Work vehicle cooperation system
A work vehicle cooperation system includes: a master traveling track calculation unit that calculates a traveling track of a master work vehicle ( 1 P) based on a detection position at which the master work vehicle ( 1 P) was detected; a slave traveling target calculation unit that calculates a target traveling position of the slave work vehicle ( 1 C) based on the traveling track of the master work vehicle ( 1 P); a master parameter generation unit that generates a master work/driving parameter relating to work/driving executed by the master work vehicle ( 1 P), the master work/driving parameter being linked with the detection position; a slave parameter generation unit that generates a slave work/driving parameter for the slave work vehicle ( 1 C) based on the master work/driving parameter, the slave work/driving parameter being linked with the target traveling position for the slave work vehicle ( 1 C); and a navigation control unit that navigates the slave work vehicle in an unmanned manner based on a detection position of the slave work vehicle ( 1 C), the target traveling position, and the slave work/driving parameter.
1. A work vehicle cooperation system in which a master work vehicle and an unmanned-navigation type slave work vehicle that emulates the master work vehicle perform ground work using a work implement, comprising:
a master position detection module that detects a master position, which is a position of the master work vehicle;
a slave position detection module that detects a slave position, which is 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 master position;
a slave traveling target calculation unit that calculates a target traveling position of the slave work vehicle based on the traveling track of the master work vehicle;
a master parameter generation unit that generates a master work parameter relating to work executed by the master work vehicle and a master driving parameter relating to driving executed by the master vehicle, the master work parameter and the master driving parameter being linked with the master position;
a slave parameter generation unit that generates a slave work parameter and a slave driving parameter for the slave work vehicle based on the master work parameter and the master driving parameter, the slave work/driving work parameter and the slave driving parameter being linked with the corresponding target traveling position of the slave work vehicle; and
a navigation control unit that navigates the slave work vehicle in an unmanned manner based on the slave position, the target traveling position, the slave work parameter, and the slave driving parameter.
2. The work vehicle cooperation system according to claim 1 , wherein the master and slave driving parameters include a traveling control parameter that relates to an operation of a traveling system including a gearbox and braking device, and wherein the master and slave work parameters include a work control parameter that relates to a working operation and a non-working operation with respect to the work implement.
3. The work vehicle cooperation system according to claim 1 , wherein the slave parameter generation unit is provided with a parameter recording device in which a parameter of the master work vehicle and a parameter of the slave work vehicle are recorded, and generates the slave work parameter and the slave driving parameter by correcting the master work parameter and the master driving parameter based on a difference between the parameter of the master work vehicle and the parameter of the slave work vehicle.
4. The work vehicle cooperation system according to claim 1 , wherein the slave traveling target calculation unit calculates a target traveling position 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 the traveling track of the master work vehicle, and the navigation control unit navigates the slave work vehicle in an unmanned manner based on the target traveling position, so that the slave work vehicle follows a ground work track of the master work vehicle.
5. The work vehicle cooperation system according to claim 1 ,
wherein the slave position detection module and the navigation control unit are mounted on the slave work vehicle,
the master position detection module, the master traveling track calculation unit, the slave traveling target calculation unit, the master parameter generation unit, and the slave parameter generation unit are mounted on the master work vehicle, and
the slave work vehicle and the master work vehicle are connected to each other so as to be capable of data transmission.
6. The work vehicle cooperation system according to claim 1 ,
wherein the slave position detection module and the navigation control unit are mounted on the slave work vehicle,
the master position detection module and the master parameter generation unit are mounted on the master work vehicle,
the master traveling track calculation unit, the slave traveling target calculation unit, and the slave parameter generation unit are constructed in a separate control unit, and
the separate control unit, the slave work vehicle, and the master work vehicle are connected to one another so as to be capable of data transmission.
7. The work vehicle cooperation system according to claim 1 , wherein the master work vehicle is a vehicle operable by an operator.