Kubota Corporation

Tetsuya Nakajima

Kazuo Sakaguchi

Tomohiko Sano

Osamu Yoshida

Sakura Tomita

Shigeki Hayashi

Kenichi Iwami

Makoto Oshitani

Takashi Nakabayashi

Satoshi Maruo

Kazuhiro Takahara

Yasuo Fujii

Shunya Takase

Yuki Kubota

Aya Tanabe

Yukifum Yamanaka

Chiaki Komaru

Tamaki Naka

A slip determination system is provided that is capable of providing appropriate control information to a traveling vehicle when the traveling vehicle has proceeded to an area where a slip is likely to occur during automatic travel. The slip determination system includes: a vehicle position detection module for detecting a vehicle position; and an automatic travel control portion for enabling automatic travel based on the vehicle position and a set travel path; a slip amount calculation portion for calculating a slip amount of the traveling vehicle body, using an estimated movement distance of the traveling vehicle body calculated based on the number of revolutions of a driving axle of the traveling vehicle body, and an actual movement distance of the traveling vehicle body calculated based on the vehicle position; an appropriateness determination portion for performing appropriateness determination to determine, based on the slip amount, whether or not a state of a traveling ground surface is appropriate for automatic travel; and an automatic travel stop portion for stopping automatic travel based on a determination result.

Slip determination system, travel path generation system, and field work vehicle

This autonomous work vehicle travel system is provided with: a satellite positioning modulethat outputs positioning data indicating a vehicle position of a work vehicle; an area setting unit that sets an area CA to be worked in a work site; a route managing unit that calculates a travel route element set, which is an aggregate of multiple travel route elements constituting a travel route that covers the area CA to be worked, and storing the travel route element set so as to be readable; a route element selecting unit that selects a next travel route element to be traveled in sequence from the travel route element set; and an autonomous travel controlling unit that causes the work vehicleto travel autonomously on the basis of the next travel route element and the vehicle position.

Autonomous work vehicle travel system, travel route managing device, travel route generating device, and travel route determining device

An automatic steering system for a work vehicle includes: a steering travel apparatus for performing leftward turning based on a leftward steering amount with respect to a straight-forward direction and performing rightward turning based on a rightward steering amount with respect to a neutral position; a subject vehicle location calculator for calculating a location of a subject vehicle; a locational shifting calculator for calculating locational shifting from the travel route and the location of the subject vehicle; a vehicle body direction calculator for calculating a vehicle body direction that indicates a direction of a vehicle body; a directional shifting calculator for calculating directional shifting from the travel route and the vehicle body direction; a steering amount calculator for calculating a first steering amount, which is a steering amount for correcting the locational shifting and the directional shifting, based on the locational shifting and the directional shifting; and a steering amount limiter for limiting the first steering amount based on a second steering amount, which is the steering amount at present.

Automatic steering system and automatic steering method

A travel route management system includes an area setting unit that sets a work site to an outer peripheral area SA and an area CA to be worked on an inner side of the outer peripheral area SA, and a route element selecting unit that sequentially selects a next travel route element to be traveled on next, from among multiple mutually-parallel travel route elements, the travel route elements constituting a travel route that covers the area CA to be worked. The route element selecting unit selects a U-turn travel route for moving from a travel route element serving as a movement origin to a next travel route element serving as a movement destination, the selection being made on the basis of an interval between the movement origin and the movement destination.

Travel route management system and travel route determination device

A work vehicle automatic traveling system includes a route element selecting unit that, on the basis of state information, sequentially selects a next travel route element on which a work vehicle is to travel next, from a travel route element set and a circling route element set. The route element selecting unit includes a cooperative route element selection rule, which is employed when a plurality of work vehicles carry out work travel cooperatively in an area CA to be worked, and an independent route element selection rule, which is employed when a single independent work vehicle among the work vehicles carries out work travel independently in the area CA to be worked. Also described is selecting the next travel route element based on the independent route element selection rule.

Work vehicle automatic traveling system

A work vehicle support system includes: an own vehicle position detecting module configured to detect an own vehicle position of a work vehicle; and a work-unfinished region outer-shape map calculating section configured to calculate, during circulating work-traveling along an outer perimeter of a work scheduled region, an outer-shape map of a work-unfinished region in the work scheduled region, from own vehicle position data acquired by the own vehicle position detecting module.

Work vehicle support system

A travel working machine includes: an automatic travel control unitconfigured to implement automatic travel based on automatic travel information necessary for automatic travel; a manual travel control unitconfigured to implement manual travel based on an operation signal from a manual travel operating unit; a machine body status detecting unitconfigured to output machine body status information indicating a machine body status based on the operation signal and a detection signal received from a status detecting device; and an automatic travel management sectionconfigured to determine forbiddance of automatic travel by the automatic travel control unitand permission of the automatic travel based on the machine body status information, and output a control command in automatic travel forbiddance, for deciding control of the machine body after a command to forbid the automatic travel has been issued, based on the machine body status information.

Travel working machine

A plurality of control units capable of communicating with each other via a data communication network (TU) are disposed in distribution. One of the plurality of control units is set as an information management control unit (H) having writable nonvolatile storing means. Upon activation with power supply thereof, the information management control unit (H) executes a control management information distributing process for transmitting control management information stored in a memory () to storage object control units (H-H) via the communication network (TU). Upon activation with power supply thereto, each of the storage object control units (H-H) executes a control management information obtaining process for obtaining the control management information transmitted from the control management information control unit (H).

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Sakai, Japan

Tetsuya Nakajima