US 12,389,817 B2
Autonomous travel method, work vehicle, and autonomous travel system
Yasuto Nishii, Okayama (JP); Masaaki Murayama, Okayama (JP); and Yuji Yamaguchi, Okayama (JP)
Assigned to Yanmar Holdings Co., Ltd., Osaka (JP)
Filed by Yanmar Holdings Co., Ltd., Osaka (JP)
Filed on Jul. 11, 2023, as Appl. No. 18/220,788.
Claims priority of application No. 2022-121244 (JP), filed on Jul. 29, 2022.
Prior Publication US 2024/0040947 A1, Feb. 8, 2024
Int. Cl. A01B 69/00 (2006.01); A01B 69/04 (2006.01)
CPC A01B 69/008 (2013.01) 11 Claims
OG exemplary drawing
 
1. An autonomous travel method for a work vehicle that pre-creates a plurality of travel routes parallel to a preset outline of a field and performs autonomous travel based on the travel routes, the method comprising the steps of:
performing autonomous travel control to control the autonomous travel based on the travel routes; and
performing route adjustment control to adjust an outermost route that is along the outline of the field from among the plurality of travel routes, when the autonomous travel is performed on the outermost route,
wherein when the autonomous travel is started on the outermost route, the autonomous travel control includes, if an operation for the route adjustment control is performed, enabling shift to the autonomous travel after the route adjustment control is performed, and if the operation for the route adjustment control is not performed, disabling shift to the autonomous travel.