公开(公告)号：US12135557B2

公开(公告)日：2024-11-05

申请号：US17438917

申请日：2020-01-17

Applicant: Yanmar Power Technology Co., Ltd.

Inventor： Yasuto Nishii ,  Kohei Ogura ,  Nobuhiro Kimura

IPC: G05D1/02 ,  A01B69/04 ,  A01B69/08 ,  G05D1/00

Abstract: The present invention enables generating a desired target travel path intended by a user or the like without the need for various input works for the type, width, and the like of a work machine. The present invention is provided with: a travel path generation unit which generates a target travel path (P) along which a work vehicle is caused to travel automatically; and a reference point setting unit which, on the basis of position information about the work vehicle when the work vehicle has been caused to travel, sets a first reference point (A) and a second reference point (B) for generating a first reference line, and a third reference point (C) for setting intervals, wherein the path generation unit generates, as the target travel path (P), a path that includes a plurality of parallel paths (P2) parallel to the first reference line (P1) based on the first reference point (A) and the second reference point (B), and sets respective intervals between the first reference line (P1) and the parallel paths (P2) and also each interval between the parallel paths (P2), on the basis of a distance between the second reference point (B) and the third reference point (C).