PROBLEM TO BE SOLVED: To solve the problem in which: an automatic travel working vehicle is demanded which executes steering control considering at least a working ground state and a working type in returning the vehicle body deviated from a target travel route to the target travel route.SOLUTION: An automatic travel working vehicle comprises: a work travelling information recording unit 45 which records work travelling information containing a working ground state and a working type of a working device; a steering mechanism 13 which changes a travelling direction of a vehicle body; an own vehicle position calculating unit 70 which calculates an own vehicle position; a travel route setting unit 51 which sets a target travel route; a control input value calculating unit 502 which calculates a control input value based on a route deviation, which is a deviation of the vehicle body to the target travel route, on the basis of the target travel route and the own vehicle position; a steering control unit 501 which calculates a controlled variable necessary to control the steering mechanism on the basis of the control input value and steering sensitivity; and a steering sensitivity setting unit 503 which derives the steering sensitivity from the working ground state and working type read from the work travelling information.SELECTED DRAWING: Figure 4

    【課題】目標走行経路から外れた車体を目標走行経路に戻す際に、少なくとも作業地の状態と作業種類とを考慮した操舵制御が実行される自動走行作業車が要望されている。【解決手段】自動走行作業車は、作業地の状態と作業装置の作業種類とを含む作業走行情報を記録する作業走行情報記録部45と、車体の走行方向を変更する操舵機構13と、自車位置を算出する自車位置算出部70と、目標走行経路を設定する走行経路設定部51と、目標走行経路と前記自車位置とに基づいて目標走行経路に対する車体のずれである経路ずれに基づく制御入力値を算出する制御入力値算出部502と、制御入力値と操舵感度とに基づいて操舵機構を制御する制御量を演算する操舵制御部501と、作業走行情報から読み出された作業地の状態や作業種類から操舵感度を導出する操舵感度設定部503とを備えている。【選択図】図4


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    AUTOMATIC TRAVEL WORKING VEHICLE


    Weitere Titelangaben:

    自動走行作業車


    Beteiligte:
    SAKAGUCHI KAZUO (Autor:in) / YAMAGUCHI KOTARO (Autor:in) / SUGA HIROKI (Autor:in) / SHINKAI ATSUSHI (Autor:in)

    Erscheinungsdatum :

    2018-07-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B62D MOTOR VEHICLES , Motorfahrzeuge



    AUTOMATIC TRAVEL WORKING VEHICLE

    MATSUZAKI MASAYUKI | Europäisches Patentamt | 2018

    Freier Zugriff

    WORKING TRAVEL VEHICLE

    ADACHI KEN / TAMURA TOMOSHI / KADOWAKI HIROTAKE | Europäisches Patentamt | 2017

    Freier Zugriff

    AUTONOMOUS TRAVEL WORKING VEHICLE

    HIRAMATSU TOSHIFUMI / AOKI HIDEAKI | Europäisches Patentamt | 2020

    Freier Zugriff

    AUTONOMOUS TRAVEL WORKING VEHICLE

    HIRAMATSU TOSHIFUMI / AOKI HIDEAKI | Europäisches Patentamt | 2017

    Freier Zugriff

    AUTONOMOUS TRAVEL WORKING VEHICLE

    Europäisches Patentamt | 2020

    Freier Zugriff