Work vehicle and control system for work vehicle

Patent metadata

Field	Value
Publication number	US-12137625-B2
Application number	US-202217693715-A
Country	US
Kind code	B2
Filing date	Mar 14, 2022
Priority date	Mar 15, 2021
Publication date	Nov 12, 2024
Grant date	Nov 12, 2024

Abstract

A control system for a work vehicle that performs auto-steer driving includes a storage to store a target path for the work vehicle, and a controller configured or programmed to control steering of the work vehicle so that the work vehicle travels along the target path based on a position of the work vehicle identified by a position identifier and the target path stored in the storage. The target path includes parallel main paths and one or more turning paths interconnecting the plurality of main paths. When the work vehicle is turning along one of the turning paths via automatic steering, if the position of the work vehicle becomes deviated from the turning path by more than a reference distance, the controller is configured or programmed to cause an alarm generator to output an alarm.

First claim

What is claimed is:

1. A control system for a work vehicle that performs auto-steer driving, the control system comprising:
a storage to store a target path for the work vehicle; and
a controller configured or programmed to control steering of the work vehicle so that the work vehicle travels along the target path based on a position of the work vehicle identified by a position identifier and the target path stored in the storage; wherein
the target path includes a plurality of parallel main paths and one or more turning paths interconnecting the plurality of main paths;
the controller is configured or programmed to, when the work vehicle is turning along one of the turning paths via automatic steering, if the position of the work vehicle becomes deviated from the turning path by more than a reference distance, cause an alarm generator to output an alarm; and
the controller is configured or programmed to, when a certain amount of time has passed after causing the alarm generator to output the alarm, if the position of the work vehicle is deviated from the turning path by more than the reference distance, cause the alarm generator to output another alarm having a higher alarming effect than that of the alarm.

2. The control system of claim 1 , wherein the alarm generator includes a buzzer or a loudspeaker to output an alarm sound as the alarm.

3. A control system for a work vehicle that performs auto-steer driving, the control system comprising:
a storage to store a target path for the work vehicle; and
a controller configured or programmed to control steering of the work vehicle so that the work vehicle travels along the target path based on a position of the work vehicle identified by a position identifier and the target path stored in the storage; wherein
the target path includes a plurality of parallel main paths and one or more turning paths interconnecting the plurality of main paths;
the controller is configured or programmed to, when the work vehicle is turning along one of the turning paths via automatic steering, if the position of the work vehicle becomes deviated from the turning path by more than a reference distance, cause an alarm generator to output an alarm; and
the controller is configured or programmed to, after causing the alarm generator to output the alarm, if the position of the work vehicle becomes deviated from the turning path by more than a value obtained by multiplying the reference distance with a predetermined constant larger than 1, cause the alarm generator to output another alarm having a higher alarming effect than that of the alarm.

4. The control system of claim 1 , wherein the controller is configured or programmed to:
cause a display to display a setting screen to allow a user to set the reference distance; and
based on the reference distance having been set, determine whether the position of the work vehicle has become deviated from the turning path by more than the reference distance.

5. The control system of claim 1 , wherein, the controller is configured or programmed to, when the work vehicle is traveling along one of the plurality of main paths via automatic steering, if the position of the work vehicle becomes deviated from the main path by more than the reference distance or another reference distance that is different from the reference distance, cause the alarm generator to output another alarm.

6. The control system of claim 1 , wherein the alarm generator includes a display to output a pop-up notification as the alarm.

7. The control system of claim 6 , wherein
the controller is configured or programmed to switch between an automatic steering mode and a manual steering mode; and
the pop-up notification includes an indication to ask a user whether or not to switch from the automatic steering mode to the manual steering mode.

8. The control system of claim 7 , wherein the controller is configured or programmed to:
switch from the automatic steering mode to the manual steering mode in response to a manipulation by the user; and
resume the automatic steering mode after a turn in the manual steering mode is completed.

9. The control system of claim 8 , wherein the controller is configured or programmed to:
cause the display to display a pop-up notification to ask the user whether or not to resume the automatic steering mode after a turn in the manual steering mode is completed; and
resume the automatic steering mode in response to a manipulation by the user.

10. The control system of claim 8 , wherein the controller is configured or programmed to:
perform a cruise control function of causing the work vehicle to travel at a reference speed that is set by the user; and
if the work vehicle enters the turning path while the cruise control function is enabled, and if the user switches from the automatic steering mode to the manual steering mode following the pop-up notification, resume the automatic steering mode after a turn in the manual steering mode is completed, with the cruise control function still being enabled.

11. The control system of claim 1 , wherein, the controller is configured or programmed to halt the work vehicle when the position of the work vehicle becomes deviated from the turning path by more than the reference distance.

12. The control system of claim 1 , wherein, before causing the alarm generator to output the alarm, the controller is configured or programmed to cause the alarm generator to output another alarm and/or decelerate the work vehicle if at least one of the following has exceeded a respective threshold thereof: a change rate over time of a deviation between the position of the work vehicle and the turning path during a turn; magnitude of an acceleration of the work vehicle; a change rate of a pitch angle of the work vehicle over time; and a change rate of a roll angle of the work vehicle over time.

13. The control system of claim 1 , wherein the controller is configured or programmed to:
when causing the alarm generator to output the alarm, cause the storage to store the turning path; and
a next time when the work vehicle travels along another turning path that is adjacent to the turning path, cause the alarm generator to output another alarm and/or cause the work vehicle to decelerate, before arriving at the turning path.

14. The control system of claim 1 , wherein,
the plurality of main paths are located in a field; and
the one or more turning paths are located in a headland of the field.

15. A work vehicle comprising:
the control system of claim 1 ;
the position identifier; and
the alarm generator.

16. A work vehicle comprising:
the control system of claim 4 ;
the position identifier; and
the alarm generator.

Assignees

• Kubota Kk

Inventors

• Yuasa Junichi
• Kurata Ryo
• Sasaki Hiroaki
• Okuyama Yuji

Classifications

• G05D2105/15

  for harvesting, sowing or mowing in agriculture or forestry · CPC title

• G05D2109/10

  Land vehicles · CPC title

• G05D2107/21

  Farming, e.g. fields, pastures or barns · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title