Patent AU-2017237758-B2 (AU)
Title: Control apparatus of work vehicle, work vehicle, and control method of work vehicle
Inventor: OGIHARA MASANORI
IPC: G05D1/02
Filed: 2017-02-28
Granted: 2019-01-24
Abstract: (12) -F IIII IJIII III- L I DIII IMIIIIII MI - Ii RII (10) 0 h f (43) M W > 8 N 2017 * 9 f 28 H (28.09.2017) W O 2017/163790 Al WIPO I PCT (51) MR$$V992: (81) t (A ®0 tL\FR .L , T) MN A f ft GOS5D 1/02 (2006.01) _T 4"-f ): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, (21) %: PCT/JP2017/008018 CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, (22) M WtRE6E: 2017 Pl 2 J 28 8 (28.02.2017) ES, Fl, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, (25) M R39 tJ )13: 1 Mt LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, (26) ® -: 6 *8 MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, (71) t E A: $ k Jt f /t f] * 4/J \ (KOMATSU LTD.) SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, [JP/JP]; T 1078414 13T 0 FS tTA& 2 - 3 - 6 TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. Tokyo (JP). (84) 1 tdL\ FL, _ ®)910 (72) 5 BE -t: R 5 JE *IE (OGIHARA, Masanori); T 5 i fJ E): ARIPO (BW, GH, GM, KE, LR, LS, MW, 1078414 A 3-T, 4 M & i 2 - 3 - 6 * A it± MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), .-L /J\t4%,!f'iFP N Tokyo (JP). Jt4 AR(YAMAMURA, 5 $/ 7 (AM, AZ, BY, KG, KZ, RU, TJ, TM), E Ryuu); T 1078414 13$T Fx t& 2 - 3 - 6 $V 1 y /S (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, Kn±'J\t4>%N!f Pft fTokyo (JP). ES, Fl, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, 74) t I| A : $ I 4 M R ji A * R PE MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, (SAKAI INTERNATIONAL PATENT OFFICE); T ML, MR, NE, SN, TD, TG). 1000013 AS3-T-FIt EB Ff O J N 3 ] HT 8 1 ' = O l tC)|F-r/ ' Tokyo(JP). (54) Title: WORK VEHICLE CONTROL DEVICE, WORK VEHICLE, AND WORK VEHICLE CONTROL METHOD (54) R~®~ : ®$ftFl A t&i®$U ) M 10 t (57) Abstract: This work vehicle control device is equipped with: a 35A(35) 35B(35) course data acquisition unit for acquiring course data indicating travel I K | | t | conditions for a work vehicle, including a travel route; a travel range l3 41 I data acquisition unit for acquiring travel range data indicating a travel 411 range for the work vehicle that is defined by a preset travel width on -ll 43 - l the basis of the travel route; a detection data acquisition unit for ac | -- quiring detection data from a detection device detecting the travel dir 41 section of the work vehicle; a prediction unit for predicting, on the basis of the detection data, a prescribed position distant from the cur _2 _a 416 rent position of the work vehicle traveling in accordance with the course data; a determination unit for determining whether or not the prescribed position is located within the travel range; and a driving control unit for stopping the travel of the work vehicle when the pre -- scribed position is determined as not being located within the travel F4 range. 9. COMMUNICATION SYSTEM (57) fi: l it fr tt{ $ 11 4 t PROCESSING DEVICE 12 42~ STORAGE DEVICOF )i : 7 f9 F , 13 43.. INPUT/OUTPUT INTERFACE M 1 44.. WIRELESS COMMUNICATION DEVICE 15. INPUTDIEVCE 16.OUIPUT DEVICE 31 .. DRIVE DEVICEd"c A 7w .IJ F -4 r 32. BRAKE DEVICE 33.. STEERING DEVICE 34.. POSITION DETECTOR 35 STEERING ANGLE SENSOR A 035B.. BEARING ANGLE SENSOR i__)T ±f / t* zA AR OUE COURSE DATA GENERATE 12.. TRAVEL RANGE DATA GENERATION UNIT CTAi 6TAl'A L AI/5t :rpM1AIzTr± 6 41R1 COURSE DATA ACQUISIT ON UNIT 41 2 TRAVEL RANGE DATA ACQUISITION UNIT/5r 413 ABSOLUTE POSITION DATA ACQUISITION UNIT 414 N DETECTION DATA ACQUISITION UNIT ' 41 5 PREDICTION UNIT _6 A4~ *R$Ioip 416. DETER I NATION UNIT 417... CORRECTION UNIT ___ 418.. DRIVING CONTROL UNIT W O 2 0 17/16 3 7 9 0 A 1|lll II l|llll || ||||| ||||| | || || ||I||I||I|||||||I||||I|||||||||I|I|||D|||||||||| - ® 53 IC < 2 1 *(2)(a) ck JZ47)A -;f 21 *(3)) r482f()II) o -int: 0) rQE Ml0 M )A R rMO ) R T $) L) , #M 48.2(h))