Automatic run method, automatic run system, and automatic run program

Patent metadata

Field	Value
Publication number	US-12493291-B2
Application number	US-202318121536-A
Country	US
Kind code	B2
Filing date	Mar 14, 2023
Priority date	Mar 31, 2022
Publication date	Dec 9, 2025
Grant date	Dec 9, 2025

Abstract

A run processing unit causes a work vehicle to automatically run following a target route. A reception processing unit receives, from an operator, a correcting operation that corrects a positional deviation between the work vehicle and the target route, and a offset processing unit prohibits, when the positional deviation is a threshold value or over, the work vehicle correcting action that is in response to the correcting operation.

First claim

The invention claimed is:

1 . A processor-implemented automatic run method of a work vehicle comprising:
causing the work vehicle to automatically run following a target route; receiving, from an operator, a correcting operation that corrects a positional deviation between the work vehicle and the target route; and prohibiting automatically, when the positional deviation is at a threshold value or over, the work vehicle's correcting action that is in response to the correcting operation, and if not over the threshold value continuing the correcting operation.

2 . The processor-implemented automatic run method according to claim 1 , further comprising:
causing, when the positional deviation is below the threshold value, the work vehicle to perform the correcting action that is in response to the correcting operation.

3 . The processor-implemented automatic run method according to claim 1 , wherein
the correcting operation is an operation to move the target route to a position that corresponds to magnitude and direction of the positional deviation.

4 . The processor-implemented automatic run method according to claim 3 , wherein
(i) the correcting action is prohibited, when the positional deviation from the target route is below the threshold value, and when the positional deviation between a new target route and the work vehicle is at the threshold value or over, with calculating the new target route by moving the target route by the correcting operation, and (ii) the correcting operation is performed, when the positional deviation from the target route is below the threshold value, and when the positional deviation between the new target route and the work vehicle is below the threshold value with calculating the new target route by moving the target route by the correcting operation.

5 . The processor-implemented automatic run method according to claim 1 , wherein
when the positional deviation from the target route is at the threshold value or over at a time point of an elapse of a given time after the receiving of the correcting operation, the correcting action that is in response to the correcting operation is prohibited, and when the positional deviation from the target route is below the threshold value at the time point of the elapse of the given time after the receiving of the correcting operation, the correcting action that is in response to the correcting operation is performed.

6 . The processor-implemented automatic run method according to claim 1 , wherein
the threshold value is set in response to a vehicle speed of the work vehicle or to an operation of the operator.

7 . The processor-implemented automatic run method according to claim 1 , further comprising:
causing an operation terminal to display information showing that the correcting action is prohibited.

8 . The processor-implemented automatic run method according to claim 1 , wherein
an operation terminal receives the correcting operation from the operator.

9 . The processor-implemented automatic run method according to claim 1 , further comprising:
causing an operation terminal to display numerical or color information that is capable of identifying the positional deviation.

10 . An automatic run system of a work vehicle comprising:
a run processing unit that causes the work vehicle to automatically run following a target route; a reception processing unit that receives, from an operator, a correcting operation that corrects a positional deviation between the work vehicle and the target route; and a correction processing unit that prohibits automatically, when the positional deviation is at a threshold value or over, the work vehicle's correcting action that is in response to the correcting operation, and if not over the threshold value continues the correcting operation.

11 . A non-transitory computer-readable medium for storing an automatic run program for causing one or more processors to execute operations comprising:
causing a work vehicle to automatically run following a target route; receiving, from an operator, a correcting operation that corrects a positional deviation between the work vehicle and the target route; and prohibiting automatically, when the positional deviation is at a threshold value or over, the work vehicle's correcting action that is in response to the correcting operation, and if not over the threshold value continuing the correcting operation.

Assignees

• Yanmar Holdings Co Ltd

Inventors

• Miyamoto Shinnosuke
• Iwamura Keisuke
• Uehara Dai
• Suzuki Shogo

Classifications

• G05D1/2297

  positional data taught by the user, e.g. paths (G05D1/2295 takes precedence) · CPC title

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/2245

  providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality · CPC title

• G05D2109/10

  Land vehicles · CPC title

• G05D2107/21

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