Method for setting travel path of work vehicle

Patent metadata

Field	Value
Publication number	US-10126754-B2
Application number	US-201515115830-A
Country	US
Kind code	B2
Filing date	Feb 6, 2015
Priority date	Feb 6, 2014
Publication date	Nov 13, 2018
Grant date	Nov 13, 2018

Abstract

For easy setting of a path of an autonomously-traveling autonomous travel work vehicle, provided is a method for setting a path for an autonomous travel work vehicle to run and operate by determining positions with the use of a satellite positioning system so as to drive and carry out an agricultural field operation. The method includes inputting a front-to-back length of a vehicle body, a width of an implement and an overlapping amount of implements ( 24 ) in a width direction, positioning a work vehicle at inflection points successively along an outer circumference of the agricultural field and determining positions with the use of the satellite positioning system, setting a work area, an operation start position and an operation end position, a direction for starting reference traveling, headlands (HB) on both ends of the work area (HA), and a travel path (R) within the agricultural field.

First claim

What is claimed is:

1. A method for setting a travel path of a work vehicle for the work vehicle to run autonomously by determining positions of the work vehicle which runs autonomously during autonomous traveling with the use of a global positioning system, the method comprising:
a step of inputting a front-to-back length of a vehicle body;
a step of inputting a width of an implement;
a step of inputting an overlapping amount of operating;
a step of obtaining a shape of a field by making the work vehicle go around by using the global positioning system and by acquiring position data of a plurality of inflection points;
a step of setting an operation start position and an operation end position;
a step of setting headlands in the field and setting a work area;
a step of setting an operation mode for a plurality of work vehicles;
a step of setting a travel path within the field; and
wherein, in the step of setting an operation mode, a side-by-side cooperative operation mode by the work vehicle which is operated by an operator and the work vehicle which runs autonomously, or a series cooperative operation mode by the work vehicle which is operated by the operator and the work vehicle which runs autonomously is selectable as the operation mode; and
wherein, in response to the series cooperative operation mode being set as the operation mode, in the step of setting a travel path, the travel path within the field is set in order that the work vehicle which is operated by the operator and the work vehicle which runs autonomously do not collide with each other when they pass by each other within the work-area.

2. The method for setting a travel path of a work vehicle according to claim 1 , the method further comprising a step of setting obstacles, wherein in the step of setting the obstacles, in a case in which the obstacles are set, the travel path which is set in the step of setting travel path is the travel path which is set such that the obstacles will be avoided.

3. The method for setting a travel path of a work vehicle according to claim 1 , the method further comprising a step of setting obstacles, wherein in the step of setting the obstacles, in response to an obstacle being set, the travel path which is set in the step of setting travel path which is set such that the obstacles will be avoided.

Assignees

• Yanmar Co Ltd

Inventors

• Ogura Kouhei
• Kuroda Akifumi
• Matsumoto Keiji
• Aoki Hideaki

Classifications

• A01B69/008 Primary

  automatic · CPC title

• G05D1/0219

  ensuring the processing of the whole working surface · CPC title

• G05D2201/0201

  Physics · mapped topic

• G05D1/0016

  characterised by the operator's input device (input arrangements for computing systems in general G06F3/00) · CPC title

• G05D1/0022

  characterised by the communication link (data switching networks in general H04L12/00) · CPC title