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Traveling path determination device

A driving path, path technology, applied in transportation and packaging, two-dimensional position/navigation control, vehicle position/route/altitude control and other directions

Active Publication Date: 2019-07-02
KUBOTA LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the system of Patent Document 2, there is no flexibility in that when one work vehicle interrupts the work, the travel route set in the other work vehicle is corrected, and the other work vehicle replaces the interruption. work vehicle

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0054] 〔Overview of automatic driving〕

[0055] in figure 1 , Schematically shows the work traveling by the work vehicle automatic traveling system. In this embodiment, the work vehicle is a harvester 1 that travels as a work and performs a harvesting operation (harvesting operation) of harvesting crops while traveling, and is of a type generally referred to as an ordinary combine harvester. The work site driven by the harvester 1 is called a field. In the harvesting operation in the field, the area where the harvester 1 travels in a circle while working along the boundary line of the field called the ridge is set as the outer peripheral area SA. The inner side of the outer peripheral area SA is set as the work target area CA. The outer peripheral area SA is used as a moving space and a direction conversion space for the harvester 1 to discharge harvested materials or refuel. In order to secure the outer peripheral area SA, the harvester 1 travels as the first operation, and t...

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PUM

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Abstract

This traveling path determination device is provided with: a path management unit for calculating a group of traveling path elements and storing the elements so as to be readable; a first path elementselection unit for selecting a next traveling path element where a standard work vehicle 1m is to travel next and giving the next traveling path element to a traveling control unit of the standard work vehicle 1m; a second path element selection unit for selecting a next traveling path element where a specific work vehicle 1s is to travel next and giving the next traveling path element to a traveling control unit of the specific work vehicle 1s; and a traveling path element correction unit for correcting positional coordinates of the selected traveling path element on the basis of the difference between the standard work width and a specific work width.

Description

Technical field [0001] The present invention relates to a travel path determination device for determining travel paths of a plurality of work vehicles for performing work while traveling in a coordinated manner on a work site. Background technique [0002] The field work machine of Patent Document 1 includes a route calculation unit and a driving assistance unit in order to perform field work using automatic driving. The path calculation unit obtains the shape of the field based on the terrain data. Then, the path calculation unit calculates a travel path from the set travel start point to the travel end point based on the shape and the working width of the field working machine. The driving assistance unit compares the vehicle position obtained based on the positioning data obtained from the GPS module with the travel route calculated by the route calculation unit, and controls the steering mechanism so that the traveling body travels along the travel route. [0003] By making ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02A01B69/00
CPCG05D1/0219A01B69/00
Inventor 富田樱佐野友彦阪口和央仲岛铁弥押谷诚石见宪一吉田脩
Owner KUBOTA LTD