Title:
AUTONOMOUS TRAVELING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2017/159801
Kind Code:
A1
Abstract:
In the present invention, a traveling region includes a first region that includes an agricultural work path (straight path) that serves as a first traveling path along which a traveling machine body travels, and a second region that is set in an area surrounding the first region and that includes a turning path that serves as a second traveling path along which the traveling machine body travels. A control unit halts the traveling of the traveling machine body in the case where the current position of the traveling machine body has deviated from the first traveling path or the second traveling path by an amount in a prescribed range. In the case where the traveling has been halted due to deviation from the first traveling path, the control unit can restart the traveling of the traveling machine body from a first traveling restart position that is set on the basis of the current position of the traveling machine body and a first element. In the case where traveling has been halted due to deviation from the first traveling path, the control unit can restart the traveling of the traveling machine body from a second traveling restart position that is set on the basis of the current position of the traveling machine body and a second element, which is different from the first element.
Inventors:
OGURA KOHEI (JP)
ARAKI NOBUYUKI (JP)
KITANO KEITA (JP)
ARAKI NOBUYUKI (JP)
KITANO KEITA (JP)
Application Number:
PCT/JP2017/010722
Publication Date:
September 21, 2017
Filing Date:
March 16, 2017
Export Citation:
Assignee:
YANMAR CO LTD (JP)
International Classes:
G05D1/00; A01B69/00
Domestic Patent References:
| WO2015119266A1 | 2015-08-13 | |||
| WO2015118731A1 | 2015-08-13 |
Foreign References:
| JP2000029520A | 2000-01-28 | |||
| JPH0397011A | 1991-04-23 | |||
| US20150319913A1 | 2015-11-12 |
Attorney, Agent or Firm:
KATSURAGAWA, Naoki (JP)
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