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1. (WO2018142899) AUTONOMOUSLY TRAVELING WORKING VEHICLE

Pub. No.:    WO/2018/142899    International Application No.:    PCT/JP2018/000817
Publication Date: Fri Aug 10 01:59:59 CEST 2018 International Filing Date: Tue Jan 16 00:59:59 CET 2018
IPC: A01B 69/00
A01B 63/111
G05D 1/02
Applicants: YANMAR CO., LTD.
ヤンマー株式会社
Inventors: HIRAMATSU, Toshifumi
平松 敏史
UEDA, Ryohei
上田 良平
KITANO, Keita
北野 恵大
Title: AUTONOMOUSLY TRAVELING WORKING VEHICLE
Abstract:
A distance storage unit (30) included in a tractor (1) acquires a horizontal distance between an attachment position of a positioning antenna (6) in a traveling machine body of the tractor (1) and a working center position (the tine shaft position of a tillage tine) of a working body in a working machine (3) mounted to the tractor (1). An autonomous travel control unit (32) makes a working machine control unit (34) perform switching control on a tillage tine such that the tillage tine is in a non-working state when the tine shaft position moves beyond the boundary between a working region and a non-working region in the case where the traveling machine body moves from the working region to the non-working region and that the tillage tine is in the working state when the tine shaft position moves beyond the boundary in the case where the traveling machine body moves from the non-working region to the working region.