Work vehicle cooperation system

Abstract

Provided is a work vehicle cooperation system that achieves ground work travel which is performed in a central work area and a headland, by effective coordination between a parent work vehicle and a child work vehicle. The work vehicle cooperation system is provided with: a parent position detection module for detecting the position of the parent work vehicle (1P); a child position detection module for detecting the position of the child work vehicle (1C); a central work area path calculation unit for calculating a central work area travel path used for unmanned work travel of the child work vehicle (1C) in the central work area (CL); a first operation control unit for allowing unmanned operation of the child work vehicle (1C) so that the child work vehicle (1C) precedes the parent work vehicle (1P), on the basis of the child work vehicle position and the central work area travel path; a headland path calculation unit for calculating a headland travel path used for unmanned work travel of the child work vehicle (1C), on the basis of a work travel track of the parent work vehicle (1P) in the headland (HL); and a second operation control unit for allowing unmanned operation of the child work vehicle (1C) so that the child work vehicle (1C) follows the parent work vehicle (1P), on the basis of the detected child work vehicle position and the headland travel path.

Description

technical field [0001] The present invention relates to a work vehicle coordination system. The aforementioned work vehicle coordination system utilizes unmanned sub-work vehicles and a manned parent work vehicle to control the central work site and the uncultivated land around the central work site. ) for ground operations. Background technique [0002] According to Patent Document 1, there is known a vehicle control system that sequentially determines a target travel position based on an actual travel position of a parent work vehicle, and drives a child work vehicle with the target travel position as a target. In this vehicle control system, there are disclosed a control mode in which a child work vehicle follows a parent work vehicle while maintaining an offset amount set in an X (longitude) direction and a Y (latitude) direction with respect to a parent work vehicle, and A control mode in which a child work vehicle follows a parent work vehicle by setting a travel rout...

AI Technical Summary

Problems solved by technology

However, in order to effectively realize the central working field driving mainly in a straight line and the uncultivated field driving at the edge of the field including complicated rotary steering, it can be effectively realized by means of the coordinated control of the working vehicle that connects the parent working vehicle and the child working vehicle, only by combining the patent documents 1. It is impossible to simply combine the controls disclosed in Patent Document 2

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