quality prediction unit 15g measures the illuminance measured by the first illuminance sensor 21A within a predetermined range, and measures the illuminance measured by the first illuminance sensor 21A and the second illuminance sensor 21B. When the difference in the illuminance is within a predetermined range, the image quality of the image displayed on the display device 14 is predicted to be "good", which is an image suitable for recognizing the object to be photographed. Further, in the image quality prediction unit 15g, the illuminance measured by the first illuminance sensor 21A is an illuminance outside a predetermined range, or the illuminance measured by the first illuminance sensor 21A and the second illuminance sensor 21B. When the difference in the measured illuminance is a difference outside a predetermined range, the image quality of the image displayed on the display device 14 is predicted to be "defective", which is an image unsuitable for recognizing the object to be photographed.
[0038]
For example, when the illuminance measured by the first illuminance sensor 21A is an illuminance outside a predetermined range, the illuminance in the shooting direction of the camera 20 is too dark or too bright, so that the illuminance is taken by the camera 20 and displayed by the display device 14. The image quality of the image displayed in is "poor", which makes it difficult to recognize the object to be photographed. Further, even if the illuminance measured by the first illuminance sensor 21A is outside a predetermined range, the difference between the illuminance measured by the first illuminance sensor 21A and the illuminance measured by the second illuminance sensor 21B. If the difference is outside the predetermined range, the difference in illuminance between the shooting direction and the other directions is too large, and the image quality of the image shot by the camera 20 and displayed on the display device 14 is taken. It becomes a "defective" that makes it difficult to recognize the object.
[0039]
The storage unit of the control device 15 stores a plurality of lighting patterns that define a combination of a lighting lamp that is turned on and a lighting lamp that is turned off among the plurality of lighting lamps 17. 3A to 3H are diagrams showing an example of a lighting pattern. Hereinafter, for convenience of explanation, the lighting pattern shown in FIG. 3A is the lighting pattern 1, the lighting pattern shown in FIG. 3B is the lighting pattern 2, the lighting pattern shown in FIG. 3C is the lighting pattern 3, and the lighting pattern shown in FIG. 3D is the lighting pattern 4. The lighting pattern shown in FIG. 3E is referred to as a lighting pattern 5, the lighting pattern shown in FIG. 3F is referred to as a lighting pattern 6, the lighting pattern shown in FIG. 3G is referred to as a lighting pattern 7, and the lighting pattern shown in FIG. 3H is referred to as a lighting pattern 8. However, the lighting patterns shown in FIGS. 3A to 3H exemplify only a part of a plurality of lighting patterns stored in the storage unit.
[0040]
In FIGS. 3B to 3H, the rectangle pointed to by reference numeral 26 indicates the ground work machine, and the parallel vertical line pointed to by reference numeral Z1 indicates the work mark of the ground work machine 26. The relationship between the work trace Z1 of the ground work machine 26 and the lighting pattern will be described in detail later.
The lighting pattern 1 shown in FIG. 3A is a pattern in which all of the plurality of lighting lamps 17 (headlight 18 and work lamp 19) are lit. The lighting pattern 2 shown in FIG. 3B is a pattern in which the first headlight 18A, the second headlight 18B, the first working light 19A, and the second working light 19B are turned on. The lighting pattern 3 shown in FIG. 3C is a pattern in which the second headlight 18B, the second work light 19B, the fourth work light 19D, and the sixth work light 19F are turned on. The lighting pattern 4 shown in FIG. 3D is a pattern in which the first headlight 18A, the first work light 19A, the third work light 19C, and the fifth work light 19E are turned on. The lighting pattern 5 shown in FIG. 3E is a pattern in which the first headlight 18A, the second headlight 18B, the first work light 19A, the second work light 19B, the fifth work light 19E, and the sixth work light 19F are lit. Is. The lighting pattern 6 shown in FIG. 3F includes a first headlight 18A, a second headlight 18B, a first work light 19A, a second work light 19B, a third work light 19C, a fifth work light 19E, and a sixth work. This is a pattern in which the light 19F is turned on. The lighting pattern 7 shown in FIG. 3G is a pattern in which the second work light 19B, the fourth work light 19D, and the sixth work light 19F are turned on. The lighting pattern 8 shown in FIG. 3H is a pattern in which the first headlight 18A, the second headlight 18B, the second work light 19B, the fourth work light 19D, and the sixth work light 19F are lit.
[0041]
A plurality of lighting patterns are stored as a lighting pattern table T1 (see FIG. 6) in the storage unit of the control device 15. In FIG. 6, ◯ indicates lighting and × indicates extinguishing. The lighting pattern table T1 shown in FIG. 6 exemplifies only a part of the plurality of lighting patterns.
Further, in the storage unit of the control device 15, a correspondence table T2 (see FIG. 7) for associating the moving destination direction of the tractor 1 (traveling vehicle body 2) with the lighting pattern is stored. In the correspondence table T2, the "movement destination direction" acquired by the movement destination direction acquisition unit 15d and the "lighting pattern" stored in the lighting pattern table T1 are stored in a one-to-one correspondence. The correspondence table T2 shown in FIG. 7 exemplifies only a part of the combination of the correspondence between the moving destination direction and the lighting pattern.
[0042]
The correspondence between the "moving destination direction" and the "lighting pattern" is set so that the lighting 17 that illuminates the moving destination direction of the traveling vehicle body 2 is turned on. For example, when the traveling vehicle body 2 moves forward, the lighting 17 (for example, the first headlight 18A, the second headlight 18B, etc.) that illuminates the front in the direction of the moving destination is set to light. .. When the traveling vehicle body 2 changes direction, the lighting 17 that illuminates the destination direction after the change of direction is set to light up. Specifically, when the traveling vehicle body 2 turns to the right (turns to the right), the illumination light 17 (for example, the fourth work light 19D) illuminates the right side, which is the direction of the movement destination after the change of direction. Etc.) are set to light up. When the traveling vehicle body 2 turns to the left (turns to the left), the illumination light 17 (for example, the third work light 19C, etc.) that illuminates the left side, which is the direction of the movement destination after the change of direction, is turned on. Is set to.
[0043]
In the correspondence table T2 shown in FIG. 7, the “lighting pattern 2” (see FIG. 3B) in which the lighting 17 that illuminates the front of the traveling vehicle body 2 in the moving destination direction is lit with respect to the “front” in the moving destination direction. Are associated with each other. A "lighting pattern 3" (see FIG. 3C) in which the illumination lamp 17 that illuminates the right side of the traveling vehicle body 2 in the moving destination direction is lit is associated with the "right side" in the moving destination direction. A "lighting pattern 4" (see FIG. 3D) in which the illumination lamp 17 that illuminates the left side of the traveling vehicle body 2 in the moving destination direction is lit is associated with the "left" in the moving destination direction.
[0044]
Before the traveling vehicle body 2 changes direction, the control device 15 turns on an illumination light that illuminates the destination direction after the direction change among the plurality of illumination lights 17 based on the target travel route. Specifically, the lighting pattern selection unit 15f of the control device 15 illuminates the destination direction of the traveling vehicle body 2 after the direction of the traveling vehicle body 2 among the plurality of lighting patterns stored in the storage unit based on the target traveling path. select.
[0045]
For example, when the traveling vehicle body 2 travels along the target traveling route R1 shown in FIG. 5, when the traveling vehicle body 2 is at the point A, the destination direction acquired by the destination direction acquisition unit 15d is "forward". Therefore, the lighting pattern selection unit 15f selects "lighting pattern 2" which is a lighting pattern when the movement destination direction is "forward" from the correspondence table T2. Further, when the traveling vehicle body 2 is at the point B, the moving destination direction acquired by the moving destination direction acquisition unit 15d is "right", so that the lighting pattern selection unit 15f has the moving destination direction from the correspondence table T2. Select "Lighting pattern 3", which is the lighting pattern when "right". Further, when the traveling vehicle body 2 is at the C point, the moving destination direction acquired by the moving destination direction acquisition unit 15d is "left", so that the lighting pattern selection unit 15f has the moving destination direction from the correspondence table T2. Select "Lighting pattern 4", which is the lighting pattern when it is "left".
[0046]
When the traveling vehicle body 2 changes direction, the lighting pattern selection unit 15f can select the lighting pattern and turn on the lighting 17 based on the selection when the traveling vehicle body 2 reaches the turning point. For example, when the traveling vehicle body 2 travels along the target traveling path R1 shown in FIG. 5, the lighting pattern selection unit 15f selects the lighting pattern and lights the lighting 17 based on the selection at points B and C. Will be.
[0047]
Further, when the traveling vehicle body 2 changes direction, the lighting pattern selection unit 15f can select the lighting pattern and turn on the lighting 17 based on the selection before the traveling vehicle body 2 reaches the turning point. In this case, a point behind the traveling direction by a predetermined distance (for example, 1 m) with respect to the turning point is set as a "specific point", and the lighting pattern selection unit 15f selects the lighting pattern at the specific point and the relevant point. The lighting 17 is turned on based on the selection. For example, when the traveling vehicle body 2 travels along the target traveling route shown in FIG. 5, the E point, which is a point behind the traveling direction by a predetermined distance with respect to the B point, which is the turning point, is set as a specific point, and E A lighting pattern is selected at the point, and the lighting 17 is turned on based on the selection.
[0048]
When the lighting pattern is selected, the lighting pattern selection unit 15f turns on the lighting 17 to be turned on in the selected lighting pattern based on the lighting pattern table T1, and turns off the lighting 17 to be turned off. For example, when the lighting pattern selection unit 15f selects “lighting pattern 2”, as shown in FIG. 3B, the first headlight 18A, the second headlight 18B, the first work light 19A, and the second work. The lamp 19B is turned on, and the other lighting lights are turned off. When the lighting pattern selection unit 15f selects "lighting pattern 3", as shown in FIG. 3C, the second headlight 18B, the second work light 19B, the fourth work light 19D, and the sixth work light 19F Turns on and turns off other lights. When the lighting pattern selection unit 15f selects "lighting pattern 4", as shown in FIG. 3D, the first headlight 18A, the first work light 19A, the third work light 19C, and the fifth work light 19E Turns on and turns off other lights.
[0049]
As a result, when the traveling vehicle body 2 moves forward (straight ahead) (when it is at the point A), the lighting 17 that illuminates the front of the traveling vehicle body 2 can be turned on. Further, when the traveling vehicle body 2 turns to the right (when it is at the point B), the lighting 17 that illuminates the right side of the traveling vehicle body 2 can be turned on. Further, when the traveling vehicle body 2 turns to the left (at the point C), the lighting 17 that illuminates the left side of the traveling vehicle body 2 can be turned on. Therefore, before the traveling vehicle body 2 changes direction, it is possible to turn on the illumination light 17 that illuminates the destination direction after the change of direction among the plurality of illumination lights 17.
[0050]
According to this configuration, when the tractor 1 changes direction, the lighting 17 can illuminate the destination direction of the tractor 1 before the direction change. Therefore, the operator can surely confirm the presence or absence of an obstacle in the moving destination direction of the tractor 1.
Further, the lighting pattern selection unit 15f may be configured to select a lighting pattern so that the image quality predicted by the image quality prediction unit 15g satisfies a predetermined condition that the image is suitable for recognition of the object to be photographed.

The scope of the claims
[Claim 1]
A traveling vehicle that automatically travels along the target travel route,
Multiple lighting lamps installed on the traveling vehicle body and illuminating different directions,
A control device that changes the control related to the lighting of the lighting during the automatic driving, and
A work vehicle equipped with.
[Claim 2]
The operation according to claim 1, wherein the control device turns on an illuminating light that illuminates the destination direction after the direction change among the plurality of illuminating lights based on the target traveling path before the traveling vehicle body changes direction. vehicle.
[Claim 3]
A camera installed on the traveling vehicle body and taking a picture of the surroundings of the traveling vehicle body,
The evaluation unit that evaluates the sharpness of the image taken by the camera,
A display device that displays images taken by the camera,
Equipped with
The work vehicle according to claim 1, wherein the control device changes control regarding lighting of the lighting based on the sharpness evaluated by the evaluation unit.
[Claim 4]
The work according to claim 3, wherein the control device selects and lights one or a plurality of lighting lamps among a plurality of lighting lamps that illuminate the shooting direction of the camera based on the sharpness evaluated by the evaluation unit. vehicle.
[Claim 5]
The work vehicle according to claim 3, wherein the control device changes the illuminance of a lighting lamp that illuminates the shooting direction of the camera based on the sharpness evaluated by the evaluation unit.
[Claim 6]
The control device is
A storage unit that stores a plurality of lighting patterns that define a combination of a lighting lamp that is turned on and a lighting lamp that is turned off among the plurality of lighting lights.
A lighting pattern selection unit that selects a lighting pattern that illuminates the destination direction after changing the direction of the traveling vehicle body among the lighting patterns stored in the storage unit based on the target travel route.
The work vehicle according to claim 2 having.
[Claim 7]
Equipped with an illuminance sensor that measures the illuminance around the traveling vehicle body
The work vehicle according to claim 2 or 6, wherein the lighting pattern selection unit selects the lighting pattern based on the illuminance measured by the illuminance sensor.
[Claim 8]
A camera installed on the traveling vehicle body and taking a picture of the surroundings of the traveling vehicle body,
A display device that displays images taken by the camera,
Equipped with
The control device has an image quality prediction unit that predicts the image quality of an image displayed on the display device based on the illuminance measured by the illuminance sensor.
The work vehicle according to claim 7, wherein the lighting pattern selection unit selects the lighting pattern so that the image quality predicted by the image quality prediction unit satisfies a predetermined condition that the image is suitable for recognition of an object to be photographed.
[Claim 9]
Equipped with a cabin mounted on the traveling vehicle body
The work vehicle according to any one of claims 1 to 8, wherein the lighting is a work vehicle including a plurality of work lights attached to the upper part of the cabin.
[Claim 10]
The work vehicle according to claim 9, wherein the lighting is a plurality of headlights attached to the front portion of the traveling vehicle body.
[Claim 11]
The work vehicle according to claim 3 or 8, wherein the display device is a mobile terminal that can be arranged at a position away from the traveling vehicle body.