US 12,336,452 B2
Automatic run method, work vehicle, and automatic run system
Hidetaka Suzuki, Okayama (JP); Masaaki Murayama, Okayama (JP); Yuji Yamaguchi, Okayama (JP); and Yasuto Nishii, Okayama (JP)
Assigned to Yanmar Holdings Co., Ltd., Osaka (JP)
Filed by Yanmar Holdings Co., Ltd., Osaka (JP)
Filed on Dec. 14, 2022, as Appl. No. 18/081,656.
Claims priority of application No. 2021-213760 (JP), filed on Dec. 28, 2021; and application No. 2021-213761 (JP), filed on Dec. 28, 2021.
Prior Publication US 2023/0200299 A1, Jun. 29, 2023
Int. Cl. A01D 41/127 (2006.01); A01D 41/02 (2006.01); G05D 1/00 (2024.01)
CPC A01D 41/1278 (2013.01) [A01D 41/02 (2013.01); G05D 1/0214 (2013.01); G05D 1/0219 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An automatic run method that does an automatic run of a work vehicle in a farm field, the automatic run method comprising:
a transfer route creation step that creates a transfer route that is for doing both a run in a forward direction and a run in a backward direction to do the automatic run in a non-work state from a given transfer position, where a work run is interrupted, to a target position,
wherein
the transfer route creation step, when detecting an obstacle at a headland, sets an end position of a first transfer route between the obstacle and the target position; and
a transfer run step for doing the automatic run based on the transfer route including the first transfer route.