Work Vehicle Coordination System

Abstract

The present invention provides a coordinated control system of working vehicles. The aforementioned coordinated control system of working vehicles realizes the driving of on-ground operations targeting the central working site and uncultivated land at the edge of the field through the effective connection between the parent working vehicle and the sub-working vehicles. The operation vehicle coordination system includes a parent position detection module, a sub-position detection module, a central operation site route calculation unit, a first driving control unit, a field edge uncultivated land route calculation unit, and a second driving control unit. The parent position detection module detects the parent The position of the work vehicle (1P), the aforementioned sub-position detection module detects the position of the sub-work vehicle (1C), and the aforementioned central work site path calculation unit calculates the unmanned path for the sub work vehicle (1C) on the central work site (CL) The driving route of the central work site for driving work, the first driving control unit based on the position of the child work vehicle and the travel route of the central work site, makes the child work vehicle (1C) perform unmanned driving ahead of the parent work vehicle, and the uncultivated land at the edge of the field The path calculation unit calculates the uncultivated field travel path used for the unmanned driving of the sub-operation vehicle (1C) based on the working trajectory of the parent operation vehicle (1P) on the fieldside uncultivated land (HL). The driving control unit performs unmanned driving so that the child work vehicle (1C) follows the parent work vehicle (1P) based on the detected position of the child work vehicle and the traveling path of the uncultivated field at the edge of the field.

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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