# US 2018/0024563 A1 · Work vehicle, slope travel control system for work vehicle, and slope travel control method for work vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0024563 A1 - Document ID: US20180024563A1 - Status: Published application - Kind: A1 - Application number: 15/385,760 - Filed: 2016-12-20 - Published: 2018-01-25 - Earliest claimed: 2016-07-19 - Assignees: Kubota Corporation - Applicants: Kubota Corporation - Inventors: Yushi MATSUZAKI; Atsushi SHINKAI; Keishiro NISHI - Web page: https://patentgrep.com/patent/US20180024563A1 ## CPC - B62D 15/029: {Steering assistants using warnings or proposing actions to the driver without influencing the steering system} - A01B 63/11: for controlling weight transfer between implements and tractor wheels - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G01C 9/02: Details - G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries} - G01C 21/3697: {Output of additional, non-guidance related information, e.g. low fuel level (G01C21/3679 takes precedence)} - A01B 69/00: Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track - A01B 79/005: {Precision agriculture} - B60Y 2200/221: Tractors - B60Y 2400/301: for position or displacement - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A work vehicle to travel along a travel route includes a vehicle body, an inclination sensor, a calculator, an information generator, and a recorder. The inclination sensor is provided on the vehicle body to detect a vehicle body inclination angle with respect to a horizontal line. The calculator is to calculate a position of the work vehicle in a work field based on positioning data. The information generator is to output travel limit information at an inclination position on the travel route where the vehicle body inclination angle detected by the inclination sensor exceeds a threshold angle. The recorder is to record, as an inclined area, an area around the inclination position which is calculated based on the positioning data. ## Claims ### Claim 1 A work vehicle to travel along a travel route, comprising: a vehicle body; an inclination sensor provided on the vehicle body to detect a vehicle body inclination angle with respect to a horizontal line; and a calculator to calculate a position of the work vehicle in a work field based on positioning data; an information generator to output travel limit information at an inclination position on the travel route where the vehicle body inclination angle detected by the inclination sensor exceeds a threshold angle; and a recorder to record, as an inclined area, an area around the inclination position which is calculated based on the positioning data. ### Claim 2 (depends on 1) The work vehicle according to claim 1, wherein the information generator outputs, as the travel limit information, a travel warning signal to warn of travelling with automatic steering when the vehicle body inclination angle exceeds a warning threshold. ### Claim 3 (depends on 1) The work vehicle according to claim 1, wherein the information generator outputs, as the travel limit information, an automatic steering prohibition signal to control the work vehicle operated with automatic steering to stop when the vehicle body inclination angle exceeds an automatic steering travel prohibition threshold. ### Claim 4 (depends on 1) The work vehicle according to claim 1, wherein the information generator outputs, as the travel limit information, a stop signal to control the work vehicle to stop when the vehicle body inclination angle exceeds a travel prohibition threshold. ### Claim 5 (depends on 1) The work vehicle according to claim 1, wherein the inclined area which has been recorded is read when a travel route is generated in planning a next operation. ### Claim 6 A slope travel control system for a work vehicle to travel along a travel route in a work field, comprising: an inclination sensor to detect a vehicle body inclination angle of a vehicle body of the work vehicle with respect to a horizontal line; and a calculator to calculate a position of the work vehicle in the work field based on positioning data; a receiver to receive the vehicle body inclination angle associated with the position; an information generator to output travel limit information at an inclination position on the travel route where the vehicle body inclination angle detected by the inclination sensor exceeds a threshold angle; and a recorder to record, as an inclined area, an area around the inclination position which is calculated based on the positioning data. ### Claim 7 A slope travel control method for a work vehicle to travel along a travel route in a work field, comprising: detecting a vehicle body inclination angle of a vehicle body of the work vehicle with respect to a horizontal line; calculating a position of the work vehicle in the work field based on positioning data; receiving the vehicle body inclination angle associated with the position; outputting travel limit information at an inclination position on the travel route where the vehicle body inclination angle exceeds a threshold angle; and recording, as an inclined area, an area around the inclination position which is calculated based on the positioning data.