Automatic travel method, automatic travel system and automatic travel program
AssigneeYanmar Holdings Co., Ltd.
InventorsYasuto Nishii, Masaaki Murayama
Life of this patent
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Abstract
A travel process causes a work vehicle to travel along a plurality of work paths which are included in a target path and which cause the work vehicle to perform predetermined work, and a plurality of turning paths connecting between the work paths. In a case where the work vehicle travels in the turning path, when a correction process decides that at least one of a predetermined positional displacement and a predetermined orientational displacement occurs with respect to a target start position of the work path which follows the turning path, it causes the work vehicle to perform correction travel including reverse travel.
Claims12
An automatic travel method for causing a work vehicle to automatically travel along a preset target path,
- wherein the automatic travel method performs:
- causing the work vehicle to travel along a plurality of work paths which cause the work vehicle to perform predetermined work, and a plurality of turning paths connecting the work paths, the work paths and the turning paths being included in the target path;
- and
- in a case where the work vehicle travels in a current turning path, when it is decided that at least one of a predetermined positional displacement and a predetermined orientational displacement occurs with respect to a target start position of the work path which follows the current turning path, causing the work vehicle to perform correction travel including reverse travel, and
- when a plurality of times the work vehicle correctively travels reaches an upper limit number of times, a work area located inside an area where the current turning path is set is reduced.
A non-volatile computer-readable medium for storing an automatic travel program for causing a work vehicle to automatically travel along a preset target path,
- the automatic travel program causing one or more processors to:
- cause the work vehicle to travel along a plurality of work paths which causing the work vehicle to perform predetermined work, and a plurality of turning paths connecting the plurality of work paths, the work paths and the turning paths being included in the target path;
- and
- in a case where the work vehicle travels in a current turning path, when it is decided that at least one of a predetermined positional displacement and a predetermined orientational displacement occurs with respect to a target start position of the work path which follows the current turning path, cause the work vehicle to perform correction travel including reverse travel, and
- when a plurality of times the work vehicle correctively travels reaches an upper limit number of times, a work area located inside an area where the current turning path is set is reduced.
An automatic travel system for causing a work vehicle to automatically travel along a preset target path, the automatic travel system comprising:
- a travel process part which causes the work vehicle to travel along a plurality of work paths which cause the work vehicle to perform predetermined work, and a plurality of turning paths connecting the work paths, the work paths and the turning paths being included in the target path;
- and
- a correction process part which, in a case where the work vehicle travels in a current turning path, when it is decided that at least one of a predetermined positional displacement and a predetermined orientational displacement occurs with respect to a target start position of the work path which follows the current turning path, causes the work vehicle to perform correction travel including reverse travel, and
- when a plurality of times the work vehicle correctively travels reaches an upper limit number of times, a work area located inside an area where the current turning path is set is reduced.
Dependencies are inferred from the claim text.