Patent ID: 9448561
Filing Date: 2016-09-20
CPC Classification: A01B,G05D

Claim Text:
1. A work vehicle cooperation system in which a master work vehicle and an unmanned-navigation type slave work vehicle that follows the master work vehicle perform ground work, comprising: a master position detection module that detects a position of the master work vehicle; a slave position detection module that detects a position of the slave work vehicle; a master traveling track calculation unit that calculates a traveling track of the master work vehicle based on the position of the master work vehicle; a loop traveling detection unit that detects loop traveling including loop work traveling and redirection traveling, which is constituted by forward traveling and backward traveling, the loop traveling being performed in a loop work area, which is defined as the perimeter of a U-turn work area, the U-turn work area being an area in which work is performed by repeating straight work traveling and U-turns; a redirection traveling target calculation unit that calculates a redirection traveling start point and a redirection traveling end point of the slave work vehicle, based on a ground work width of the master work vehicle, a ground work width of the slave work vehicle, and a redirection traveling track that includes a redirection traveling start point and a redirection traveling end point of redirection traveling of the master work vehicle; a loop work traveling target calculation unit that calculates a target traveling position in loop work traveling of the slave work vehicle from the redirection traveling end point to a next redirection traveling start point, based on the ground work width of the master work vehicle, the ground work width of the slave work vehicle, and a loop work traveling track of the master work vehicle; and a navigation control unit that navigates the slave work vehicle in an unmanned manner based on the redirection traveling start point, the redirection traveling end point, and the target traveling position.