Parallel travel work system
An autonomous travel work vehicle ( 1 ), which is provided with a position calculation means that measures the device body position by means of a satellite positioning system, a steering actuator ( 40 ) that operates a steering device, an engine rotation control means, a transmission means ( 44 ), and a control device ( 30 ) that controls each of same, is caused to autonomously travel, along a set travel path stored in the control device ( 30 ), by an accompanying travel work vehicle ( 100 ) that works while accompanying the travel of the autonomous travel work vehicle ( 1 ) by means of attended operation and that is mounted with a remote operation device ( 112 ) that can operate the autonomous travel work vehicle, and the control device ( 30 ) halts autonomous travel when a signal disruption from the satellites, a large deviation from the set travel path, an abnormal sensor value, fuel exhaustion, or the like is detected.
1. A parallel travel work system, comprising:
an autonomous travel work vehicle including a position calculator that determines a position of a vehicle body with the use of a satellite positioning system, a steering actuator that activates a steering system, a drive source controller, a speed change means, and a controller that controls said position calculator, said steering actuator, said drive source controller, and said speed change means;
the autonomous travel work vehicle being controllable to run autonomously along a preset travel path stored in the controller, and being controllable through a remote controller that is located on an accompanying travel work vehicle accompanying and operating with the autonomous travel work vehicle, the accompanying travel work vehicle being separate from the autonomous travel work vehicle, the autonomous travel work vehicle running in front of the accompanying travel work vehicle and the accompanying travel work vehicle running directly behind or diagonally behind the autonomous travel work vehicle separately; and
the controller being configured to control the autonomous travel work vehicle to stop the autonomous traveling when a signal from a navigation satellite assumes an abnormal value.
2. A parallel travel work system, comprising:
an autonomous travel work vehicle that includes a position calculator that determines a position of a vehicle body with the use of a satellite positioning system, a steering actuator that activates a steering system, a drive source controller, a speed change means, and a controller that controls said position calculator, said steering actuator, said drive source controller, and said speed change means;
the autonomous travel work vehicle being controlled to run autonomously along a preset travel path stored in the controller, and being controllable through a remote controller that is located on an accompanying travel work vehicle accompanying and operating with the autonomous travel work vehicle, the autonomous travel work vehicle running in front of the accompanying travel work vehicle and the accompanying travel work vehicle running directly behind or diagonally behind the autonomous travel work vehicle separately; and
the controller controlling the autonomous travel work vehicle to stop traveling when an actual position deviates from the preset travel path by more than a preset range; and
wherein, when the traveling is stopped, the controller transmits a cause of the stop to the remote controller provided in the accompanying travel work vehicle, to be shown on a display of the remote controller.
3. A parallel travel work system, comprising:
an autonomous travel work vehicle that includes a position calculator that determines a position of a vehicle body with the use of a satellite positioning system, a steering actuator that activates a steering system, a drive source controller, a speed change means, and a controller that controls said position calculator, said steering actuator, said drive source controller, and said speed change means;
the autonomous travel work vehicle being controlled to run autonomously along a preset travel path stored in the controller, and being controllable through a remote controller that is located on an accompanying travel work vehicle accompanying and operating with the autonomous travel work vehicle, the accompanying travel work vehicle being separate from the autonomous travel work vehicle, the autonomous travel work vehicle running in front of the accompanying travel work vehicle and the accompanying travel work vehicle running directly behind or diagonally behind the autonomous travel work vehicle separately; and
the controller controlling the autonomous travel work vehicle to stop traveling when a detected value from a steering sensor that detects a steering direction assumes an abnormal value.
4. A parallel travel work system, comprising:
an autonomous travel work vehicle that includes a position calculator that determines a position of a vehicle body with the use of a satellite positioning system, a steering actuator that activates a steering system, a drive source controller, a speed change means, and a controller that controls said position calculator, said steering actuator, said drive source controller, and said speed change means;
the autonomous travel work vehicle being controlled to run autonomously along a preset travel path stored in the controller, and being controllable through a remote controller that is located on an accompanying travel work vehicle accompanying and operating with the autonomous travel work vehicle, the accompanying travel work vehicle being separate from the autonomous travel work vehicle, the autonomous travel work vehicle running in front of the accompanying travel work vehicle and the accompanying travel work vehicle running directly behind or diagonally behind the autonomous travel work vehicle separately; and
the controller controlling the autonomous travel work vehicle to stop traveling when a difference between a detected value from an orientation/direction sensor and a target value equals to or exceeds a preset value.
5. A parallel travel work system, comprising:
an autonomous travel work vehicle that includes a position calculator that determines a position of a vehicle body with the use of a satellite positioning system, a steering actuator that activates a steering system, a drive source controller, a speed change means, and a controller that controls said position calculator, said steering actuator, said drive source controller, and said speed change means;
the autonomous travel work vehicle being controlled to run autonomously along a preset travel path stored in the controller, and being controllable through a remote controller that is located on an accompanying travel work vehicle accompanying and operating with the autonomous travel work vehicle, the accompanying travel work vehicle being separate from the autonomous travel work vehicle, the autonomous travel work vehicle running in front of the accompanying travel work vehicle and the accompanying travel work vehicle running directly behind or diagonally behind the autonomous travel work vehicle separately; and
the controller controlling being connected to a level sensor provided in a fuel tank and controlling the autonomous travel work vehicle to stop traveling when a remaining amount of fuel is not more than a preset value.
6. The parallel travel work system according to claim 1 , wherein:
when the traveling is stopped, the controller transmits a cause of the stop to the remote controller provided in the accompanying travel work vehicle, to be shown on a display of the remote controller.