WORK VEHICLE AND BASE STATION
FIG5 is a diagram showing an example of a determination made by the determination unit  FIG4 is a diagram showing an example of a determination made by a determination unit
The first determination unit 23 can also determine that work cannot continue to be performed on the work target in the case where the distance to an object included in a captured image acquired by the first captured image acquisition unit 22 is less than or equal to a preset value. The object included in the captured images may be a moving object or a still object, and firstly, the first determination unit 23 uses known image recognition processing to determine whether or not such an object is included in a captured image acquired by the first captured image acquisition unit 22. A configuration is possible in which in the case where it is determined that an object is included in a captured image, the distance between the object and the work vehicle 1 is then calculated. Accordingly, in the case where a rock 89 or the like is located ahead in the traveling direction of the work vehicle 1 as shown in FIG5, it is possible to stop the work vehicle 1 at a position that is a predetermined distance ahead of the object.  It is preferable that the first determination unit 23 determines that work cannot continue to be performed on the work target in the case where the inclination of the vehicle body detected by the inclination sensor 21 is greater than or equal to a preset value. The "preset value" may be set based on the value at which traveling of the work vehicle 1 becomes difficult due to inclination of the vehicle body relative to the horizontal plane. Specifically, as shown in FIG4 for example, the first determination unit 23 may determine that the traveling of the work vehicle 1 becomes difficult in the case where the inclination of the vehicle body relative to the horizontal plane has reached a predetermined angle θ. This therefore prevents the risk of overturning of the work vehicle 1.
diagram
22
captured image acquisition unit
1
work vehicle
4
motors
89
rock
10
travel control apparatus
23
first determination unit
['1. A work vehicle configured to perform work while traveling autonomously, comprising: a drive wheel unit (2A) that is provided in a vehicle body (3) and is configured to be driven by a travel drive mechanism (10); a work unit (25) that is provided in the vehicle body (3) and is configured to perform work on a work target; a battery (5) provided in the vehicle body (3); and a motor (4) that is configured to receive electric power from the battery (5) and to drive the work unit (25), characterized by : an inclination sensor (21) configured to detect an inclination of the vehicle body (3) relative to a horizontal plane; a first captured image acquisition unit (22) configured to acquire a captured image that shows surroundings of the vehicle body (3) when the work is being performed; a first determination unit (23) configured to determine whether or not the work can be continued while traveling autonomously, based on at least one of a detection result from the inclination sensor (21) and the captured image; and a stop unit (24) configured to stop driving of the drive wheel unit in a case where the first determination unit (23) determined that the work cannot be continued.']