Yanmar Co., Ltd.

Yanmar Agricultural Equipment Co., Ltd.

Yanmar Power Technology Co., Inc.

Akifumi Kuroda

Keiji Matsumoto

Kouhei Ogura

Hideaki Aoki

Fumio Ishibashi

Yasuo Noma

Yukio Kubota

Koji Iwaki

Minoru Kamada

Koji Sakata

Takeshi Oouchida

Tadao Hirai

Wataru Nakagawa

Keiichirou Yuzaki

A parallel travel work system for an autonomous travel work vehicle, an accompanying travel work vehicle accompanying the autonomous travel work vehicle, and a remote controller for communicating with the autonomous travel work vehicle. The remote controller creates a first preset travel path for the autonomous travel work vehicle and a second preset travel path for the accompanying travel work vehicle travels. The autonomous travel work vehicle is equipped with: a position calculator for calculating a position of the autonomous travel work vehicle using a satellite positioning system, a steering actuator for operating a steering device of the autonomous travel work vehicle, a transceiver for communicating with the remote controller, and a control device for controlling the position calculator, the steering actuator and the transceiver. With the control device, the autonomous travelling of the autonomous travel work vehicle is carried out along the first preset travel path.

Parallel travel work system

A remote control apparatus capable of communicating with a control apparatus of an autonomously running work vehicle via a communication apparatus, the remote control apparatus comprising a communication apparatus, a control apparatus, a display apparatus, and cameras for obtaining images of the front and rear, wherein the display apparatus is provided with at least a remote control region for controlling the autonomously running work vehicle, a peripheral image region for displaying images captured by the cameras, and a work status display region, wherein the peripheral image region is provided with a frontal view and a rear view.

Remote control apparatus

An autonomous travel work vehicle (), which is provided with a position calculation means that measures the device body position by means of a satellite positioning system, a steering actuator () that operates a steering device, an engine rotation control means, a transmission means (), and a control device () that controls each of same, is caused to autonomously travel, along a set travel path stored in the control device (), by an accompanying travel work vehicle () that works while accompanying the travel of the autonomous travel work vehicle () by means of attended operation and that is mounted with a remote operation device () that can operate the autonomous travel work vehicle, and the control device () halts autonomous travel when a signal disruption from the satellites, a large deviation from the set travel path, an abnormal sensor value, fuel exhaustion, or the like is detected.

For easy setting of a path of an autonomously-traveling autonomous travel work vehicle, provided is a method for setting a path for an autonomous travel work vehicle to run and operate by determining positions with the use of a satellite positioning system so as to drive and carry out an agricultural field operation. The method includes inputting a front-to-back length of a vehicle body, a width of an implement and an overlapping amount of implements () in a width direction, positioning a work vehicle at inflection points successively along an outer circumference of the agricultural field and determining positions with the use of the satellite positioning system, setting a work area, an operation start position and an operation end position, a direction for starting reference traveling, headlands (HB) on both ends of the work area (HA), and a travel path (R) within the agricultural field.

Method for setting travel path of work vehicle

In a working vehicle, there is dissolved a risk that a black smoke is discharged, a knocking is generated and an engine stall is caused, if a lot of load is applied to a rotary tiller during various works while traveling at a low speed. In the working vehicle provided with an engine which is mounted to a travel machine body, a common rail type fuel injection device which injects fuel to the engine, and a continuously variable transmission which shifts power from the engine, an engine driving point Q (Q&#x2192;Q) relating to a rotating speed N and a torque T of the engine is changed in such a manner that the rotation speed come to a high speed side rotating speed Ndissolving an overload, and a change gear ratio of the continuously variable transmission is modified and regulates in such a manner that a vehicle speed V of the travel machine body does not change in the case that the overload acts on the engine of having a low speed Nin the rotating speed N.

Drive system control device for working vehicle

A hydraulic transmission () has an electric actuator () for changing its output/input rotation speed ratio. A controller () of the actuator memorizes a command current value to the actuator supposing that load is not applied on the hydraulic transmission, and calculates a value of load applied on the hydraulic transmission by calculating a difference between an actual command current value to the actuator and the memorized command current value. A command current value is compensated based on the value of load, and the actuator receives feedback to be controlled. A vehicle may have a differential mechanism (), which combines rotation powers on input side and output side of the hydraulic transmission. A detector () detects rotation speed of a main speed change output shaft () serving as an output shaft of the differential mechanism. If the detected rotation speed differs from target rotation speed of the shaft () determined based on operation of a speed change operation tool, the actuator is forcedly controlled. This difference is supposed to be caused by load applied on the hydraulic transmission, whereby the load is calculated.

Hydraulic transmission vehicle

A hydraulic transmission () has an electric actuator () for changing its output/input rotation speed ratio. A controllerof the actuator memorizes a command current value to the actuator supposing that load is not applied on the hydraulic transmission, and calculates a value of load applied on the hydraulic transmission by calculating a difference between an actual command current value to the actuator and the memorized command current value. A command current value is compensated based on the value of load, and the actuator receives feedback to be controlled. A vehicle may have a differential mechanism (), which combines rotation powers on input side and output side of the hydraulic transmission. A detector () detects rotation speed of a main speed change output shaft () serving as an output shaft of the differential mechanism. If the detected rotation speed differs from target rotation speed of the shaft () determined based on operation of a speed change operation tool, the actuator is forcedly controlled. This difference is supposed to be caused by load applied on the hydraulic transmission, whereby the load is calculated.

Growing community of inventors

Osaka, Japan

Akifumi Kuroda