Automatic traveling method, automatic traveling system, and automatic traveling program
AssigneeYanmar Holdings Co., Ltd.
InventorAkira Ishikawa
Life of this patent
Estimating the term…
Abstract
On a straight route, a traveling processor sets a work instrument to a working posture, and causes the work vehicle to travel at a first traveling speed. In a turn route connecting to a straight route, the traveling processor sets the work instrument to the non-working posture, and caused the work vehicle to travel at a second driving speed lower than the first traveling speed. In a partial route from an end position of a turn route to a predetermined position, the traveling processor causes the work instrument to change from the non-working posture to the working posture, and causes the work vehicle to travel at a third traveling speed lower than the first traveling speed.
Claims12
An automatic traveling method that causes a work vehicle to automatically travel, in a work area, according to a target route, the work vehicle being equipped with a work instrument capable of switching between a working posture in which a predetermined work is performed, and a non-working posture in which the predetermined work is not performed, the method comprising:
- in a first work route included in the target route, setting the work instrument to the working posture, and causing the work vehicle to travel at a first traveling speed;
- in a non-work route connecting to the first work route included in the target route, setting the work instrument to the non-working posture, and causing the work vehicle to travel at a second traveling speed lower than the first traveling speed;
- and
- of a second work route connecting to the non-work route included in the target route, in a first partial route from a connection position of the non-work route and the second work route to a predetermined position, causing the work instrument to change from the non-working posture to the working posture, and causing the work vehicle to travel at a third traveling speed lower than the first traveling speed.
An automatic traveling system that causes a work vehicle to automatically travel, in a work area, according to a target route, the work vehicle being equipped with a work instrument capable of switching between a working posture in which a predetermined work is performed, and a non-working posture in which the predetermined work is not performed, the system comprising:
- a first traveling processor that, in a first work route included in the target route, setting the work instrument to the working posture, and causing the work vehicle to travel at a first traveling speed;
- a second traveling processor that, in a non-work route connecting to the first work route included in the target route, setting the work instrument to the non-working posture, and causing the work vehicle to travel at a second traveling speed lower than the first traveling speed;
- and
- a third traveling processor that, of a second work route connecting to the nonwork route included in the target route, in a first partial route from a connection position of the non-work route and the second work route to a predetermined position, causing the work instrument to change from the non-working posture to the working posture, and causing the work vehicle to travel at a third traveling speed lower than the first traveling speed.
A computer-readable non-transitory medium having thereon
- an automatic traveling program that causes a work vehicle to automatically travel, in a work area, according to a target route, the work vehicle being equipped with a work instrument capable of switching between a working posture in which a predetermined work is performed, and a non-working posture in which the predetermined work is not performed, the program causing one or a plurality of processors to execute an operation that comprises:
- in a first work route included in the target route, setting the work instrument to the working posture, and causing the work vehicle to travel at a first traveling speed;
- in a non-work route connecting to the first work route included in the target route, setting the work instrument to the non-working posture, and causing the work vehicle to travel at a second traveling speed lower than the first traveling speed;
- and
- of a second work route connecting to the non-work route included in the target route, in a first partial route from a connection position of the non-work route and the second work route to a predetermined position, causing the work instrument to change from the non-working posture to the working posture, and causing the work vehicle to travel at a third traveling speed lower than the first traveling speed.
Dependencies are inferred from the claim text.