US 12,268,113 B2
Agricultural machine
Takanori Morimoto, Sakai (JP); Yusuke Takahashi, Sakai (JP); Yusuke Minakata, Sakai (JP); and Kanta Nakaguchi, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on Sep. 23, 2022, as Appl. No. 17/951,261.
Application 17/951,261 is a continuation of application No. PCT/JP2021/008345, filed on Mar. 4, 2021.
Claims priority of application No. 2020-065146 (JP), filed on Mar. 31, 2020.
Prior Publication US 2023/0015153 A1, Jan. 19, 2023
Int. Cl. A01B 69/04 (2006.01); G05D 1/00 (2024.01)
CPC A01B 69/008 (2013.01) [G05D 1/0016 (2013.01); G05D 1/0061 (2013.01); G05D 1/0217 (2013.01); G05D 1/0219 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An agricultural machine comprising:
a vehicle body;
a travel switch operable to issue a command to start autonomous travel of the vehicle body; and
an autonomous travel controller to perform the autonomous travel in which the autonomous travel controller adjusts steering and a vehicle speed of the vehicle body based on a planned travel line when the command to start the autonomous travel of the vehicle body is issued by the travel switch; wherein
when the command to start the autonomous travel is issued by the travel switch, if at least one of a positional deviation between a selected straight movement portion which is a straight movement portion of the planned travel line that is selected and the vehicle body and an orientational deviation between the selected straight movement portion and an orientation of the vehicle body is greater than or equal to a corresponding one of respective first thresholds, the autonomous travel controller is configured or programmed to perform line alignment to make the positional deviation and the orientational deviation less than the respective first thresholds and then to start the autonomous travel; and
the autonomous travel controller is configured or programmed to perform a K-turn at least once in the line alignment, the K-turn being a turn which is performed by moving the vehicle body forward and steering the vehicle body such that the vehicle body moves closer to the selected straight movement portion and then moving the vehicle body backward while steering the vehicle body to adjust the orientational deviation to be less than the corresponding one of the first thresholds.