US 11,895,937 B2
Slip determination system, travel path generation system, and field work vehicle
Kazuo Sakaguchi, Amagasaki (JP); Tomohiko Sano, Amagasaki (JP); Osamu Yoshida, Amagasaki (JP); Tetsuya Nakajima, Sakai (JP); Takashi Nakabayashi, Sakai (JP); Satoshi Maruo, Amagasaki (JP); and Kazuhiro Takahara, Sakai (JP)
Assigned to Kubota Corporation, Osaka (JP)
Appl. No. 16/766,463
Filed by Kubota Corporation, Osaka (JP)
PCT Filed Dec. 10, 2018, PCT No. PCT/JP2018/045355
§ 371(c)(1), (2) Date May 22, 2020,
PCT Pub. No. WO2019/117094, PCT Pub. Date Jun. 20, 2019.
Claims priority of application No. 2017-240638 (JP), filed on Dec. 15, 2017; and application No. 2017-240639 (JP), filed on Dec. 15, 2017.
Prior Publication US 2020/0375084 A1, Dec. 3, 2020
Int. Cl. A01B 76/00 (2006.01); A01B 69/04 (2006.01); A01D 75/00 (2006.01); B60W 30/045 (2012.01); B60W 40/064 (2012.01); G05D 1/02 (2020.01)
CPC A01B 69/008 (2013.01) [A01B 76/00 (2013.01); A01D 75/00 (2013.01); B60W 30/045 (2013.01); B60W 40/064 (2013.01); G05D 1/0214 (2013.01); B60W 2552/00 (2020.02); B60W 2720/12 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A slip determination system comprising:
a traveling vehicle body;
a vehicle position detection module for detecting a vehicle position;
an automatic travel control portion for enabling automatic travel based on the vehicle position and a set travel path;
a slip amount calculation portion for calculating a slip amount of the traveling vehicle body, using an estimated movement distance of the traveling vehicle body calculated based on the number of revolutions of a driving axle of the traveling vehicle body, and an actual movement distance of the traveling vehicle body calculated based on the vehicle position;
an appropriateness determination portion for performing appropriateness determination to determine, based on the slip amount, whether or not a state of a traveling ground surface is appropriate for automatic travel; and
an automatic travel stop portion for stopping automatic travel enabled by the automatic travel control portion, based on a determination result from the appropriateness determination portion,
wherein the appropriateness determination portion performs the appropriateness determination based on successive behavior of the slip amount, the successive behavior being based on a statistical calculation result of average calculation or intermediate value calculation, in a predetermined period, of successively calculating a plurality of the slip amount.