To provide an autonomous steering device that stably travels a work vehicle along a travel path set in advance for a farm field.SOLUTION: An autonomous steering device comprises a front target angle calculation unit, a yaw rate acquisition unit, an arithmetic tire angle calculation unit, and a steering angle control unit. The front target angle calculation unit calculates a front target angle formed between a travel path and a line segment connecting a rice transplanter and a front target point, which is a forward point on the travel path and is a target point for bringing the rice transplanter into a position closer to the travel path. The yaw rate acquisition unit acquires a yaw rate, which is an angular velocity of the rice transplanter using a vertical direction as a rotation axis thereof. The arithmetic tire angle calculation unit calculates an arithmetic tire angle, which is a tire steering angle for achieving the yaw rate acquired by the yaw rate acquisition unit. The steering angle control unit performs a first comparison process for comparing the front target angle and the arithmetic tire angle and controls the steering angle on the basis of a comparison result.SELECTED DRAWING: Figure 5

    【課題】圃場に予め設定された走行経路に沿って安定して作業車両を走行させる自律操舵装置を提供する。【解決手段】自律操舵装置は、前方目標角度算出部と、ヨーレート取得部と、演算タイヤ角度算出部と、舵角制御部と、を備える。前方目標角度算出部は、走行経路上の前方の点であって田植機を当該走行経路に近づけるための目標とする点である前方目標点と当該田植機とを結ぶ線分と、走行経路と、がなす角である前方目標角度を算出する。ヨーレート取得部は、田植機に配置された角速度センサから、鉛直方向を回転軸とした田植機の角速度であるヨーレートを取得する。演算タイヤ角度算出部は、ヨーレート取得部が取得したヨーレートを実現するタイヤの舵角である演算タイヤ角度を算出する。舵角制御部は、前方目標角度と演算タイヤ角度を比較する第1比較処理を行い、当該比較結果に基づいて舵角を制御する。【選択図】図5


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    Title :

    AUTONOMOUS STEERING DEVICE


    Additional title:

    自律操舵装置


    Contributors:

    Publication date :

    2019-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft



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