To provide an automatic traveling device of a work vehicle capable of making the work vehicle travel while accompanying an accompanying target vehicle along a traveling line unlike the accompanying target vehicle.SOLUTION: An automatic traveling device of a work vehicle includes: a sensor 101 provided in the work vehicle 1, and measuring a distance to a subject and a direction where the subject is present in a measuring range C having the spreading of a predetermined angle in a plan view; a marker registration unit for registering a marker M provided in an accompanying target vehicle 401 as a monitoring target marker Mk; an automatic traveling control unit 18 for performing the accompanying traveling control for controlling a traveling speed and a steering angle of the work vehicle 1 so that a measurement distance Dd to the monitoring target marker Mk provided in the accompanying target vehicle 401 and a measurement direction Ad may be maintained to a setting distance Ds and a setting direction As based on the measurement information of the sensor 101; and an accompanying form setting unit capable of setting at least the setting direction As in the direction unlike the traveling direction A1 of the work vehicle 1 in a plan view in a measuring range C of the sensor 101.SELECTED DRAWING: Figure 16

    【課題】随伴対象車両とは異なる走行ラインに沿って随伴対象車両を随伴する状態で作業車両を走行させることのできる作業車両の自動走行装置を提供する。【解決手段】作業車両1に設けられ、平面視で所定角度の広がりを有する測定範囲C内で被写体までの距離及び被写体の存在する方向を測定するセンサ101と、随伴対象車両401に設けられるマーカMを監視対象マーカMkとして登録するマーカ登録部と、センサ101の測定情報に基づいて随伴対象車両401に設けられた監視対象マーカMkまでの測定距離Dd及び測定方向Adが設定距離Ds及び設定方向Asに維持されるように作業車両1の走行速度及び操舵角を制御する随伴走行制御を行う自動走行制御部18と、少なくとも設定方向Asを、センサ101の測定範囲C内において平面視で作業車両1の走行方向A1とは異なる方向に設定可能な随伴形態設定部と、が備えられている。【選択図】図16


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    Title :

    AUTOMATIC TRAVELING DEVICE OF WORK VEHICLE


    Additional title:

    作業車両の自動走行装置


    Contributors:

    Publication date :

    2019-10-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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