To provide an automatic travel work vehicle on which steering control considering at least a state of a work site and a work type is executed in returning the vehicle body having deviated from a target travel route to the target travel route.SOLUTION: An automatic travel work vehicle comprises: a work travel information recording unit 45 for recording work traveling information including a state of a work site and a work type of a work device mounted on a work vehicle; a steering mechanism 13 for changing a travel direction of the vehicle body; an own vehicle position calculation unit 70 for calculating the vehicle's position; a travel route setting unit 51 for setting a target travel route; a control input value calculation unit 502 that on the basis of the target travel route and the vehicle's position, calculates a route deviation, a deviation of the vehicle body with respect to the target travel route, and calculates a control input value based on the route deviation; and a steering control unit 501 that on the basis of the control input value and at least one of the state of the work site read from the work travel information and the work type read from the work travel information, controls the steering mechanism 13 so that elimination speed until the route deviation is eliminated changes.SELECTED DRAWING: Figure 4
【課題】目標走行経路から外れた車体を目標走行経路に戻す際に、少なくとも作業地の状態と作業種類とを考慮した操舵制御が実行される自動走行作業車の提供。【解決手段】作業地の状態と作業装置の作業種類とを含む作業走行情報を記録する作業走行情報記録部45と、車体の走行方向を変更する操舵機構13と、自車位置を算出する自車位置算出部70と、目標走行経路を設定する走行経路設定部51と、目標走行経路と自車位置とに基づいて目標走行経路に対する車体のずれである経路ずれを算出し、経路ずれに基づく制御入力値を算出する制御入力値算出部502と、作業走行情報から読み出された作業地の状態および作業走行情報から読み出された作業種類の少なくとも一方と、制御入力値とに基づいて、経路ずれが解消されるまでの解消速度が変わるように操舵機構13を制御する操舵制御部501と、を備える。【選択図】図4
AUTOMATIC TRAVEL WORK VEHICLE
自動走行作業車
2020-10-22
Patent
Electronic Resource
Japanese
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