Slip determination system, travel path generation system, and field work vehicle

Patent metadata

Field	Value
Publication number	US-11895937-B2
Application number	US-201816766463-A
Country	US
Kind code	B2
Filing date	Dec 10, 2018
Priority date	Dec 15, 2017
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

A slip determination system is provided that is capable of providing appropriate control information to a traveling vehicle when the traveling vehicle has proceeded to an area where a slip is likely to occur during automatic travel. The slip determination system includes: a vehicle position detection module for detecting a vehicle position; and an automatic travel control portion for enabling automatic travel based on the vehicle position and a set travel path; a slip amount calculation portion for calculating a slip amount of the traveling vehicle body, using an estimated movement distance of the traveling vehicle body calculated based on the number of revolutions of a driving axle of the traveling vehicle body, and an actual movement distance of the traveling vehicle body calculated based on the vehicle position; an appropriateness determination portion for performing appropriateness determination to determine, based on the slip amount, whether or not a state of a traveling ground surface is appropriate for automatic travel; and an automatic travel stop portion for stopping automatic travel based on a determination result.

First claim

The invention claimed is:

1. A slip determination system comprising:
a traveling vehicle body;
a vehicle position detection module for detecting a vehicle position;
an automatic travel control portion for enabling automatic travel based on the vehicle position and a set travel path;
a slip amount calculation portion for calculating a slip amount of the traveling vehicle body, using an estimated movement distance of the traveling vehicle body calculated based on the number of revolutions of a driving axle of the traveling vehicle body, and an actual movement distance of the traveling vehicle body calculated based on the vehicle position;
an appropriateness determination portion for performing appropriateness determination to determine, based on the slip amount, whether or not a state of a traveling ground surface is appropriate for automatic travel; and
an automatic travel stop portion for stopping automatic travel enabled by the automatic travel control portion, based on a determination result from the appropriateness determination portion,
wherein the appropriateness determination portion performs the appropriateness determination based on successive behavior of the slip amount, the successive behavior being based on a statistical calculation result of average calculation or intermediate value calculation, in a predetermined period, of successively calculating a plurality of the slip amount.

2. The slip determination system according to claim 1 , further comprising
a turning performance adjustment portion for adjusting turning performance of the traveling vehicle body,
wherein the turning performance adjustment portion adjusts the turning performance if the slip amount exceeds a predetermined value.

3. The slip determination system according to claim 2 ,
wherein, as the adjustment of the turning performance, a speed of the traveling vehicle body is increased when straight travel is switched to turning travel.

4. The slip determination system according to claim 2 , further comprising
a tilting mechanism for tilting the traveling vehicle body, wherein, as the adjustment of the turning performance, the traveling vehicle body is tilted such that a turning outer side thereof is raised during a turn.

5. A travel path generation system that generates a travel path for performing automatic travel in a field in which work is performed by different types of field work vehicles, the system comprising:
a work information storage management portion for storing and managing work information in a form in which the work information is linked with corresponding field information and corresponding work vehicle information, the work information being uploaded after being generated by a preceding field work vehicle previously performing work in the field, the preceding field work vehicle being in a form of a seeding machine or a rice transplanter as a seedling row forming machine for forming seedling rows;
a work information acquisition portion for acquiring, from the work information storage management portion, a seedling row formation map included in the work information regarding the preceding field work vehicle; and
a path calculation portion for calculating, based on the seedling row formation map, a subsequent field work vehicle travel path for a subsequent field work vehicle that is to perform automatic travel work hereafter in the field in which work has been performed by the preceding field work vehicle,
wherein the path calculation portion calculates the subsequent field work vehicle travel path with use of positions of the seedling rows and a direction in which the seedling rows extend, the positions and the direction being obtained based on the seedling row formation map, the subsequent field work vehicle travel path being calculated such that the subsequent field work vehicle travel path includes a first path and a second path, the first path extending in the direction in which the seedling rows extend, the second path extending in a direction crossing the direction in which the seedling rows extend, the first path being longer than the second path.

6. The travel path generation system according to claim 5 ,
wherein the path calculation portion includes a dividing path calculation portion for calculating a dividing path that divides the field, as one subsequent field work vehicle travel path, and
the dividing path calculation portion calculates the dividing path based on the seedling row formation map, such that the travel path in divided fields that are divided by the dividing path can be readily extended in the direction in which the seedling rows extend.

7. The travel path generation system according to claim 5 ,
wherein a harvesting portion of the subsequent field work vehicle is provided with dividers that are arranged laterally, and
the travel path is corrected so as to optimize a positional relationship between (i) positions of the seedling rows on an unworked area side that are calculated based on the seedling row formation map, and (ii) a position of one of the dividers, on an end side in a machine-body left-right direction.

8. A field work vehicle comprising:
the travel path generation system according to claim 6 ;
a vehicle position detection module for detecting a vehicle position; and
an automatic travel control portion for enabling automatic travel based on the travel path calculated by the path calculation portion and the vehicle position.

9. A slip determination system comprising:
a traveling vehicle body;
a vehicle position detection module for detecting a vehicle position;
an automatic travel control portion for enabling automatic travel based on the vehicle position and a set travel path;
a slip amount calculation portion for calculating a slip amount of the traveling vehicle body, using an estimated movement distance of the traveling vehicle body calculated based on the number of revolutions of a driving axle of the traveling vehicle body, and an actual movement distance of the traveling vehicle body calculated based on the vehicle position;
an appropriateness determination portion for performing appropriateness determination to determine, based on the slip amount, whether or not a state of a traveling ground surface is appropriate for automatic travel and for determining, if the slip amount exceeds an allowable slip amount, that the state of the traveling ground surface is not appropriate for automatic travel;
an automatic travel stop portion for stopping automatic travel enabled by the automatic travel control portion, based on a determination result from the appropriateness determination portion; and
a turning performance adjustment portion for adjusting turning performance of the traveling vehicle body,
wherein if the slip amount exceeds a predetermined value, the turning performance adjustment portion adjusts the turning performance without the automatic travel stop portion stopping automatic travel.

Assignees

• Kubota Kk

Inventors

• Sakaguchi Kazuo
• Sano Tomohiko
• Yoshida Osamu
• Nakajima Tetsuya
• Nakabayashi Takashi
• Maruo Satoshi
• Takahara Kazuhiro

Classifications

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2520/20

  Sideslip angle · CPC title

• B60W60/005

  Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227) · CPC title

• B60W60/0016

  of the vehicle or its occupants · CPC title

• B60W30/02

  Control of vehicle driving stability · CPC title