Work vehicle

Patent metadata

Field	Value
Publication number	US-10564642-B2
Application number	US-201816205621-A
Country	US
Kind code	B2
Filing date	Nov 30, 2018
Priority date	Nov 30, 2017
Publication date	Feb 18, 2020
Grant date	Feb 18, 2020

Abstract

A work vehicle may be provided such that in autonomous traveling, contact with obstacles is avoided, and work is efficiently and safely performed. A work vehicle may include: a positioning device 174 measuring the vehicle body's own position; an obstacle recognition means recognizing an obstacle P, E, U; and a control unit having the vehicle autonomously travel on a planned travel path R1 preliminarily set; wherein the control unit includes obstacle position information D4 preliminarily stored; while traveling on the planned travel path R1, when an obstacle P, E is recognized by the obstacle recognition means, at a position stored in the obstacle position information D4, avoidance driving is performed to avoid contact with the obstacle P, E; and when the position of an obstacle U recognized by the obstacle recognition means is different from the stored obstacle position information D4, the traveling is stopped.

First claim

What is claimed is:

1. A work vehicle comprising:
a positioning device configured to receive a positioning signal sent from a plurality of satellites to measure a position of a body of the work vehicle;
an obstacle sensor configured to detect an obstacle; and
a control unit configured to control steering to cause the vehicle to autonomously travel on a planned travel path preliminarily set; wherein
the control unit includes obstacle position information preliminarily stored; and
while traveling on the planned travel path, when the obstacle is detected by the obstacle sensor, the control unit is configured to:
perform avoidance driving to avoid contact with a first obstacle when it is determined that a corresponding position of the first obstacle is included in the stored obstacle position information; and
stop the traveling when it is determined that a corresponding position of a second obstacle detected by the obstacle sensor is not included the stored obstacle position information.

2. The work vehicle of claim 1 wherein
the control unit includes:
traveling vehicle profile information, and
implement profile information of an attached implement;

the traveling vehicle profile information and the implement profile information include position information of the positioning device;
with respect to a position of the positioning device, work vehicle profile information is calculated by adding the implement profile information to the traveling vehicle profile information; and
according to the work vehicle profile information, an avoidance path is set to avoid contact with the obstacle.

3. The work vehicle of claim 2 wherein
the control unit is configured to:
calculate a predicted position of the work vehicle profile information of when the work vehicle autonomously travels in such a way that the position of the positioning device moves along the planned travel path preliminarily set; and
when the predicted position interferes with the first obstacle, change the planned travel path, and set an alternative travel path in which the predicted position does not interfere with the work vehicle profile information.

Assignees

• Iseki Agricult Mach

Inventors

• Ono Koki

Classifications

• G05D1/639 Primary

  Resolving or avoiding being stuck or obstructed · CPC title

• A01B69/001 Primary

  Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163) · CPC title

• A01B69/008

  automatic · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title