US 11,809,188 B2
Traveling work machine
Shunya Takase, Sakai (JP); Hiroki Suga, Sakai (JP); Koji Matsuda, Sakai (JP); and Shunsuke Miyashita, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Appl. No. 17/295,902
Filed by KUBOTA CORPORATION, Osaka (JP)
PCT Filed Dec. 6, 2019, PCT No. PCT/JP2019/047816
§ 371(c)(1), (2) Date May 21, 2021,
PCT Pub. No. WO2020/129704, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 2018-238892 (JP), filed on Dec. 20, 2018; and application No. 2018-238896 (JP), filed on Dec. 20, 2018.
Prior Publication US 2021/0397190 A1, Dec. 23, 2021
Int. Cl. G05D 1/02 (2020.01); A01B 69/00 (2006.01); A01B 69/04 (2006.01); A01B 79/00 (2006.01); B60K 35/00 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0212 (2013.01) [A01B 69/008 (2013.01); A01B 79/005 (2013.01); B60K 35/00 (2013.01); G05D 1/0088 (2013.01); G05D 1/0278 (2013.01); B60K 2370/152 (2019.05)] 10 Claims
OG exemplary drawing
 
1. A traveling work machine that alternately and repeatedly performs a plurality of instances of work travel, in which a working device performs work while the traveling work machine automatically travels in a field along a pre-set target heading, and turning travel, in which the traveling work machine moves from an end position of the work travel to a start position of next work travel in an unworked portion of the field while switching to a direction opposite from the travel direction of the work travel, the traveling work machine comprising:
a position detector to obtain position information of a machine body based on a positioning signal of a navigation satellite;
a controller configured or programmed to function as:
an end determiner to determine an end of each of a plurality of instances of the work travel; and
a start position calculator to calculate the start position;
a display to display information pertaining to the turning travel; and
a maneuvering tool through which a maneuvering operation of the machine body is able to be performed by a human; wherein
when the end determiner determines the end of the work travel, the start position calculator calculates, based on the position information, the start position to be on one of a left and a right of a travel direction of the machine body in the work travel, and the display displays guidance information guiding the turning travel to the start position;
a map screen displaying the machine body and surroundings of the machine body is included in the guidance information; and
when, in the turning travel, the maneuvering tool is operated in a turn direction to a side opposite from the side on which the start position calculator has calculated the start position, the start position calculator re-calculates the start position in a turn direction on the side to which the maneuvering tool has been operated, and the display re-displays the start position further in the turn direction on the side to which the maneuvering tool has been operated than the machine body in the map screen.