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    Work vehicles coordinating system
    422.
    发明公开
    Work vehicles coordinating system 有权
    KoordinationssystemfürNutzfahrzeuge

    公开(公告)号：EP2784617A2

    公开(公告)日：2014-10-01

    申请号：EP14156460.9

    申请日：2014-02-25

    Applicant: Kubota Corporation

    Inventor： Matsuzaki, Yushi ,  Araki, Hiroyuki ,  Uoya, Yasuhisa ,  Suzukawa, Megumi ,  Takada, Fumio

    IPC: G05D1/02

    CPC classification number: G05D1/0287 ,  G05D1/0295 ,  G05D2201/0201

    Abstract: A work vehicle coordinating system is configured to carry out a ground work by a main work vehicle (P) and an un-manned controlled sub work vehicle (C) that follows up the main work vehicle (P). This system includes a main-vehicle position detection module (61) detecting a position of the main work vehicle (P), a sub-vehicle position detection module (71) detecting a position of the sub work vehicle (C), a main-vehicle traveling path calculation section (62) calculating a traveling path of the main work vehicle (P) from the position of this main work vehicle (P), a work traveling target calculation section (82) calculating a target traveling position at time of a work traveling of the sub work vehicle (C), based on a ground working width of the main work vehicle (P), a ground working width of the sub work vehicle (C), a work traveling path of the main work vehicle (P) and a position of the sub work vehicle (C), and a steering control section (72) for un-manned controlling the sub work vehicle (C) based on the target traveling position. The system further includes a turning detection unit (64) detecting a turn traveling of the main work vehicle (P) in a turning area to shift from one work traveling to another work traveling, and a turn traveling target calculation section (83) calculating a turn traveling path of the sub work vehicle (C) in the turning area based on the ground working width of the main work vehicle (P), the ground working width of the sub work vehicle (C), a turn traveling start position and a turn traveling end position of the main work vehicle (P) and calculating also a turn traveling target position at the time of a turn traveling based on the turn traveling path.

    Abstract translation: 工作车辆协调系统被配置为由主作业车辆（P）和跟随主作业车辆（P）的无人驾驶的受控副作业车辆（C）进行地面作业。 该系统包括检测主作业车辆（P）的位置的主车位置检测模块（61），检测副作业车辆（C）的位置的副车位置检测模块（71） 从该主作业车辆（P）的位置计算主作业车辆（P）的行驶路径的车辆行驶路径计算部（62），工作行驶目标计算部（82），计算当前工作车辆 基于主作业车辆（P）的地面工作宽度，副作业车辆（C）的地面工作宽度，主作业车辆（P）的作业行驶路径，工作车辆（C）的工作行驶 ）和副作业车辆（C）的位置，以及用于基于目标行驶位置对副作业车辆（C）进行无人控制的转向控制部分（72）。 该系统还包括检测在工作车辆（P）的转弯区域中从一个工件行进转移到另一个工件行驶的转弯行驶的转弯检测单元（64），以及转弯行驶目标计算部（83） 基于主作业车辆（P）的地面工作宽度，副作业车辆（C）的地面工作宽度，转弯行驶开始位置和转向行驶车辆（C）的行驶路径， 转动主工作车辆（P）的行驶终点位置，并且还基于转弯行驶路径计算转弯行驶时的转弯行驶目标位置。

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