Title:
AUTOMATIC TRAVEL FARM FIELD WORK VEHICLE
Document Type and Number:
Japanese Patent JP2020164160
Kind Code:
A
Abstract:
To provide an automatic travel work vehicle capable of automatically steering-traveling with high accuracy even in work travel along a set target travel passage.SOLUTION: An automatic travel field work vehicle comprises: a positional deviation arithmetic operation part for arithmetically operating positional deviation d being positional dislocation in a lateral direction of one's own vehicle to a target travel passage; an azimuth deviation arithmetic operation part for arithmetically operating an azimuth deviation θ between the target travel passage and itself; a first control arithmetic operation part for outputting a first steering value by using the positional deviation d and target positional deviation as an input parameter; a second control arithmetic operation part for outputting a second steering value by using the azimuth deviation θ, the target azimuth deviation, and the positional deviation d as the input parameter; a target steering arithmetic operation part for outputting a target steering value for traveling along the target travel passage on the basis of a first steering value and a second steering value; and a steering driving control part for outputting a steering driving signal by using the target steering value as input.SELECTED DRAWING: Figure 1
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Inventors:
IWAMI KENICHI
HAYASHI SHIGEKI
HAYASHI SHIGEKI
Application Number:
JP2020081146A
Publication Date:
October 08, 2020
Filing Date:
May 01, 2020
Export Citation:
Assignee:
KUBOTA KK
International Classes:
B62D6/00; A01B69/00; G05D1/02
Domestic Patent References:
| JPS63153605A | 1988-06-27 | |||
| JP2009161100A | 2009-07-23 | |||
| JP2009234560A | 2009-10-15 |
Foreign References:
| WO2014136515A1 | 2014-09-12 |
Attorney, Agent or Firm:
Patent business corporation r&c