To provide an automated travelling support device that enables automated travelling to be performed smoothly even when a reference position of a scheduled travelling route and a reference position in performing automated travelling are different from each other.SOLUTION: An automated travelling support device includes: a first vehicle body position acquisition part for acquiring a first vehicle body position detected by a first positioning device 40A; a first reference acquisition part for acquiring a first reference position detected by a base station 700; a first map creation part for creating a first farm field map based on a relative position between the first vehicle body position acquired by the vehicle body position acquisition part and the first reference position acquired by the first reference acquisition part; a first route creation part for creating a scheduled travelling route L1 for performing automated travelling in the first farm field map; a first automated travelling control part for performing automated travelling of a first work vehicle 1A based on the scheduled travelling route L1 of the first farm field map; a reference position acquisition part for acquiring a second reference position different from the first reference position; and an automated travelling map correction part for correcting the first farm field map and the scheduled travelling route L1 based on a deviation between the first reference position and the second reference position.SELECTED DRAWING: Figure 1
【課題】走行予定ルートの基準位置と自動走行を行う際の基準位置とが異なっていても自動走行をスムーズに行わせる自動走行支援装置を提供する。【解決手段】第1測位装置40Aで検出された第1車体位置を取得する第1車体位置取得部と、基地局700で検出された第1基準位置を取得する第1基準取得部と、車体位置取得部が取得した第1車体位置と、第1基準取得部が取得した第1基準位置との相対位置に基づいて、第1圃場マップを作成する第1マップ作成部と、第1圃場マップに自動走行を行うための走行予定ルートL1の作成を行う第1ルート作成部と、第1圃場マップの走行予定ルートL1に基づいて第1作業車両1Aの自動走行を行う第1自動走行制御部と、第1基準位置とは異なる第2基準位置を取得する基準位置取得部と、第1基準位置と第2基準位置との偏差に基づいて、第1圃場マップ及び走行予定ルートL1を補正する自動走行マップ補正部と、を備える。【選択図】図1
AUTOMATED TRAVELLING SUPPORT DEVICE, WORK VEHICLE, AND AUTOMATED TRAVELLING METHOD OF WORK VEHICLE
自動走行支援装置、作業車両及び作業車両の自動走行方法
2020-07-09
Patent
Electronic Resource
Japanese
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 |
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