Autonomous travel system
An autonomous travel system is provided with a location acquisition unit, an inertia measuring device, a travel control unit, an initialization control unit, and a condition setting unit. The location acquisition unit acquires a location of a work vehicle by using a satellite positioning system. The inertia measuring device detects an orientation of the work vehicle. The travel control unit causes the work vehicle to travel autonomously along a preset travel route. The initialization control unit carries out an initialization process for the inertia measuring device by obtaining the orientation of the work vehicle on the basis of a value acquired by the location acquisition unit during initialization travel in which the work vehicle travels straight in a predetermined direction. In the condition setting unit, switching from off to on of a power source of the work vehicle is defined as a first starting condition for the initialization process, and acceptance of an instruction for carrying out the initialization process when the power source of the work vehicle is on is defined as a second starting condition for the initialization process.
1. An autonomous travel system comprising:
a position acquisition portion which acquires a position of a work vehicle by using a satellite positioning system;
an orientation detection portion which detects an orientation of the work vehicle;
a travel control portion which causes the work vehicle to travel autonomously along a travel route set in advance;
an initialization control portion which performs initialization processing for the orientation detection portion by obtaining the orientation of the work vehicle based on an acquisition value of the position acquisition portion that is acquired during execution of initialization traveling in which the work vehicle travels straight in a predetermined direction;
a condition setting portion in which it is set, as a first starting condition for the initialization processing, that a power source of the work vehicle is switched from OFF to ON, and it is set, as a second starting condition for the initialization processing, that an instruction to perform the initialization processing is received when the power source of the work vehicle is ON;
wherein the travel control portion;
stops the autonomous traveling along the travel route when the position acquisition portion is no longer able to acquire the position of the work vehicle with a predetermined level of accuracy,
sets a resumption position as the position where the autonomous traveling was stopped when the position acquisition portion was no longer able to acquire the position of the work vehicle with a predetermined level of accuracy, and
causes the work vehicle to autonomously travel to the resumption position after the initialization processing is completed.
2. The autonomous travel system according to claim 1 , wherein the travel control portion causes the work vehicle to perform the initialization traveling autonomously when the initialization processing is yet to be completed, the first starting condition or the second starting condition is satisfied, and travel permission conditions are satisfied.
3. The autonomous travel system according to claim 1 , wherein:
the initialization control portion resets an initialization completed state when the position acquisition portion becomes unable to acquire the position of the work vehicle with predetermined accuracy; and
the travel control portion causes the work vehicle to perform the initialization traveling autonomously when the position acquisition portion is enabled to acquire the position of the work vehicle with predetermined accuracy, the first starting condition or the second starting condition is satisfied, and travel permission conditions are satisfied.
4. The autonomous travel system according to claim 1 , wherein an instruction to perform the initialization processing is transmitted from a wireless communication terminal that is provided separately from the work vehicle.