To provide a work vehicle capable of recognizing a self position in crop rows regardless of a state of a field.SOLUTION: A work vehicle 1 comprises: a distance sensor 13 for acquiring distance information from a work vehicle to each of a plurality of objects existing in a farm field; a rectangle recognition part 41 for estimating a plurality of crop rows on the basis of the distance information, and recognizing a rectangle in which, adjacent crop rows out of estimated crop rows are opposite sides; a target setting part 42 for setting a target travel path of the work vehicle in the adjacent crop rows on the basis of the rectangle recognized by the rectangle recognition part 41; and a position deviation calculation part 43A for estimating the current position of the work vehicle in the adjacent crop rows on the basis of the rectangle recognized by the rectangle recognition part 41, and calculating a deviation amount of the current position from the target travel path.SELECTED DRAWING: Figure 4
【課題】圃場の状態にかかわらず、作物列間における自己位置の認識が可能な作業車両を提供する。【解決手段】作業車両1は、作業車両から圃場に存在する複数の物体各々までの距離情報を取得する距離センサ13と、距離情報に基づいて複数の作物列を推定し、推定された作物列のうち隣り合う作物列を対辺とする矩形を認識する矩形認識部41と、矩形認識部41によって認識された矩形に基づいて隣り合う作物列間における作業車両の目標走行経路を設定する目標設定部42と、矩形認識部41によって認識された矩形に基づいて隣り合う作物列間における作業車両の現在位置を推定し、現在位置の目標走行経路からのずれ量を算出する位置偏差算出部43Aとを含む。【選択図】図4
WORK VEHICLE AND DEVIATION AMOUNT CALCULATION PROGRAM
作業車両およびずれ量算出プログラム
2019-09-19
Patent
Elektronische Ressource
Japanisch
IPC: | A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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