To provide an automatic travel work vehicle capable of automatically steering-traveling with high accuracy even in work travel along a set target travel passage.SOLUTION: An automatic travel field work vehicle comprises a positional deviation arithmetic operation part for arithmetically operating a positional deviation (d) being positional dislocation in the lateral direction of one's own vehicle to a target travel passage, an azimuth deviation arithmetic operation part for arithmetically operating an azimuth deviation θ between the target travel passage and itself, a first control arithmetic operation part for outputting a first steering value with the positional deviation (d) and a target positional deviation as an input parameter, a second control arithmetic operation part for outputting a second steering value with the azimuth deviation θ, a target azimuth deviation and the positional deviation (d) as the input parameter, a target steering arithmetic operation part for outputting a target steering value for traveling along the target travel passage based on a first steering value and a second steering value and a steering driving control part for outputting a steering driving signal with the target steering value as input.SELECTED DRAWING: Figure 1
【課題】設定された目標走行経路に沿って、作業走行中であっても、高い精度をもって自動操舵走行することができる自動走行作業車両を提供する。【解決手段】自動走行圃場作業車両は、目標走行経路に対する自車の横方向の位置ずれである位置偏差dを演算する位置偏差演算部と、目標走行経路との間の方位偏差θを演算する方位偏差演算部と、位置偏差dと目標位置偏差とを入力パラメータとして第1操舵値を出力する第1制御演算部と、方位偏差θと目標方位偏差と位置偏差dとを入力パラメータとして第2操舵値を出力する第2制御演算部と、第1操舵値と前記第2操舵値とに基づいて目標走行経路に沿って走行するための目標操舵値を出力する目標操舵演算部と、目標操舵値を入力として操舵駆動信号を出力する操舵駆動制御部とを備える。【選択図】図1
AUTOMATIC TRAVEL FIELD WORK VEHICLE
自動走行圃場作業車両
14.03.2019
Patent
Elektronische Ressource
Japanisch
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