Yanmar Co., Ltd.

Yanmar Power Technology Co., Inc.

Kouhei Ogura

Keiji Matsumoto

Hideaki Aoki

Toshiyuki Miwa

Akifumi Kuroda

Kenta Ikenori

Toshifumi Hiramatsu

Wataru Nakagawa

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

This work vehicle (tractor), which is provided with an engine and an accelerator pedal capable of changing the operational state of the engine, and is configured to be free to travel by means of an operation of the accelerator pedal by an operator, is equipped with a display near an operator's seat, said display being configured to be capable of displaying a screen (travel customization screen) for selecting whether or not to allow travel in conjunction with the accelerator.

Work vehicle

A work vehicle according to an aspect of the present invention is configured to shift, in a transmission unit, a speed of a driving force from an engine mounted on a traveling body and to transfer the shifted driving force to a traveling unit and a work unit. The work vehicle includes: a mode shift switch that is configured to shift a maximum vehicle speed by the traveling unit or a maximum number of revolutions of the engine, the maximum vehicle speed and the maximum number of revolutions being set for each of a plurality of modes; and a work unit operation lever that is configured to be used for operating the work unit. The work unit operation lever is provided with the mode shift switch.

A work vehicle includes an engine mounted on a traveling body including traveling wheels; a hydraulic stepless transmission that shifts a speed of the driving force from the engine; a gear shift pedal that performs an acceleration/deceleration operation of a shifted output from the hydraulic stepless transmission; and a control section that controls the engine and the hydraulic stepless transmission based on the operation amount of the gear shift pedal. When an operation on a set switch is received in a state where the gear shift pedal is pressed by a foot operation in an auto-cruise standby mode, the control section stores the vehicle speed and the number of engine revolutions in accordance with the foot operation position of the gear shift pedal and shifts to an auto-cruise mode.

A work vehicle including: a hydraulic stepless transmission that shifts a speed of a driving force from an engine; a gear shift pedal that performs an acceleration/deceleration operation of a shifted output from the hydraulic stepless transmission; a control section that controls the engine and the hydraulic stepless transmission based on an operation amount of the gear shift pedal; and acceleration/deceleration switches that increase and reduce a vehicle speed in performing an auto-cruise mode. The control section stores a set maximum vehicle speed. In a case where the acceleration/deceleration switches are operated in the auto-cruise mode, the control section increases and reduces the vehicle speed stored in shifting to the auto-cruise mode based on the amount of change in accordance with the maximum vehicle speed.

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 the prior art, detection sensitivity was fixed for an obstacle detection means provided to an autonomous travelling service vehicle; therefore, in the present invention an autonomous travelling service vehicle is provided with a position calculation means that determines the position of the chassis using a satellite positioning system, and with a control device that automatically drives the vehicle along a set travel route and causes the vehicle to execute the service, wherein an obstacle sensor that acts as an obstacle detection means for detecting whether or not an obstacle is present around the autonomous travelling service vehicle and a sensitivity adjustment means for adjusting the sensitivity of the obstacle sensor are provided, and the sensitivity of the obstacle sensor is adjusted by the sensitivity adjustment means so as to be high within a set work area and low outside the set work area.

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Osaka, Japan

Kouhei Ogura