Work vehicle coordinating system

摘要

Disclosed is a work vehicle coordinating system configured to carry out a ground work by a main work vehicle and an un-manned controlled sub work vehicle that follows up the main work vehicle. This system includes a main-vehicle position detection module, a sub-vehicle position detection module, a main-vehicle traveling path calculation section, a turning detection unit, a work traveling target calculation section, a turn traveling target calculation section, and a steering control section.

主权项

1. A work vehicle coordinating system configured to carry out a ground work by a main work vehicle and an un-manned controlled sub work vehicle that follows up the main work vehicle, the system comprising:
a main-vehicle position detection module detecting a position of the main work vehicle; a sub-vehicle position detection module detecting a position of the sub work vehicle; a main-vehicle traveling path calculation section calculating a traveling path of the main work vehicle from the position of this main work vehicle; a turning detection unit detecting a turn traveling of the main work vehicle in a turning area to shift from a first work traveling mode to a second work traveling mode; a work traveling target calculation section calculating a target traveling position at time of a work traveling of the sub work vehicle, based on a ground working width of the main work vehicle, a ground working width of the sub work vehicle, a work traveling path of the main work vehicle and a position of the sub work vehicle; a turn traveling target calculation section calculating a turn traveling path of the sub work vehicle in the turning area based on the ground working width of the main work vehicle, the ground working width of the sub work vehicle, a turn traveling start position and a turn traveling end position of the main work vehicle and calculating also a turn traveling target position of the sub work vehicle at the time of a turn traveling based on the turn traveling path; and a steering control section for un-manned controlling the sub work vehicle based on the target traveling position.