US 11,910,737 B2
Method of automatically combining farm vehicle and work machine and farm vehicle
Yong Hyeon Kim, Suwon-si (KR); Seung Rak Son, Suwon-si (KR); Jae Ho Song, Yongin-si (KR); Byung Sun Kim, Yongin-si (KR); and Yeon Tae Kim, Seoul (KR)
Assigned to GINT Co., Ltd., Suwon-si (KR)
Filed by GINT Co., Ltd., Suwon-si (KR)
Filed on Feb. 15, 2023, as Appl. No. 18/110,224.
Application 18/110,224 is a continuation of application No. 17/728,345, filed on Apr. 25, 2022, granted, now 11,622,495.
Claims priority of application No. 10-2021-0070820 (KR), filed on Jun. 1, 2021; application No. 10-2021-0070831 (KR), filed on Jun. 1, 2021; application No. 10-2021-0087423 (KR), filed on Jul. 2, 2021; application No. 10-2021-0088553 (KR), filed on Jul. 6, 2021; and application No. 10-2021-0092858 (KR), filed on Jul. 15, 2021.
Prior Publication US 2023/0189683 A1, Jun. 22, 2023
Int. Cl. A01B 69/00 (2006.01); G05D 1/02 (2020.01); G01S 19/01 (2010.01); G05D 1/00 (2006.01)
CPC A01B 69/007 (2013.01) [G01S 19/01 (2013.01); G05D 1/0276 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method of controlling autonomous driving of a farm vehicle,
the method comprising:
wherein the farm vehicle is operated in an autonomous driving mode or a manual driving mode,
wherein the farm vehicle determines whether a problem occurs in at least one of a required device and an optional device of the farm vehicle every first cycle,
wherein the farm vehicle determines that a first emergency situation occurs when the problem occurs in the required device,
wherein the farm vehicle determines that a second emergency situation occurs when the problem occurs only in the optional device or a problem related to an external environment of the farm vehicle occurs,
determining whether the first emergency situation corresponding to the farm vehicle occurs for the first cycle when a driving mode of the farm vehicle is the autonomous driving mode;
changing the driving mode of the farm vehicle to the manual driving mode when the first emergency situation occurs;
determining whether the first emergency situation is resolved in the manual driving mode for a second cycle; and
changing the driving mode of the farm vehicle to the autonomous driving mode when the first emergency situation is resolved,
wherein the farm vehicle operates with a work machine that receives power from a power take-off (PTO) device, and
wherein the second cycle is longer than the first cycle.