PROBLEM TO BE SOLVED: To provide an automatic travel vehicle capable of automatically traveling between trees and artificial erected objects arrayed at a distance from each other without the necessity of installing light reflection means or a reflection board in advance.SOLUTION: An automatic travel vehicle comprises: a distance calculation part for calculating a separation distance to a vehicle body 3 from a reference line SL which passes trees K as two targets O set by a target setting part and is a reference during travel; a travel control part for executing entry travel where the vehicle enters an area between the trees K from a predetermined side according to a location of the target and the separation distance, linear travel where the vehicle travels along the reference line SL between the trees K, exit travel where the vehicle exits to a predetermined side from between the trees K, and side passage travel where the vehicle passes by a predetermined side of the tree K; and a steering control part for outputting a steering control signal to an automatic steering mechanism according to a steering command from the travel control part.SELECTED DRAWING: Figure 1

    【課題】予め光反射手段や反射板などを設置することなく、互いに間隔をあけて並んでいる樹木や人工立設物などの間を、自動で走行可能な自動走行車両を提供する。【解決手段】目標物設定部により設定された2つの目標物Oである果樹Kを通り、走行時の基準となる基準線SLから車体3までの距離である離間距離を演算する距離演算部と、目標物の位置及び離間距離に基づいて果樹Kの間に所定側から入り込む進入走行と、果樹Kの間を基準線SLに沿って走行する直線走行と、果樹Kの間から所定側に抜け出す抜け出し走行と、果樹Kの所定側の側方を通過する側方通過走行とを実行する走行制御部と、走行制御部からの操舵指令に基づいて自動操舵機構に操舵制御信号を出力する操舵制御部とが備えられている。【選択図】図1


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    Title :

    AUTOMATIC TRAVEL VEHICLE


    Additional title:

    自動走行車両


    Contributors:

    Publication date :

    2016-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01D Ernten , HARVESTING / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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