Method for setting travel path of work vehicle

• US 10,126,754 B2
• Filed: 02/06/2015
• Issued: 11/13/2018
• Est. Priority Date: 02/06/2014
• Status: Active Grant

• Current Assignee: Yanmar Power Technology Co., Ltd.
• Original Assignee: Yanmar Company Limited (Yanmar Holdings Co., Ltd.)
• Inventors: Ogura, Kouhei, Kuroda, Akifumi, Matsumoto, Keiji, Aoki, Hideaki
• Primary Examiner(s): Brushaber, Frederick M
• Application Number:
  US15/115,830
• Publication Number:
  US 20170168501A1
• Time in Patent Office: 1,376 Days
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

For easy setting of a path of an autonomously-traveling autonomous travel work vehicle, provided is a method for setting a path for an autonomous travel work vehicle to run and operate by determining positions with the use of a satellite positioning system so as to drive and carry out an agricultural field operation. The method includes inputting a front-to-back length of a vehicle body, a width of an implement and an overlapping amount of implements (24) in a width direction, positioning a work vehicle at inflection points successively along an outer circumference of the agricultural field and determining positions with the use of the satellite positioning system, setting a work area, an operation start position and an operation end position, a direction for starting reference traveling, headlands (HB) on both ends of the work area (HA), and a travel path (R) within the agricultural field.

Claims

1. A method for setting a travel path of a work vehicle for the work vehicle to run autonomously by determining positions of the work vehicle which runs autonomously during autonomous traveling with the use of a global positioning system, the method comprising:

a step of inputting a front-to-back length of a vehicle body;

a step of inputting a width of an implement;

a step of inputting an overlapping amount of operating;

a step of obtaining a shape of a field by making the work vehicle go around by using the global positioning system and by acquiring position data of a plurality of inflection points;

a step of setting an operation start position and an operation end position;

a step of setting headlands in the field and setting a work area;

a step of setting an operation mode for a plurality of work vehicles;

a step of setting a travel path within the field; and

wherein, in the step of setting an operation mode, a side-by-side cooperative operation mode by the work vehicle which is operated by an operator and the work vehicle which runs autonomously, or a series cooperative operation mode by the work vehicle which is operated by the operator and the work vehicle which runs autonomously is selectable as the operation mode; and

wherein, in response to the series cooperative operation mode being set as the operation mode, in the step of setting a travel path, the travel path within the field is set in order that the work vehicle which is operated by the operator and the work vehicle which runs autonomously do not collide with each other when they pass by each other within the work-area.

2. The method for setting a travel path of a work vehicle according to claim 1, the method further comprising a step of setting obstacles, wherein in the step of setting the obstacles, in a case in which the obstacles are set, the travel path which is set in the step of setting travel path is the travel path which is set such that the obstacles will be avoided.

3. The method for setting a travel path of a work vehicle according to claim 1, the method further comprising a step of setting obstacles, wherein in the step of setting the obstacles, in response to an obstacle being set, the travel path which is set in the step of setting travel path which is set such that the obstacles will be avoided.