WORK VEHICLE

• Main Authors: ABE MASAYOSHI, MACHIDA AKIHIRO
• Format: Patent
• Language: English; Japanese
• Published: 13.09.2023
• Subjects: AGRICULTURE; ANIMAL HUSBANDRY; CONTROLLING; FISHING; FORESTRY; GYROSCOPIC INSTRUMENTS; HUMAN NECESSITIES; HUNTING; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MOTOR VEHICLES; NAVIGATION; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES ORIMPLEMENTS, IN GENERAL; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SOIL WORKING IN AGRICULTURE OR FORESTRY; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING; TRAILERS; TRANSPORTING; TRAPPING

To provide a work vehicle that can prevent work accuracy from being lowered due to unstable automatic travel and meandering, thereby improving work accuracy.SOLUTION: A work vehicle A that automatically travels in a field H along a target travel route LN includes a control device that acquires position information during automatic travel, calculates a the vehicle's position, and automatically steers the vehicle along the set target travel route LN. The control device includes a route guide unit that guides the work vehicle A onto the target route LN when receiving an instruction to switch from manual travel to automatic travel. When the route guide unit receives the instruction information to switch from manual travel to automatic travel, it calculates an approach difference angle θd that indicates the difference between an angle θa formed by an own vehicle direction Da of the work vehicle A against a reference direction Dn and an angle θtg formed by a direction Dtg of a target line parallel to a straight route La having a moving target point against the reference direction. Automatic driving is started on the condition that the calculated approach difference angle is smaller than an allowable angle θw.SELECTED DRAWING: Figure 6 【課題】自動走行が不安定となり蛇行が生じることによって、作業精度が低下する事態を防止し、これにより作業精度を向上できる作業車両を提供する。【解決手段】目標走行経路ＬＮに沿って圃場Ｈを自動走行する作業車両Ａは、自動走行時に位置情報を取得して自車位置を算出し設定された目標走行経路ＬＮに沿うように自動操舵する制御装置を備え、制御装置は手動走行から自動走行への切り替え指示を受信すると、作業車両Ａを目標経路ＬＮ上へと案内する経路案内部を備え、経路案内部は、手動走行から自動走行へ切り替える旨の指示情報を受信すると、基準方位Ｄｎに対し、作業車両Ａの自車方位Ｄａのなす角θａと、移動目標点を有する直進経路Ｌａと平行な目標ラインの方位Ｄｔｇのなす角θｔｇの差分を示す進入差分角度θｄを算出し、算出された進入差分角度が、許容角度θｗより小さいことを条件に自動走行を開始する。【選択図】図６