To provide an automatic travel work vehicle on which steering control considering at least a state of a work site and a work type is executed.SOLUTION: A control system for a work vehicle comprises: a work travel information recording unit 45 for recording work traveling information including a state of a work site and a work type of a work device mounted on the work vehicle; an own vehicle position calculation unit 70 for calculating the vehicle's position; a travel route setting unit 51 for setting a target travel route; a control input value calculation unit 502 that on the basis of the target travel route and the vehicle's position, calculates a route deviation, a deviation of the vehicle body with respect to the target travel route, and calculates a control input value based on the route deviation; a steering control unit 501 that on the basis of the control input value and steering sensitivity, operates a control amount for controlling a steering mechanism of the work vehicle; and a steering sensitivity setting unit 503 that derives the steering sensitivity from the state of the work site read from the work travel information, the work type read from the work travel information, or a combination of both of them and sets the steering sensitivity.SELECTED DRAWING: Figure 4

    【課題】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の提供。【解決手段】作業地の状態と作業車に装備された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、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を算出し、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作業車の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から、または作業走行情報から読み出された作業種類から、あるいはその両方の組み合わせから操舵感度を導出して、設定する操舵感度設定部503と、を備える。【選択図】図4


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    Titel :

    CONTROL SYSTEM FOR WORK VEHICLE


    Weitere Titelangaben:

    作業車の制御システム


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

    Erscheinungsdatum :

    2020-10-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

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



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