Patent AU-2017237758-C1 (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: 2019-08-01
Abstract: (12) S -Ff6h )J:*f,~~: 9-J L N C1 Md 1 M - f REI (10) 0 h (43) M W> 8 N 2017 * 9 f 28 (28.09.2017) W O 2017/163790 Al WIPOIPCT (51) MR$$V992: (81) t (Aff®0tL\FRy, L) TOI)$ l)jAf G5D1/02 (2006.01) Tf 4): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, (21) : PCT/JP2017/008018 CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, (22) M W RE El 2017 | 2 )¶ 28 (28.02.2017) ES, Fl, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, (25) M W E 0) 1 Mi: 1 M$ LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, (26) --: 6 *8 MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, (71) t R A: $$JtAtfI /J\4ft (KOMATSU LTD.) SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, [JP/JP]; T 1078414 13-T 0 SFxM& il 2 - 3 - 6 TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. Tokyo (JP). (84) 1 tdL\ FL, _ ®)910 (72) 5 BE) -: RJ 5 IE* i(OGIHARA, Masanori); T 5i fJC E): ARIPO (BW, GH, GM, KE, LR, LS, MW, 1078414 3 ST M 4 & 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 078414x t§ 2 - 3 - 6 $V |-|yi/ (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, Kn±'J't f Pft flTokyo (JP). ES, Fl, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, 74) It I| A i : VF $t M¶ R HA: * R PE MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, (SAKAI INTERNATIONAL PATENT OFFICE); T ML, MR, NE, SN, TD, TG). 1000013 A3N-T-FIt EB x MJ3R ] N8 13 T ' = O l tt)|-r/ 4 './ Tokyo(JP). (54) Title: WORK VEHICLE CONTROL DEVICE, WORK VEHICLE, AND WORK VEHICLE CONTROL METHOD (57) Abstract: This work vehicle control device is equipped with: a 35A(35) 35B(35) coursedataacquisitionunitforacquiringcoursedataindicatingtravel I ||t t|v conditions for a work vehicle, including a travel route; a travel range l341 I data acquisition unit for acquiring travel range data indicating a travel 411 range for the work vehicle that is defined by a preset travel width on -ll 43 - l the basis of the travel route; a detection data acquisition unit for ac | -- quiring detection data from a detection device detecting the travel dir 41 section of the work vehicle; a prediction unit for predicting, on the basis of the detection data, a prescribed position distant from the cur _2 _a e 416 rent position of the work vehicle traveling in accordance with the course data; a determination unit for determining whether or not the prescribed position is located within the travel range; and a driving control unit for stopping the travel of the work vehicle when the pre -- scribed position is determined as not being located within the travel F4 range. 9. COMMUNICATION SYSTEM (57) f: 7 t$irft { i 11 4 t PROCESSING EVICE 12 42 STORAGE DEVICOF )i : 7 f 9 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 STEERINGANGLE SENSOR A 035B.. BEARING ANGLE SENSOR i__)T ±f / t* zA AR COURSE DATA GENERATE 12..TRAVEL RANGE DATA GENERATION UNIT CTAi6TAl'A L AI/5t :rpM1AIzTr± 6 41R1 COURSE DATA ACQUISITION UNIT 41 2 TAVEL RANGE DATAAQUSITION UNIT/5r 413 ABSOLUTE POSITION DATA ACQUISITION UNIT 414 ° DETECTION UNA ACQUISITION UNIT ' 41 5 PREDICTION UNIT _6 A 4i$I li o 416. DETERMINATION UNIT 417... CORRECTON UNIT ___418.. DRIVING CONTROL UNIT W O 2017/16371 |ll||ll||lIlIl1lII1I|DI 11|DI||I|I|||||||I|II ||I|||I||||||||I| - ® 53 IC < 2 1 *(2)(a) ck JZ47)A -- ( 21 *(3)) r f(A))II ) 4 o -t ) EM 0) ORoEM T0 A R O MlTV L) ), #M 48.2(h))