Specification
Title of Invention: Work Vehicle
Technical field
[0001]
　The present invention relates to work vehicles such as tractors, for example.
Background technology
[0002]
　2. Description of the Related Art Conventionally, a technique disclosed in Patent Document 1 is known as a technique for automatically driving a work vehicle such as a tractor. The work vehicle of Patent Document 1 is equipped with an electronic control system for automatic driving that automatically drives the vehicle body. a contact avoidance control unit that performs contact avoidance control for avoiding contact with an obstacle when the obstacle is detected, and the obstacle detection module moves the vehicle body so that the front and the left and right sides of the vehicle are search target areas. It has a plurality of obstacle detectors dispersedly arranged on the front end and on the left and right ends. Further, the electronic control system of Patent Document 1 is provided with a surveillance camera at the rear of the vehicle body, that is, at the rear of the upper part of the cabin.
prior art documents
patent literature
[0003]
Patent document 1: Japanese patent publication "JP 2018-116609"
SUMMARY OF THE INVENTION
Problems to be Solved by the Invention
[0004]
　In Japanese Unexamined Patent Application Publication No. 2002-100000, while the vehicle body is moved forward while searching with a plurality of obstacle detectors, it is possible to check the surroundings such as the rear part of the vehicle body with the captured image captured by the monitoring camera. However, the fact is that Patent Document 1 does not consider the situation when the working device is attached to the vehicle body.
　SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work vehicle capable of performing smooth automatic operation even when a work device is connected to the vehicle body.
Means to solve problems
[0005]
　The technical means of the present invention for solving this technical problem are characterized by the following points.
　The work vehicle includes a traveling vehicle body, a coupling device capable of connecting a working device to the traveling vehicle body, a first monitoring device provided on the working device and monitoring at least the surroundings of the working device, a planned traveling route and the first monitoring device. and a control device for controlling automatic operation of the traveling vehicle body based on the monitoring information monitored by the monitoring device.
[0006]
　The control device includes an automatic operation control unit that executes the automatic operation when the monitoring information does not contain an obstacle, and does not execute the automatic operation when the monitoring information contains an obstacle. ing.
　The coupling device is an elevating device that elevates the work device, and the automatic operation control unit detects an obstacle in the monitoring information when the work device is lifted by the elevating device after the start of the automatic operation. is included, the automatic operation is stopped.
[0007]
　The control device includes a work management unit that extracts a work state in which work is performed by the work device based on the monitoring information monitored by the first monitoring device.
　The work vehicle is provided with a second monitoring device which is provided on the traveling vehicle body and monitors in the same direction as the first monitoring device.
　A work vehicle includes a traveling vehicle body, a coupling device capable of connecting a working device to the traveling vehicle body, a first monitoring device provided on the working device, a scheduled travel route, and monitoring information monitored by the first monitoring device. a control device having an automatic operation control unit that performs control related to automatic operation of the traveling vehicle body, and a work management unit that extracts the work state of the work performed by the work device based on the monitoring information; I have.
[0008]
　The work management unit extracts the work state after the automatic operation is started.
　The coupling device is an elevating device for elevating the working device, and the automatic operation control unit executes the automatic operation when the monitoring information does not include an obstacle, and the monitoring information includes no obstacle. When the obstacle is included in the monitoring information when the automatic operation is not executed and when the working device is lifted by the lifting device after the start of the automatic travel, the obstacle is included. Automatic operation is stopped, and automatic operation is continued when no obstacle is included, and the work management unit, based on the monitoring information from the start of the automatic operation until the work device is raised, Extract the working state.
[0009]
　The work vehicle is provided with a switching device for switching between control of automatic operation by the automatic operation control unit and monitoring of the working state of the work device with respect to the monitoring information monitored by the first monitoring device.
Effect of the invention
[0010]
　According to the present invention, automatic operation can be smoothly performed even when a working device is connected to the vehicle body.
Brief description of the drawing
[0011]
1 is a block diagram of a work vehicle; FIG.
2 is a diagram showing a lifting device; FIG.
3 is a diagram showing a side view of the composite device; FIG.
[Fig. 4] Fig. 4 is a diagram showing a plan view of the composite device.
[Fig. 5] Fig. 5 is an explanatory diagram for explaining automatic driving.
6A is a diagram showing first monitoring information D1 and an obstacle D2; FIG.
6B is a diagram showing an example of unevenness of a farm field (unevenness of the ground) D3a after work by the working device. FIG.
7 is a diagram showing operations of an automatic operation control unit and a work management unit; FIG.
[Fig. 8A] This shows a state in which automatic operation is started from a state in which the working device is lowered.
8B shows a state in which the work device is lowered from the raised state. FIG.
9 shows a state in which the second monitoring device is attached to the traveling vehicle body. FIG.
10 is an overall side view of the tractor; FIG.
MODE FOR CARRYING OUT THE INVENTION
[0012]
　BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　FIG. 10 shows a tractor 1 as an example of a work vehicle. The working vehicle will be described using the tractor 1 as an example, but the working vehicle is not limited to a tractor, and may be a rice transplanter or a combine harvester.
　As shown in FIG. 10 , the tractor 1 includes a traveling vehicle body 3 having a traveling device 7 , a prime mover 4 and a transmission 5 . The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. Also, the rear wheel 7R may be of a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission device 5 can switch the driving force of the traveling device 7 by changing speed, and can switch the traveling device 7 between forward and reverse. A cabin 9 is provided in the traveling vehicle body 3, and a driver's seat 10 is provided in the cabin 9. - 特許庁
[0013]
　A coupling device is provided at the rear portion of the traveling vehicle body 3 . The connecting device is a lifting device 8 or the like that connects the working device 2 and the traveling vehicle body 3 and that is configured by a swing drawbar that does not move up and down, a three-point link mechanism, or the like that moves up and down. The working device 2 can be attached to and detached from the coupling device. By connecting the working device 2 to the connecting device, the traveling vehicle body 3 can tow the working device 2 . The work device 2 includes a tillage device for tilling, a fertilizer spreading device for spreading fertilizer, a transplanting device for planting seedlings, a watering device for watering, an agricultural chemical spraying device for spraying agricultural chemicals, a seed spraying device for spraying seeds, and a harvesting of pasture grass. a harvesting device that performs the above operations, a spreading device that spreads pasture grass, etc., a grass collecting device that collects pasture grass, a forming device that forms pasture grass, a composite device that performs a plurality of operations, and the like.
[0014]
　3 and 4 show a compound device which is one of the working devices 2. FIG. The multifunction device shown in FIGS. 3 and 4 has a plurality of working units 101 . The plurality of working units 101 include a first working unit 101a, a second working unit 101b, a third working unit 101c, a fourth working unit 101d, a fifth working unit 101e, and a sixth working unit 101f. . The first working section 101a, the second working section 101b, the third working section 101c, the fourth working section 101d, the fifth working section 101e, and the sixth working section 101f are arranged in order from the front to the rear, and the frontmost , the first working section 101a is located, and the sixth working section 101f is located at the rearmost.
[0015]
　The first working unit 101a is a fertilizing nozzle that spreads the fertilizer put into the container 102, and is connected through a hose 103 to a feeder 104 that feeds out the fertilizer from the container 102. As shown in FIG. The first working unit 101a spreads the fertilizer delivered from the hose 103 to the field (to the ground) by driving the delivery device 104 . The second working part 101 b is a tilling claw that tills the field, and is attached to a rotating shaft 106 that is rotated by a drive mechanism 105 . By driving the driving mechanism 105, the second working part 101b rotates with the rotation of the rotary shaft 106 to cultivate the field. The third working part 101c is a ground leveling cover arranged behind the second working part 101b and smoothes the ground after plowing. 3 and 4, the first working section 101a, the second working section 101b and the third working section 101c constitute a fertilizing device.
[0016]
　The fourth working part 101d is a groove forming disk that forms grooves. The fifth working unit 101 e is a sowing nozzle that sows seeds put into the container 110 , and is connected via a hose 111 to a feeder 112 that feeds out the seeds from the container 110 . The fifth working unit 101e drives the feeding device 112 to sow the seed fed to the hose 111 into the groove formed by the fourth working unit 101d. The sixth working portion 101f is a rotatably supported crushing roller that crushes at least the seeded portion. In the case of the compound device of FIGS. 3 and 4, the seeding device is configured by the fourth working section 101d, the fifth working section 101e and the sixth working section 101f.
[0017]
　The first working part 101a, the second working part 101b, the third working part 101c, the fourth working part 101d, the fifth working part 101e, and the sixth working part 101f are supported by a frame 115, and 8 to ascend or descend. That is, the fertilizing device and the seeding device have a frame 115 and are vertically supported by a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d and a lift cylinder 8e shown in FIG. The feeding machine 104 , drive mechanism 105 and feeding machine 112 are driven (operated) by rotation of a PTO shaft projecting from the rear portion of the traveling vehicle body 3 .
[0018]
　As shown in FIG. 2, the lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d and a lift cylinder 8e. A front end portion of the lift arm 8a is supported by a rear upper portion of a case (transmission case) that houses the transmission 5 so as to be capable of swinging upward or downward. The lift arm 8a swings (moves up and down) by being driven by a lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected via a control valve 36 to a hydraulic pump. The control valve 36 is an electromagnetic valve or the like, and expands and contracts the lift cylinder 8e.
[0019]
　A front end portion of the lower link 8b is supported by a lower rear portion of the transmission 5 so as to be capable of swinging upward or downward. A front end portion of the top link 8c is supported by the rear portion of the transmission 5 above the lower link 8b so as to be able to swing upward or downward. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear portion of the lower link 8b and the rear portion of the top link 8c. When the lift cylinder 8e is driven (extended and retracted), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the work device 2 swings upward or downward (elevates) with the front portion of the lower link 8b as a fulcrum.
[0020]
　As shown in FIG. 1, the tractor 1 has a steering device 29 . The steering device 29 has a steering wheel (steering wheel) 30, a rotary shaft (steering shaft) 31 that rotates as the steering wheel 30 rotates, and an auxiliary mechanism (power steering mechanism) 32 that assists the steering of the steering wheel 30. is doing. The auxiliary mechanism 32 includes a hydraulic pump 33 , a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34 . The control valve 34 is an electromagnetic valve that operates based on a control signal. The control valve 34 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 can also be switched by steering the steering shaft 31 . The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.
[0021]
　Therefore, when the handle 30 is operated, the switching position and the opening degree of the control valve 34 are switched according to the handle 30, and the steering cylinder 35 expands and contracts to the left or right according to the switching position and the opening degree of the control valve 34. By doing so, the steering direction of the front wheels 7F can be changed. Note that the steering device 29 described above is merely an example, and is not limited to the configuration described above.
　The tractor 1 has a positioning device 40 . The positioning device 40 can detect its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, determines the position of the tractor 1 (for example, latitude, longitude), That is, the vehicle body position is detected. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42 . The receiving device 41 is a device that has an antenna or the like and receives a satellite signal transmitted from a positioning satellite. In this embodiment, the receiving device 41 is attached to the traveling vehicle body 3 , that is, the cabin 9 . Note that the mounting location of the receiving device 41 is not limited to the embodiment.
[0022]
　The inertial measurement device 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The roll angle, pitch angle, yaw angle, and the like of the running vehicle body 3 can be detected by an inertia measurement device 42 provided below the vehicle body 3 , for example, the driver's seat 10 .
　As shown in FIGS. 3 and 4, the working device 2 is provided with a first monitoring device 121 . The first monitoring device 121 is a device capable of detecting objects existing around the working device 2 . The first monitoring device 121 is a camera (imaging device), laser scanner, sonar, or the like. The camera (imaging device) captures an image of the surroundings of the work device 2 with an image sensor such as a CCD or CMOS, and detects the object when the object is captured in the captured image. A laser scanner detects an object by radiating a laser beam and receiving light reflected by the irradiated laser beam that hits the object. A sonar detects an object by irradiating a sound wave and receiving the reflected sound of the emitted sound wave hitting an obstacle.
[0023]
　The first monitoring device 121 is attached via a bracket 117 to the tip side of a support 116 extending rearward from the frame 115 of the working device 2 . In this embodiment, supports 116 are provided on one side (left side) and the other side (right side) of a frame 115, and a first monitoring device 121 is attached to each support 116 via a bracket 117. . In the first monitoring device 121, the monitoring direction K1 is slanted slightly downward with respect to the horizontal direction, that is, directed toward the working section. Note that the monitoring direction is the direction in which the optical axis of laser irradiation is directed when the first monitoring device 121 is a laser scanner, and the direction in which sound waves are emitted when the first monitoring device 121 is a sonar. Yes, when the first monitoring device 121 is a camera, it is the direction in which the optical axis of the image sensor (center axis of the lens) faces.
[0024]
　In addition, the irradiation unit 121a that irradiates the laser is located behind the sixth working unit 101f, which is located at the rearmost position in the working device 2. As shown in FIG. If the first monitoring device 121 is a sonar, the irradiation unit 121a that emits sound waves is located behind the sixth working unit 101f. When the first monitoring device 121 is a camera, the lens section through which light passes is located behind the sixth working section 101f.
[0025]
　As shown in FIG. 4, the monitoring range A1 of the first monitoring device 121 monitors the surroundings of the working device 2 and the rear of the working device 2, and detects what objects are within the monitoring range A1. monitoring can be performed by The monitoring range A1 covers, for example, an area extending from the left end to the right end of the work device 2 .
　As shown in FIG. 1, the tractor 1 has a control device 60 . The control device 60 is a device that controls a traveling system, a work system, and the like in the tractor 1 . An operation changeover switch 65 is connected to the control device 60 . The operation selector switch 65 is a switch that can be switched ON/OFF. When it is ON, the controller 60 can be set to the automatic operation mode, and when it is OFF, the controller 60 can be set to the manual operation mode. can be set.
[0026]
　The control device 60 includes an automatic operation control unit 63 that performs control related to automatic operation of the tractor 1 (the traveling vehicle body 3) based on the planned travel route. The automatic operation control unit 63 is composed of an electrical/electronic circuit provided in the control device 60, a program stored in a CPU, and the like.
　The automatic driving control unit 63 controls automatic driving of the traveling vehicle body 3 . The automatic driving control unit 63 starts automatic driving when the automatic driving mode is set. As shown in FIG. 5, in a situation where the tractor 1 is automatically driving, if the deviation between the vehicle body position and the planned travel route L1 is less than a threshold, the automatic driving control unit 63 controls the steering axis (rotational axis) 31 rotation angles are maintained. If the deviation between the vehicle body position and the planned travel route L1 is greater than or equal to the threshold value and the tractor 1 is positioned on the left side of the planned travel route L1, the automatic driving control unit 63 changes the steering direction of the tractor 1 to the right. The steering shaft 31 is rotated so as to be in the direction. When the deviation between the vehicle body position and the planned travel route L1 is greater than or equal to the threshold and the tractor 1 is positioned on the right side of the planned travel route L1, the automatic driving control unit 63 changes the steering direction of the tractor 1 to the left. The steering shaft 31 is rotated so as to be in the direction. In the above-described embodiment, the steering angle of the steering device 29 is changed based on the deviation between the vehicle position and the planned travel route L1. When the orientation (vehicle orientation) of the direction (traveling direction) is different, that is, when the angle of the vehicle orientation with respect to the scheduled travel route L1 is equal to or greater than the threshold value, the automatic driving control unit 63 determines that the angle is zero (vehicle orientation F1 is traveling The steering angle may be set so as to match the direction of the planned route L1. Further, the automatic driving control unit 63 sets the final steering angle in automatic driving based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (azimuth deviation). may The setting of the steering angle in automatic driving in the embodiment described above is an example, and is not limited.
[0027]
　Note that, when the scheduled travel route L1 and the vehicle speed are associated, the automatic driving control unit 63 changes the speed of the transmission so that the current vehicle speed of the tractor 1 matches the vehicle speed corresponding to the scheduled travel route L1. Automatically change the number of revolutions of the prime mover.
　Further, when the scheduled travel route L1 includes a straight route L1a and a turning route L1b, the automatic operation control unit 63 moves straight in a state in which the working device 2 is lowered so that the working device 2 assumes the working posture, for example. Automatic operation is performed along the route L1a, and when the work device 2 reaches the turning route L1b, the work device 2 is raised so that the work device 2 assumes a non-working posture and moves along the turning route L1b. automatic operation.
[0028]
　Further, the control device 60 performs control related to automatic operation of the tractor 1 (the traveling vehicle body 3) based on monitoring information (first monitoring information) monitored by the first monitoring device 121 as well as the planned travel route L1. As shown in FIG. 6A, the automatic driving control unit 63 executes automatic driving when the obstacle D2 is not included in the first monitoring information D1, and the obstacle D2 is included in the first monitoring information D1. Autonomous driving is not executed in this case.
[0029]
　When the first monitoring device 121 is a laser scanner, the first monitoring information D1 is, for example, profiling (shape) data of an object or the like when scanning (scanning) the monitoring range A1 with a laser. When the device 121 is a sonar, it is profiling (shape) of an object, etc., when the monitoring range A1 is scanned with sound waves. Data.
[0030]
　The obstacle D2 is an animal such as a dog, a cat, a raccoon dog, or a human. Whether or not the object is the obstacle D2 is determined based on the size (length H1, width W1) and movement of the object obtained from the first monitoring information D1. For example, if an object is the size of an animal such as a dog, cat, or raccoon dog and moves with the passage of time, it is determined to be an obstacle. Further, the determination as to whether or not the object is the obstacle D2 is not limited to the example described above, and may be performed according to the shape of the object or the temperature of the object, and is not limited.
[0031]
　The automatic driving control unit 63 refers to the first monitoring information D1 of the first monitoring device 121 when the tractor 1 (the traveling vehicle body 3) is stopped and in the automatic mode. When the obstacle D2 is included in the first monitoring information D1, the automatic driving control unit 63 does not start the automatic driving, that is, keeps the tractor 1 (running vehicle body 3) stopped. On the other hand, when the obstacle D2 is not included in the first monitoring information D1, the automatic driving control unit 63 starts automatic driving and causes the tractor 1 (the traveling vehicle body 3) to travel along the scheduled travel route L1.
[0032]
　Further, after starting the automatic operation, the automatic operation control unit 63 stops the automatic operation when the obstacle D2 is included in the monitoring information obtained when the working device 2 is raised by the lifting device 8, and stops the automatic operation. Automatic operation is continued when D2 is not included.
　The control device 60 not only controls the automatic traveling based on the first monitoring information D1 monitored by the first monitoring device 121, but also monitors the working state of the working device 2. FIG. The control device 60 has a work management section 64 . The work management unit 64 is composed of an electric/electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The work management unit 64 extracts a work trace D3 (D3a, D3b) that is a work state after the start of automatic operation. As shown in FIG. 6B, when the work device 2 is a sowing device or a ridge-setting device, the unevenness of the field after sowing (the unevenness of the ground) D3a and the like are extracted. Specifically, when the automatic operation is started, the work management unit 64 refers to the first monitoring information D1, analyzes the profiling (shape) of the first monitoring information D1, and analyzes the field after the work. is extracted. In addition, FIG. 6B is an example and is not limited. For example, when the work device 2 is a planting device, the work trace D3 such as the planting state of seedlings can be extracted. Alternatively, the work traces D3 behind various work devices 2 can be detected. When the work trace D3 is extracted, the work management unit 64 displays the extracted work trace D3 on the display device 45 . The display device 45 is installed, for example, around the driver's seat 10 so that the driver can check the work trace D3 displayed on the display device 45 .
[0033]
　FIG. 7 shows operations of the automatic operation control unit 63 and the work management unit 64. As shown in FIG.
　In a state where the tractor 1 (running vehicle body 3) is stopped and in the automatic mode, the automatic driving control unit 63 refers to the first monitoring information D1 (S1). The automatic driving control unit 63 recognizes the object within the monitoring range A1 by analyzing the first monitoring information D1 (S2). The automatic driving control unit 63 determines whether or not the recognized object is the obstacle D2 (S3), and if it is the obstacle D2 (S3, Yes), returns to S1 and does not start the automatic driving.
[0034]
　If the recognized object is not the obstacle D2 (S3, No), the automatic driving control unit 63 permits the start of automatic driving (S4), and if the automatic driving start button is operated (S5, Yes) , automatic operation is executed (S6). The automatic driving start button may be installed around the driver's seat 10, or may be installed on an external terminal such as a smartphone, tablet, or remote controller. In the case of the external terminal, when the control device 60 receives from the external terminal that the start button has been operated via the communication device provided in the tractor 1, the automatic driving control section 63 executes automatic driving. For example, as shown in FIG. 8A, after starting the automatic operation, the automatic operation control unit 63 lowers the working device 2 and causes it to travel (ground work) while automatically operating along the straight route L1a. On the other hand, after the start of automatic operation, the work management unit 64 recognizes objects in the monitoring range A1 by analyzing the first monitoring information D1 when performing work on the ground after starting the automatic operation, Work traces D3, such as the planting state D3b of seedlings, etc., are extracted (S7). The work management unit 64 causes the display device 45 to display the work trace D3 (S8).
[0035]
　Further, when the tractor 1 (the traveling vehicle body 3) reaches the turning route L1b from the straight route L1a, the work management unit 64 stops the process of extracting the work trace D3 (S9), and the automatic operation control unit 63 , the working device 2 is lifted by the lifting device 8 (S10). The automatic driving control unit 63 detects objects in the monitoring range A1 by analyzing the first monitoring information D1 in a situation in which the work device 2 is raised and automatically driven along at least the turning route L1b. It is determined whether or not the recognized object is the obstacle D2 (S11). When the recognized object is the obstacle D2 (S11, Yes), the automatic operation control unit 63 stops automatic operation, that is, stops the tractor 1 (running vehicle body 3) (S12).
[0036]
　If the recognized object is not the obstacle D2 (S11, No), the automatic driving control unit 63 continues the automatic driving, and moves the tractor 1 (the traveling vehicle body 3) to the turning route L1b while the work device 2 is raised. Automatic operation is continued so as to move along (S13).
　Further, as shown in FIG. 8B, when the tractor 1 (the traveling vehicle body 3) reaches the straight route L1a from the turning route L1b, the automatic operation control unit 63 lowers the working device 2 by the lifting device 8, thereby 2 to the working posture (S14). After the work device 2 is in the working posture, the automatic operation control unit 63 stops the process of extracting the obstacle D2 being performed by the automatic operation control unit 63 (S15), and the work trace D3 of the work management unit 64 is Extraction processing is restarted (S16).
[0037]
　According to the above, the automatic driving control unit 63 executes automatic driving when the obstacle is not included in the first monitoring information D1, and automatically when the obstacle D2 is included in the first monitoring information D1. If the obstacle D2 is included in the first monitoring information D1 when the working device 2 is lifted by the lifting device 8 after the start of the automatic driving, the automatic driving is stopped, and the obstacle D2 is included. Automatic operation is continued when the object D2 is not included. Further, the work management unit 64 extracts the work state based on the first monitoring information D1 from the start of automatic operation until the work device 2 is lifted, and extracts the work state while the work device 2 is being lifted. No extraction.
[0038]
　In the above-described embodiment, automatic operation control by the automatic operation control unit 63 and extraction (monitoring) of the working state of the working device 2 are automatically performed with respect to the first monitoring information D1 monitored by the first monitoring device 121. However, it may also be performed manually. As shown in FIG. 1, the tractor 1 has a switching device 66 . The switching device 66 is a switch that can be switched between two positions and is installed around the driver's seat 10 and can be operated by the driver. When the switching device 66 is switched to one side, the automatic operation control unit 63 performs monitoring (automatic operation monitoring) based on the first monitoring information D1, and when switching to the other side, the work management unit 64 performs monitoring. (Work status monitoring).
[0039]
　Note that the tractor 1 may be provided with a second monitoring device 122 as shown in FIG. The second monitoring device 122 is provided on the traveling vehicle body 3 and monitors the same direction as the first monitoring device 121 . As shown in FIG. 9 , the second monitoring device 122 is attached to the cabin 9 via a bracket at the rear of the cabin 9 , more specifically, above the rear of the cabin 9 . Since the configuration of the second monitoring device 122 is the same as that of the first monitoring device 121, the description thereof is omitted. A monitoring range A2 of the second monitoring device 122 includes an area behind the traveling vehicle body 3 and between the traveling vehicle body 3 and the working device 2 . The monitoring information monitored by the second monitoring device 122 can be used for automatic operation monitoring and work status monitoring in the same manner as the first monitoring device 121 .
[0040]
　The work vehicle (tractor 1) includes a traveling vehicle body 3, a coupling device 8 capable of connecting the working device 2 to the traveling vehicle body 3, and a first monitoring device 121 provided in the working device 2 and monitoring at least the surroundings of the working device 2. and a control device 60 that performs control related to automatic operation of the traveling vehicle body 3 based on the planned travel route L1 and monitoring information (first monitoring information) D1 monitored by the first monitoring device 121 . According to this, even when the working device 2 is connected to the traveling vehicle body 3 , the surroundings of the working device 2 can be monitored by the first monitoring device 121 , and when the working device 2 is connected to the traveling vehicle body 3 Automatic operation can be performed smoothly even in
[0041]
　The control device 60 executes automatic operation when an obstacle is not included in the monitoring information (first monitoring information) D1, and automatically operates when an obstacle is included in the monitoring information (first monitoring information) D1. It has an automatic driving control unit 63 that does not execute driving. According to this, the surroundings of the work device 2 can be monitored by the monitoring information (first monitoring information) D1, and automatic operation can be started when there is no obstacle D1. With the working device 2 attached to the traveling vehicle body 3, a higher degree of automatic driving can be realized.
[0042]
　The coupling device 8 is an elevating device that elevates the work device 2, and the automatic operation control unit 63 provides monitoring information (first monitoring information) D1 when the work device 2 is lifted by the elevating device after the start of automatic operation. , the automatic operation is stopped when the obstacle D2 is included. According to this, when the work device 2 is raised, the surrounding conditions can be confirmed in the raised state, and automatic travel can be stopped when the obstacle D2 is confirmed.
[0043]
　The control device 60 includes a work management unit 64 that extracts the work state of the work performed by the work device 2 based on the monitoring information (first monitoring information) D1 monitored by the first monitoring device 121 . According to this, it is possible to grasp the work state during work.
　The work vehicle (tractor 1) includes a traveling vehicle body 3, a coupling device 8 capable of connecting the working device 2 to the traveling vehicle body 3, a first monitoring device 121 provided on the working device 2, a planned travel route L1 and a first Based on the monitoring information (first monitoring information) D1 monitored by the monitoring device 121, the automatic operation control unit 63 that performs control related to the automatic operation of the traveling vehicle body 3, and based on the monitoring information (first monitoring information) D1, the work and a control device 60 having a work management unit 64 that extracts the work state in which the work is performed by the device 2 . According to this, the first monitoring information D1 monitored by the first monitoring device 121 can be used to both control automatic travel and monitor the working state.
[0044]
　The work management unit 64 extracts the work state after starting the automatic operation. According to this, for example, it is possible to grasp the work state when the work is being performed by automatic traveling.
　The coupling device 8 is an elevating device for elevating the working device 2, and the automatic operation control unit 63 executes automatic operation when no obstacle is included in the monitoring information (first monitoring information) D1. (First monitoring information) Monitoring information (first monitoring information) when automatic driving is not executed when an obstacle is included in D1, and the work device 2 is lifted by the lifting device after the start of automatic driving (first monitoring information) ) In D1, the automatic operation is stopped when an obstacle is included, and the automatic operation is continued when no obstacle is included. The work state is extracted based on the monitoring information (first monitoring information) D1 until the start of the operation. According to this, the automatic driving control unit 63 starts automatic driving when there is no obstacle according to the first monitoring information D1 before automatic driving, and does not perform automatic driving when there is an obstacle. In addition, after the start of automatic operation, the working state can be confirmed until the working device 2 is raised, that is, while the working device 2 is performing ground work or the like.
[0045]
　Regarding the monitoring information (first monitoring information) D1 monitored by the first monitoring device 121, the work vehicle (tractor 1) selects either control of automatic driving by the automatic driving control unit 63 or monitoring of the working state of the work device 2. Equipped with a switching device for switching between According to this, the worker (driver) can easily switch between monitoring in automatic operation and monitoring of the work state, and appropriate monitoring according to the work or the like can be performed.
[0046]
　The work vehicle (tractor 1 ) is provided with a second monitoring device 122 which is provided on the traveling vehicle body 3 and whose monitoring direction is the same as that of the first monitoring device 121 . According to this, the second monitoring device 122 can also perform either monitoring related to automatic operation or monitoring related to work, and can assist the first monitoring device 121 . For example, the space between the traveling vehicle body 3 and the front portion of the working device 2 can be monitored by the second monitoring device 122 .
[0047]
　It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.
Code explanation
[0048]
1: Working vehicle (tractor)
2: Working device
3: Traveling vehicle body
8: Lifting device (coupling device)
60: Control device
63: Automatic operation control unit
64: Work management unit
66: Switching device
121: First monitoring device
122: Second monitoring device
D1: Obstacle
D2: Obstacle
L1: Planned travel route

[Claim 1]
　A traveling vehicle body,
　a coupling device capable of connecting a working device to the traveling vehicle body,
　a first monitoring device provided on the working device and monitoring at least the surroundings of the working device, and a
　planned travel route and the first monitoring device. and a control device that performs control related to automatic operation of the traveling vehicle body based on the monitored information
　.
[Claim 2]
　The control device includes an automatic operation control unit that executes the automatic operation when the monitoring information does not contain an obstacle, and does not execute the automatic operation when the monitoring information contains an obstacle. The work vehicle according to claim 1.
[Claim 3]
　The coupling device is an elevating device that elevates the work device, and the
　automatic operation control unit detects an obstacle in the monitoring information when the work device is lifted by the elevating device after the start of the automatic operation. The work vehicle according to claim 1 or 2, wherein the automatic operation is stopped when is included.
[Claim 4]
　4. The control device according to any one of claims 1 to 3, wherein the control device comprises a work management section that extracts a work state of work performed by the work device based on the monitoring information monitored by the first monitoring device. Work vehicle as described.
[Claim 5]
　a traveling vehicle body;
　a coupling device capable of coupling a working device to the traveling vehicle body;
　a first monitoring device provided in the working device
　; A work comprising a control device having an automatic operation control unit that performs control related to automatic operation of a traveling vehicle body, and a work management unit that extracts a work state in which work is performed by the work device based on the monitoring information
　. vehicle.
[Claim 6]
　The work vehicle according to claim 5, wherein the work management unit extracts the work state after the automatic operation is started.
[Claim 7]
　The coupling device is an elevating device for elevating the working device, and the
　automatic operation control unit executes the automatic operation when the monitoring information does not include an obstacle, and the monitoring information includes no obstacle. When the obstacle is included in the monitoring information when the automatic operation is not executed and when the working device is lifted by the lifting device after the start of the automatic travel, the obstacle is included. Automatic operation is stopped, and automatic operation is continued when no obstacle is included, and the
　work management unit, based on the monitoring information from the start of the automatic operation until the work device is raised, The work vehicle according to claim 5 or 6, wherein the work state is extracted.
[Claim 8]
　8. The apparatus according to any one of claims 5 to 7, further comprising a switching device for switching between the automatic operation control of the automatic operation control unit and the monitoring of the working state of the working device with respect to the monitoring information monitored by the first monitoring device. A work vehicle according to any one of the preceding items.
[Claim 9]
　The work vehicle according to any one of claims 1 to 8, further comprising a second monitoring device provided on the traveling vehicle body and monitoring in the same direction as the first monitoring device.