WORK VEHICLE

• Main Authors: MIZUKURA TAIJI, NAKAHATA AKIHIRO, SUZUKI AKIHIRO, KITANO KEITA
• Format: Patent
• Language: English; Japanese
• Published: 07.01.2021
• Subjects: AGRICULTURE; ANIMAL HUSBANDRY; BLASTING; COMBUSTION ENGINES; CONTROLLING COMBUSTION ENGINES; FISHING; FORESTRY; GYROSCOPIC INSTRUMENTS; HEATING; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS; HUMAN NECESSITIES; HUNTING; LIGHTING; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MECHANICAL ENGINEERING; NAVIGATION; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES ORIMPLEMENTS, IN GENERAL; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SIGNALLING; SOIL WORKING IN AGRICULTURE OR FORESTRY; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS; TRAPPING; WEAPONS

To provide a work vehicle capable of automatically travelling along a target route with a high degree of precision regardless of work site conditions or a travelling state of the work vehicle.SOLUTION: A work vehicle includes a positioning unit 5 for measuring a present position and a present direction of a vehicle body 1 by using a satellite positioning system, and an automatic travelling control part 40 for executing automatic travelling control based on the positioning information from the positioning unit 5. The positioning unit 5 includes a plurality of positioning antennas 5A and 5B installed on the vehicle body, a plurality of positioning parts 5C and 5D for measuring the positions of the positioning antennas 5A and 5B, a calculation part 5F for calculating the present position and the present direction of the vehicle body 1 based on the positioning information from the positioning parts 5C and 5D, and a positioning state determination part 5F for determining whether or not the positioning state of the positioning parts 5c and 5D is a high precision positioning state. The positioning state determination part 5F permits the start of the automatic travelling control when at least two of the positioning parts 5c and 5D are in the high precision positioning state.SELECTED DRAWING: Figure 2 【課題】作業地の条件や作業車両の走行状態にかかわらず高い精度で目標経路に従って自動走行することが可能な作業車両を提供する。【解決手段】作業車両は、衛星測位システムを利用して車体１の現在位置及び現在方位を測定する測位ユニット５と、測位ユニット５からの測位情報に基づく自動走行制御を実行する自動走行制御部４０とを有し、測位ユニット５には、車体に設置された複数の測位アンテナ５Ａ，５Ｂと、測位アンテナ５Ａ，５Ｂの位置を測定する複数の測位部５Ｃ，５Ｄと、測位部５Ｃ，５Ｄからの測位情報に基づいて車体１の現在位置及び現在方位を算出する算出部５Ｆと、測位部５Ｃ，５Ｄの測位状態が高精度測位状態か否かを判定する測位状態判定部５Ｆとが含まれており、測位状態判定部５Ｆは、少なくとも２つの測位部５Ｃ，５Ｄが高精度測位状態である場合に自動走行制御の開始を許可する。【選択図】図２