JPH06343334A - Self-propelled working vehicle - Google Patents

Abstract

PURPOSE:To obtain a self-propelled working vehicle having simplified structure and capable of automatically following the motion of a worker by detecting the distance between the vehicle and the worker with a longitudinal distance sensor attached to the front side of the vehicle and keeping the distance within the optimum range by controlling a driving motor with a controller. CONSTITUTION:A self-propelled working vehicle automatically travels in a narrow path such as the path between ridges by following the motion of a moving object such as a worker. The distance Df to the moving object ahead on a path and the distance Dr to the rear obstruct are detected (S10,S12) with forward and backward direction sensors, the working vehicle is driven forward (S16) or backward (S18) with a forwarding or retreating means to keep the distance to the moving object within the optimum range (S14) and the traveling motion of the vehicle is stopped (S22) with a stopping means when the distance to the moving object is fallen within the optimum range. The vehicle can automatically follow the motion of the front moving object such as a worker without necessitating the detection of the speed of the worker and the structure of the vehicle can be simplified by this process.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled work vehicle that automatically travels in a narrow passage such as a furrow passage following a moving object such as an operator.

[0002]

2. Description of the Related Art In agricultural work, it is sometimes required that an operator walks through a furrow passage and carries a harvested product of the furrow on a vehicle. Conventional vehicles that carry crops are hand-pushed, requiring the operator to push the vehicle, which increases labor.

On the other hand, Japanese Patent Laid-Open No. 3-210606 discloses
Disclosed is a vehicle that automatically runs in the vertical direction following a person in the horizontal direction. This vehicle is equipped with a sensor for detecting the distance to a person and a walking speed of the person as a target to be followed, and controls steering and vehicle speed based on the detected distance and walking speed.

[0004]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
The automatic traveling vehicle of Japanese Patent No. 6 is difficult to apply when the worker walks ahead of the vehicle rather than next to the vehicle such as a narrow passage such as a furrow passage. Further, this vehicle needs to detect the walking speed of the worker, and the structure becomes complicated.

It is an object of the inventions of claims 1, 2 and 3 to automatically follow a moving object in front of a passage having a narrow width such as a furrow, rather than laterally, and detect the velocity of the moving object. Is to provide a self-propelled work vehicle whose structure can be simplified. It is an object of the invention of claim 4 to provide a self-propelled work vehicle capable of avoiding a collision with an obstacle in a passage at the time of a reverse travel due to an approach of a worker. It is another object of the invention of claim 5 to provide a self-propelled vehicle that can smoothly travel in a passage despite the presence of a barrier in the width direction of the passage.

[0006]

The present invention will be described using reference numerals in the drawings corresponding to the embodiments. The self-propelled vehicle (10) according to claim 1 has the following components (a) to (c). (A) A front-rear distance sensor (32) for detecting a front-rear distance to a moving object (122) existing in front of the passage (118) (b) A distance to the moving object (122) is within an appropriate range. Forward / backward moving means (66, 68) (c) Stopping means (66, 68) for stopping when the distance to the moving object (122) falls within an appropriate range due to running

The self-propelled vehicle (10) according to claim 2 has the following (a)-
It has the component (c). (A) A first front-rear direction distance sensor (32) for detecting a front-rear distance to a moving object (122) existing in front of the passage (118) (b) A distance to the moving object (122) is within an appropriate range. Forwarding means (66, 68) that advances when it increases (c) Stopping means (66, 68) that stops when the distance to the moving object (122) falls within an appropriate range due to forward movement

The self-propelled work vehicle (10) according to claim 3 has the following (a)-
It has the component (c). (A) A first front-rear direction distance sensor (32) for detecting a front-rear distance to a moving object (122) existing in front of the passage (118) (b) A distance to the moving object (122) is within an appropriate range. Reverse means (66, 68) to move backward when decreasing (c) Stop means (66, 68) to stop when the distance to the moving object (122) falls within the proper range by backward

The self-propelled work vehicle (10) according to claim 4 is the same as the self-propelled work vehicle (10) according to claim 3 in which (a) to (c) are provided.
It has a second front-rear distance sensor (32) for detecting the front-rear distance to an obstacle in the rear passage (118).
Further, the stopping means (66, 68) of (c) stops regardless of the distance to the moving object (122) when the distance to the obstacle is in the dangerous range.

The self-propelled vehicle (10) according to claim 5 has the following (d) and (e). (D) Lateral distance sensor (34) for detecting the distance to the barrier in the width direction of the passage (118) (e) Lateral distance sensor (34) for traveling along the passage (118)
Steering means for steering based on the detection of (44,66)

[0011]

In the self-propelled work vehicle (10) according to claim 1, the front-rear direction distance sensor (32) has a passage (11) in front of the self-propelled work vehicle (10).
The distance to the moving object (122) existing in 8) is detected. The forward / backward moving means (66, 68) moves the self-propelled work vehicle (10) forward / backward based on the distance detected by the front / rear direction distance sensor (32). The stopping means (66, 68) stops the self-propelled work vehicle (10) when the distance to the moving object (122) in the passage (118) is within the proper range.

In the self-propelled work vehicle (10) according to the second aspect, the front-rear direction distance sensor (32) is disposed in front of the self-propelled work vehicle (10) in a passage.
The distance to the moving object (122) existing in (118) is detected.
The forward-rearward traveling means (66, 68) advances the self-propelled work vehicle (10) in the passage (118) based on the distance detected by the front-rear direction distance sensor (32) to approach the moving object (122). Stopping means (6
6,68) stops the self-propelled work vehicle (10) when the self-propelled work vehicle (10) approaches the moving object (122) to an appropriate range by moving forward.

In the self-propelled work vehicle (10) according to claim 3, the first front-rear direction distance sensor (32) includes the moving object (122) existing in the passage (118) in front of the self-propelled work vehicle (10). Detect the distance to. The forward-rearward traveling means (66, 68) passes through the self-propelled work vehicle (10) based on the distance detected by the first front-rear direction distance sensor (32).
At 118, move backward and move the self-propelled vehicle 10 to the moving object 12
Separate from 2). The stopping means (66, 68) stops the self-propelled work vehicle (10) when the self-propelled work vehicle (10) moves backward and the distance from the moving object (122) falls within an appropriate range.

In the self-propelled work vehicle (10) according to claim 4, the second front-rear direction distance sensor (32) is arranged such that the distance to the obstacle existing in the passage (118) behind the self-propelled work vehicle (10). To detect.
When the moving object (122) approaches the self-propelled work vehicle (10), the reverse means (66, 68) causes the self-propelled work vehicle (10) to move backward in the aisle (118), but the stop means (66, 68). When the distance to the obstacle detected by the second front-rear direction distance sensor (32) is within the dangerous range, 68) stops the operation of the reverse drive means (66, 68),
Stop the self-propelled vehicle (10) forcibly.

In the self-propelled vehicle (10) of the fifth aspect, the lateral distance sensor (34) detects the distance to the barrier in the width direction of the passage (118). The steering means (44, 66) steers the self-propelled work vehicle (10) based on the distance detected by the lateral distance sensor (34),
The collision and the approach to the barrier at the end in the width direction are suppressed.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the accompanying drawings. 3 and 4 are a plan view and a side view of the self-propelled work vehicle 10, respectively. 3 and 4, the left and right sides of the drawing are the front and the rear of the self-propelled work vehicle 10, respectively. In the front and rear portions of the rectangular parallelepiped box-shaped vehicle body 12 that is long in the front-rear direction, the front and rear drive units 14, 16 for traveling are respectively provided.
Are arranged and stored. In each of the front drive unit for traveling and the rear drive unit for traveling 14, 16, a box-shaped drive case 18 is provided.
The upper and lower pivots 20 and 22 are fixed to the upper and lower surfaces with their center lines aligned and project upward and downward in the vertical direction by a predetermined amount. The front axle 24 and the rear axle 26 are arranged at the front end and the rear end of the lower portion of the box-shaped vehicle body 12, respectively, and swing integrally with the front and rear drive units 14 and 16 for traveling, A front wheel 28 and a rear wheel 30 are attached to both ends, respectively. The lower part of the front surface and the rear surface of the box-shaped vehicle body 12,
That is, at the height corresponding to the side surface of the ridge, the front-rear direction distance sensor 32 is oriented in the front-rear direction at the center, and the side-direction distance sensor 34 is oriented laterally on both left and right sides of the front-rear direction distance sensor 32. Installed. The front and rear front-rear distance sensors 32 measure the distances to objects existing in front of and behind the self-propelled work vehicle 10, and each lateral distance sensor 34 measures the distance between the front and rear of the self-propelled work vehicle 10. At the rear part, the distance to the object in the left-right direction of the self-propelled vehicle 10 is measured.
The bumper switch 36 is attached to the lower part of the front surface and the rear surface of the box-shaped vehicle body 12, is normally located at a position projecting in the front-back direction of the self-propelled work vehicle 10, and by contact with a pile or the like standing on the ground,
The box-shaped vehicle body 12 is pushed against the urging force and can be switched on and off.

The projecting shaft 38 is a vertical plane including the center line of the front axle 24 or the rear axle 26 and the center lines of the upper and lower pivot shafts 20, 22 in the front and rear drive units 14, 16 for traveling. It is provided so as to project upward on the upper surface of each box-type drive case 18 so that the center line exists above, and is biased from the upper pivot 20 to the left and right by equal amounts. The pair of link rods 40 extend by bending around the central portion of the box-shaped vehicle body 12 in opposite directions to each other, and are rotatably connected to the protruding shaft 38 at both end portions. The steering drive unit 42 is located between the front drive unit 14 for traveling and the rear drive unit 14 for traveling, and the left and right and center limit switches 62 and 63 are centered around the steering motor 44.
Including and The steering motor 44 is attached to a support plate 99 that is horizontally installed inside the box-shaped vehicle body 12, and is driven vertically upward.
Has 46. The rocking operation member 48 has a disc portion 52 fitted to the drive shaft 46, and a fork portion 54 protruding from the disc portion 52 toward the rear drive unit for traveling. Key 50
Is fitted into the drive shaft 46 and the disc portion 52 to integrally connect them in the rotational direction. The protruding shaft 58 is provided on the upper surface of the box-shaped drive case 18 of the rear drive unit for traveling so as to project upward, and is inserted into the guide groove 56 formed along the center line of the fork portion 54 to guide the drive. It is guided in the extending direction of the groove 56. The three convex portions 60 are provided at equal angular intervals on the periphery of the key 50 on the side opposite to the fork portion 54 with respect to the drive shaft 46, and the central convex portion 60 is on the side directly opposite to the fork portion 54. positioned. The left and right and center limit switches 62 and 63 attached to a stay (not shown) extending from the support plate 99 correspond to the respective convex portions 60 at the swing position of the swing operation member 48 where the fork portion 54 projects right behind. Is turned on and off by sliding contact with the convex portion 60 accompanying the swing of the swing operation member 48. The swing position of the swing operation member 48 can be detected and determined by the on / off states of the three convex portions 60.

The two batteries 64 are housed in the lateral bulging portions of the box-shaped vehicle body 12 on both the left and right sides of the steering drive unit 42, and supply electric power to the steering motor 44 and a traveling motor 68 described later. The control device 66 is equipped with a microcomputer and the like, and is provided at the front end of the upper surface of the box-shaped vehicle body 12 so as to project upward.

5 and 6 are views showing the internal structure of the rear drive unit for traveling and the assembly structure of the rear drive unit for traveling in the box-shaped vehicle body 12 as viewed from the side and the front, respectively. Although the internal structure and the assembly structure of the traveling front drive unit 14 are not shown, they are the same as those of the traveling rear drive unit except for the connection with the swing operation member 48. The forward / reverse traveling motor 68 is a box-shaped drive case 18
The rotation of the motor output shaft 76 of the traveling motor 68 is fixed to the inner surface of the upper wall via a plurality of bolts 72 and is sent to the output shaft 88 via the reduction gear 74. The speed reducer 74 is a traveling motor.
A sprocket 78 that is integrally fitted to the motor output shaft 76 of 68 in the rotation direction, an intermediate shaft 83 that extends in the left-right horizontal direction parallel to the motor output shaft 76 and the output shaft 88, and a rotation on the intermediate shaft 83. Sprocket 78 having a diameter larger than that of the sprocket 78 and an intermediate shaft 83 which is integrally fitted in the rotation direction at the end opposite to the sprocket 82. Sprocket 84 with a smaller diameter than the sprocket 82, and the sprocket 84 with the output shaft 88 integrally fitted in the rotational direction through the chain 86.
It is equipped with a sprocket 90 having a larger diameter than the sprocket 84, which receives rotational power from The intermediate shaft 83 and the output shaft 88 are rotatably supported by the box-shaped drive case 18 at both ends in the left-right direction via ball bearings 102. Box body 12
Has a main body portion 92 that opens on the upper side, and a lid portion 94 that closes the main body portion 92 so that the upper side opening of the main body portion 92 can be opened and closed. The thrust bearing 96 receives the lower pivot 22 in the vertical direction and rotatably supports it on the lower wall of the main body 92. The support plate 98 extends in the left-right horizontal direction on the upper side of the box-shaped drive case 18, and the bolts 10 are provided on both sides of the inner surface of the main body 92.
Fixed through 3. Thrust bearing 100 is
It is provided on the lower surface side of the support plate 98 and rotatably supports the upper pivot 20 on the support plate 98. The arcuate cutout 104 is formed in the support plate 98 and extends for a predetermined length in an arcuate shape centered on the center line of the upper pivot 20. The protruding shaft 38 penetrates the arcuate notch 104 and reaches above the support plate 98. The amount of protrusion of the output shaft 88 from both side walls of the box-shaped drive case 18 depends on the main body when the box-shaped drive case 18 rotates around the center lines of the upper and lower pivots 20 and 22 in the box-shaped vehicle body 12. It is selected to avoid interference with the inner surface of the portion 92.

After the self-propelled work vehicle 10 travels back and forth in the furrow passage, it is necessary to move the self-propelled work vehicle 10 to the next adjacent furrow passage or make a large turn in a limited space. Sometimes. That is, as indicated by a phantom line in FIG. 4, the lift device 150 is disposed below the steering motor 44 of the steering drive unit 42 and switches the amount of protrusion of the lift shaft 152 in the vertically downward direction. In addition to being flexible, it is also flexible around the lift shaft 152. The ground plate 154 having a predetermined area is rotatably fixed to the lower end of the lift shaft 152, and the front wheel 28 and the rear wheel 3 are in the retracted position of the lift shaft 152.
It is located above the lower end of 0, and at the projecting position of the lift shaft 152, projects downward from the lower ends of the front wheels 28 and the rear wheels 30 and is in the ground contact state to support the weight of the self-propelled work vehicle 10. When the self-propelled work vehicle 10 makes a large turn in a limited turning space, the lift shaft 152 is sufficiently projected downward, the ground plate 154 is grounded, and the front wheels 28 and the rear wheels 30 are floated. , The worker can move the self-propelled work vehicle 10 in a desired direction by a desired amount,
Rotate. As a result, the self-propelled work vehicle 10 is
After rotating around the center line of 152 to change the direction, and after changing to the desired direction, the lift shaft 152 is retracted again and the front wheels 28 and the rear wheels 30 are grounded.

FIG. 7 is a rear view of the self-propelled work vehicle 10 in which the basket 108 is mounted, which is indicated by a chain double-dashed line. FIG. 8 is a side view of the self-propelled work vehicle 10 following the worker 122 in the furrow passage 118. It is a figure. The pair of mounting rails 106 are mounted along the left and right sides of the upper surface of the box-shaped vehicle body 12 with the opening side of the cross section facing inward. The basket 108 is adapted to receive the harvested product of the ridges 120 and the like, and the lower protruding edge 11
0 is applied to the upper surfaces of both mounting rails 106, and the mounting rails 106 are mounted. The hanging wall portion 112 is formed so as to almost contact the inside of the mounting rail 106.
It extends downward and fits in. The fixing pin 114 is attached to one side of the mounting rail 106 so as to be freely inserted and removed from the outer surface side, and is inserted into a locking hole (not shown) of the hanging wall portion 112 at the pushing position to mount the basket 108 on the mounting rail. 106
Fixed to. Remove basket 108 and remove basket 1
Instead of 08, other work machines, such as work machines for high places, can be detachably mounted. At the time of such mounting, the roller at the base of the working machine is fitted from the rear end of the mounting rail 106 and moved forward in the cross section of the mounting rail 106, so that the basket 1
Insert the fixing pin 114 into the locking hole of the hanging part in the same way as 08,
Fix it. The operation panel 116 is arranged above the control device 66. The furrow passage 118 is formed between the furrows 120 and generally has a width of several tens of centimeters. The width of the self-propelled vehicle 10 is the furrow passage 118.
It is a little smaller. The worker 122 walks in front of the self-propelled work vehicle 10 in the furrow passage 118 to perform work.

FIG. 9 is a plan view of the operation panel 116. The power button 124 turns on and off the power of the self-propelled work vehicle 10, and the manual / automatic changeover switch 126 switches the operation of the self-propelled work vehicle 10 between automatic and manual. In the case of manual driving, the steering switch 128 is operated to steer left, middle (straight ahead), and right, and the travel switch 130 is operated to switch between forward, stop, and reverse. In the case of automatic operation, the forward button 132, the stop button 134, and the reverse button 136 are pressed to switch to the forward, stop, and reverse modes.

FIG. 10 shows an operation panel on the upper part of the controller 66.
FIG. 16 is a perspective view showing a coupling structure of 116. 1 pair of telescopic rods 1
Reference numeral 38 denotes a nesting structure, which can be increased or decreased in length, are parallel to each other and have the same length, and have both ends at the operation panel 116.
Is rotatably coupled to the lower coupling side and the pivot coupling section 140 on the upper surface of the control device 66. As a result, a pair of telescopic rods 138
Form a parallel link, and connect the operation panel 116 to the control device 6
While keeping parallel to the upper surface of 6, move to the left and right.

FIG. 11 shows a connecting structure of both ends of the telescopic rod 138. In the rotary joint 140, the bolt 142 is a control device.
It is fixed to the upper wall of 66 and protrudes upward, and the collar 14
4 is fitted and a nut 146 is screwed on the upper end portion.
The cylindrical portion 147 of the telescopic rod 138 is rotatably fitted to the collar 144. The pivotal coupling portion 148 has a structure similar to that of the pivotal coupling portion 140, and the tip end of the telescopic rod 138 is attached to the operation panel 116.
Is rotatably connected to the lower surface of the. A pair of telescopic rods
The position of the operation panel 116 in the left-right direction is adjusted by the displacement of 138, and then the nut 146 of the rotary coupling portion 140 is tightened to move the cylindrical portion.
The rotation of 147 is restrained, and the position of the operation panel 116 is fixed.
Further, the amount of protrusion of the operation panel 116 forward from the control device 66 is adjusted by the extension and contraction of the telescopic rod 138.

FIG. 1 is a flowchart of the traveling control routine. Travel control of the self-propelled work vehicle 10 will be described according to this flowchart. This flowchart and FIG. 2 described later
The program according to the flowchart of (1) is executed by the microcomputer equipped in the control device 66.
The worker 122 walks in front of the self-propelled work vehicle 10 in the furrow passage 118, as shown in FIG. 8. In step S10, the distance Df from the self-propelled work vehicle 10 to the worker 122 is detected by the front-rear direction distance sensor 32 on the front side of the self-propelled work vehicle 10. In step S12, a distance Dr from the self-propelled work vehicle 10 to an obstacle existing in the furrow passage 118 behind the self-propelled work vehicle 10 is detected by the front-rear direction distance sensor 32 on the rear side of the self-propelled work vehicle 10. It In step S14, the distance D
It is determined whether f is within the proper range. If Df is too large, the process proceeds to step S16, the traveling motor 68 is rotated in the normal direction, and the self-propelled vehicle 10 is moved forward to approach the worker 122. If Df is too small, the process proceeds to step S18, and it is determined whether Dr is an appropriate value. An appropriate value of Dr means that there is no obstacle behind the self-propelled work vehicle 10. In that case, the process proceeds to step S20 and the traveling motor 68 is used.
To reverse the self-propelled work vehicle 10 and
Away from worker 122. Whether Df is determined to be within the proper range in step S14, or Df is determined in step S18.
If r is not an appropriate value, that is, if there is an obstacle in the furrow passage 118 near the rear of the self-propelled work vehicle 10, the process proceeds to step S22, the traveling motor 68 is stopped, and the self-propelled work vehicle is stopped.
10 stops.

In the flow chart of FIG. 1, the self-propelled work vehicle 10
Although the forward and backward movements of the self-propelled vehicle 10 are controlled simultaneously, the forward movement and the reverse movement of the self-propelled work vehicle 10 may be controlled individually. That is, the operation panel
When the forward button 132 of 116 is pressed, only the forward step S16 and the stop of step S22 are performed, and the reverse button 13
When 6 is pressed, reverse of step S20 and step S2
Only stop 2

FIG. 2 is a flowchart of the steering routine. Travel control of the self-propelled work vehicle 10 will be described according to this flowchart. In step S30, the ridges 120 on the left and right sides are detected by the lateral distance sensors 34 on the front and rear sides of the self-propelled vehicle 10.
The distance Dw from the self-propelled work vehicle 10 to the side surface of the vehicle is detected. In step S32, it is determined whether Dw is within the proper range. If Dw is within the proper range, step S38
Proceed to and drive the self-propelled vehicle 10 straight. If Dw is not within the proper range, that is, if the self-propelled vehicle 10 is largely deviated from the center of the furrow passage 118 in the left-right direction, step S
Proceeding to 34, the self-propelled work vehicle 10 is steered leftward or rightward so as to return it to the center of the furrow passage 118. That is, the steering motor
44 is driven in the rotation direction corresponding to the left or right steering, whereby the disc portion 52 rotates until the left or right limit switch 62 is turned off, and the traveling front drive unit 14 and the traveling rear side. The box-shaped drive case 18 of the drive unit 16 turns in mutually opposite directions, the front wheels 28 and the rear wheels 30 can be turned in opposite phases, and the self-propelled work vehicle 10 moves away from the approaching ridge 120. Steer in the direction. In step S36, it is determined whether or not a predetermined time has passed from the left or right steering.
When the predetermined time has elapsed, the process proceeds to step S38, the steering motor 44 is reversely rotated, and the self-propelled work vehicle 10 is returned in the straight traveling direction.

In the embodiment, the self-propelled work vehicle 10 is supposed to follow the worker 122, but the present invention can also be applied to automatically follow a moving object other than the worker 122. In the embodiment, the self-propelled work vehicle 10 travels in the furrow passage 118, but the present invention is applicable to any case where the self-propelled work vehicle 10 travels in a line with a moving object in a passage other than the furrow passage 118. In the embodiment, for convenience, in the self-propelled work vehicle 10, the worker 122 side is described as the front and the counter worker 122 side as the rear, but the worker 122 side and the counter worker 122 side are referred to as the front and the rear, respectively. It is arbitrary whether to do it or vice versa.

[0029]

According to the first, second, and third aspects of the present invention, the distance to the moving object in front of the passage is detected, and the self-propelled work vehicle is moved forward and backward and forward so that the distance is within an appropriate range.
Reverse or stop. Therefore, the self-propelled work vehicle can be smoothly applied to a work in which a narrow-width passage such as a furrow passage is in line with a moving object such as an operator and traveling, and a sensor for detecting the speed of the moving object. Since the can be omitted, the structure can be simplified.

According to the fourth aspect of the present invention, when there is an obstacle in the rear passage, the stopping means stops the reverse movement of the self-propelled work vehicle despite the approach of the moving object to the self-propelled work vehicle. Therefore, it is possible to prevent the collision with the obstacle due to the backward movement of the self-propelled work vehicle due to the approach of the worker.

In the invention of claim 5, the self-propelled work vehicle is steered by the steering means based on the distance to the barrier in the width direction detected by the lateral distance sensor. It is possible to smoothly follow the passage while preventing the vehicle from coming off to the outside in the width direction of the passage.

[Brief description of drawings]

FIG. 1 is a flowchart of a traveling control routine.

FIG. 2 is a flowchart of a steering routine.

FIG. 3 is a plan view of a self-propelled work vehicle.

FIG. 4 is a side view of the self-propelled work vehicle.

FIG. 5 is a view showing an internal structure of the rear drive unit for traveling and an assembly structure of the rear drive unit for traveling in the box-shaped vehicle as viewed from the side.

FIG. 6 is a front view showing the internal structure of the rear drive unit for traveling and the assembly structure of the rear drive unit for traveling in the box-shaped vehicle body.

FIG. 7 is a rear view of the self-propelled work vehicle showing a state in which the basket is attached, which is indicated by a chain double-dashed line.

FIG. 8 is a side view showing a state where the vehicle is traveling following an operator in a furrow passage.

FIG. 9 is a plan view of an operation panel.

FIG. 10 is a perspective view showing a connecting structure of an operation panel to an upper portion of a control device.

FIG. 11 is a view showing a connecting structure of both ends of the telescopic rod.

[Explanation of symbols]

10 Self-propelled work vehicle 32 Front-rear distance sensor (first front-rear distance sensor, second front-rear distance sensor) 34 Lateral distance sensor 44 Steering motor (steering means) 66 Control device (forward-rearward traveling means, forward traveling means) , Stop means,
Reverse drive means, steering means) 68 Traveling motor (forward / backward drive means, forward drive means, stop means, reverse drive means) 118 Furrow passage (passage) 122 Worker (moving object)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yumiko Yamamoto Inugata, Togane-shi, Chiba Opening 1554-3 Maruyama Manufacturing Co., Ltd. Togane factory (72) Inoue Kitago Togane, Togane-shi, Chiba Opening in character 1554-3 Maruyama Manufacturing Co., Ltd. Togane Factory

Claims (5)

[Claims] 1. A front-back distance sensor (32) for detecting a front-back distance to the moving object (122) existing in front of the passage (118), and (b) up to the moving object (122). The forward / backward movement means (66, 68) for moving forward and backward so that the distance is within the proper range, and (c) the stopping means (66, 68) for stopping when the distance to the moving object (122) is within the proper range by traveling. 68) A self-propelled work vehicle characterized by having 2. A first front-rear distance sensor (32) for detecting a front-rear distance to a moving object (122) existing in front of a passage (118), and (b) the moving object (122). )) A forward means (66, 68) for moving forward when the distance to the moving object (122) is within a proper range, and (c) stopping means (66, 68) for stopping when the distance to the moving object (122) falls within the proper range. A self-propelled work vehicle characterized by having and. 3. A first front-rear distance sensor (32) for detecting a front-rear distance to a moving object (122) existing in front of a passage (118), and (b) the moving object (122). Reverse means (66, 68) for moving backward when the distance to) is less than the proper range, and (c) stopping means (66, 68) for stopping when the distance to the moving object (122) falls within the proper range due to reverse movement. A self-propelled work vehicle characterized by having and. 4. A second front-rear distance sensor (32) for detecting a front-rear distance to an obstacle in the rear passage (118), and (e) a distance to the obstacle is in a dangerous range. And the stopping means (66, 68) for stopping the moving object (122) regardless of the distance to the moving object (122).
Self-propelled work vehicle described. 5. A lateral distance sensor (34) for detecting a distance to a barrier in the width direction of the passage (118), and a detection of the lateral distance sensor (34) for traveling along the passage (118). The self-propelled work vehicle according to any one of claims 1 to 4, further comprising: steering means (44, 66) for steering based on the above.