JP6267586B2 - Display device - Google Patents

Description

  The present invention provides an autonomous traveling work vehicle that enables autonomous traveling along a set traveling route using a satellite positioning system, and a parallel traveling system that includes an accompanying traveling work vehicle that travels along with the autonomous traveling work vehicle. The present invention relates to a technique for providing a traveling traveling vehicle with a display that displays a traveling route of the autonomous traveling working vehicle, a state of the vehicle, and the like.

  Conventionally, a technique in which a touch panel is arranged near the cockpit of a tractor and operation information is displayed on a windshield of a cabin by a head-up display device is known (for example, see Patent Document 1).

JP 2002-307978 A

  In the above technology, since the touch panel is arranged on the side of the driver's seat, the setting is confirmed while looking at the screen while driving and the current state is seen, so the front is not turned to the side completely. May cause an accident. In addition, a technique for operating a touch panel provided on a manned traveling vehicle to display a traveling route and a state of an airframe of an unmanned autonomous traveling vehicle is not known.

  The present invention has been made in view of the above situation, and the display of the traveling state of the autonomous traveling work vehicle, the operating state of the fuselage, the traveling route, etc. is displayed on the windshield of the accompanying traveling work vehicle by the head-up display device. The remote control device that enables operation and stopping of the autonomous traveling work vehicle can be attached separately from the display means mounted on the accompanying traveling work vehicle so that the state of the autonomous traveling work vehicle can be easily seen and operated easily. Try to be able to.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1, the position calculation means for positioning the position of the aircraft using the satellite positioning system, and the autonomous system controlled to automatically travel and work along the travel route set by the control device. The remote operation device provided in the accompanying traveling work vehicle, the autonomous traveling, and the traveling working vehicle and the accompanying traveling working vehicle that performs the work while traveling along a position separated from the autonomous traveling working vehicle by a predetermined distance. A head-up display device which enables a control device for a work vehicle to communicate with each other via communication means, and allows the accompanying travel work vehicle to display a state and a set travel route of the autonomous travel work vehicle on a windshield. When a remote control device operable while enabling display the status of setting the travel route and vehicle of the autonomous work vehicle, the associated traveling working vehicle A detection means for detecting a headland turning is provided, and the reflecting mirror of the head-up display device is configured to be turnable left and right by a turning actuator, and the turning actuator is adapted to the headland turning of the accompanying traveling work vehicle. The display position of the head-up display device is automatically switched in accordance with the headland turning of the accompanying traveling work vehicle in conjunction with the output of the detection means .

  By using the above means, the operator can easily operate the remote control device mounted on the accompanying traveling work vehicle while confirming the state of the autonomous traveling work vehicle displayed on the windshield during the work, The accompanying traveling work vehicle can also be operated.

The schematic side view which shows an autonomous traveling working vehicle and an accompanying traveling working vehicle. Control block diagram. The figure which shows the state of the work by an autonomous traveling work vehicle and an accompanying traveling work vehicle. The figure which shows a control part. Similarly side view. The figure which shows the state of the operation | work by the autonomous traveling work vehicle and accompanying traveling working vehicle after headland turning. The figure which shows the state which the accompanying traveling work vehicle drive | works and works behind the autonomous traveling working vehicle.

  The autonomous traveling work vehicle 1 capable of unmanned automatic traveling and the manned traveling traveling vehicle 100 operated by the operator accompanying the autonomous traveling working vehicle 1 as a tractor are used as the tractor. An embodiment will be described in which a rotary tiller is mounted as a work machine on the vehicle 100. However, the work vehicle is not limited to a tractor, and may be a combine. The work machine is not limited to a rotary tiller. It may be.

  1 and 2, an overall configuration of a tractor that becomes an autonomous traveling work vehicle 1 will be described. An engine 3 is installed in the hood 2, a dashboard 14 is provided in a cabin 11 at the rear of the hood 2, and a steering handle 4 serving as a steering operation means is provided on the dashboard 14. The steering wheel 4 is rotated to rotate the front wheels 9 and 9 through the steering device. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 4 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the control device 30. The control device 30 includes a CPU (central processing unit), a storage device 30m such as a RAM and a ROM, an interface, and the like, and the storage device 30m stores a program, data, and the like for operating the autonomous traveling work vehicle 1.

  A driver seat 5 is disposed behind the steering handle 4, and a mission case 6 is disposed below the driver seat 5. Rear axle cases 8 and 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles. The power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the mission case 6 so that the rear wheels 10 and 10 can be driven. The transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed. The speed change means 44 is connected to the control device 30. The rotational speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the control device 30 as the traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

  The transmission case 6 houses a PTO clutch and a PTO transmission. The PTO clutch is turned on and off by a PTO on / off means 45. The PTO on / off means 45 is connected to the control device 30 to connect and disconnect the power to the PTO shaft. It can be controlled.

  A front axle case 7 is supported on a front frame 13 that supports the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the front wheels 9 and 9. It is configured. The front wheels 9 and 9 are steered wheels, which can be turned by turning the steering handle 4, and the front wheels 9 and 9 are steered left and right by a steering actuator 40 comprising a power steering cylinder as a driving means of the steering device. It can be turned. The steering actuator 40 is connected to the control device 30 and is controlled and driven by automatic traveling means.

  An engine controller 60 serving as engine rotation control means is connected to the control device 30, and an engine rotation speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to the engine controller 60 so that the state of the engine can be detected. The engine controller 60 detects the load from the set rotational speed and the actual rotational speed and controls it so as not to be overloaded, and transmits the state of the engine 3 to the remote operation device 112 described later and displays it on the display 113 and the windshield 107. I can do it. Further, a fuel injection device 63 is connected to the engine controller 60 so that the rotation of the engine 3 can be controlled.

  The fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and is connected to the control device 30. The display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 has a fuel supply. A fuel gauge for displaying the remaining amount is provided and connected to the control device 30. Then, information related to the remaining amount of fuel is transmitted from the control device 30 to the remote operation device 112, and the remaining amount of fuel and the workable time are displayed on the display 113 or the windshield 107 of the remote operation device 112.

  On the dashboard 14, display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., an abnormal monitor, a set value, and the like are arranged.

  Further, a rotary tiller 24 is installed as a work machine behind the tractor body via a work machine mounting device 23 so as to be able to move up and down to perform the tilling work. An elevating cylinder 26 is provided on the transmission case 6, and the elevating arm 26 constituting the work implement mounting device 23 is rotated by moving the elevating cylinder 26 to extend and lower the rotary tiller 24. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the control device 30.

  A mobile communication device 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile communicator 33 is provided with a position calculating means for transmitting latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (US), high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonus satellite (Russia). In this embodiment, GPS is used. explain.

  The autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining attitude change information of the airframe, and an orientation sensor 32 for detecting a traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the GPS position measurement, the direction sensor 32 can be omitted. The gyro sensor 31 detects an angular velocity of a tilt (pitch) in the longitudinal direction of the autonomous traveling work vehicle 1, an angular velocity of a tilt (roll) in the lateral direction of the aircraft, and an angular velocity of turning (yaw). By integrating and calculating the three angular velocities, it is possible to obtain the tilt angle in the front-rear direction and the left-right direction and the turning angle of the body of the autonomous traveling work vehicle 1. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control device 30 and inputs information relating to the three angular velocities to the control device 30.

  The direction sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. A specific example of the direction sensor 32 includes a magnetic direction sensor. The direction sensor 32 is connected to the control device 30 and inputs information related to the orientation of the aircraft to the control device 30.

  In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the attitude / azimuth calculation means, and the attitude of the autonomous traveling work vehicle 1 (orientation, forward / backward direction of the body, left / right direction of the body, turning direction) )

  Next, a method for acquiring the position information of the autonomous traveling work vehicle 1 using the GPS (global positioning system) will be described. GPS was originally developed as a navigation support system for aircraft, ships, etc., and is composed of 24 GPS satellites (four on six orbital planes) orbiting about 20,000 kilometers above the sky. It consists of a control station that performs tracking and control, and a user communication device that performs positioning. As a positioning method using GPS, various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used. However, in this embodiment, an RTK-GPS positioning method with high measurement accuracy is adopted, and this method will be described with reference to FIGS.

  RTK-GPS (real-time kinematics-GPS) positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. Is transmitted in real time, and the position of the mobile station is obtained in real time based on the position result of the reference station.

  In the present embodiment, a mobile communication device 33 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmission antenna. 39 is disposed at a predetermined position that does not interfere with the work in the field. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, phase measurement (relative positioning) is performed at both the reference station and the mobile station, and data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39. Transmit to the data receiving antenna 38.

  The mobile GPS antenna 34 arranged in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37. This signal is transmitted to the mobile communication device 33 for positioning. At the same time, signals from GPS satellites 37, 37... Are received by a fixed GPS antenna 36 serving as a reference station, measured by a fixed communication device 35, transmitted to the mobile communication device 33, and the observed data is analyzed and moved. Determine the station location. The position information obtained in this way is transmitted to the control device 30.

  Thus, the control device 30 in the autonomous traveling work vehicle 1 includes automatic traveling means for automatically traveling, and the automatic traveling means receives radio waves transmitted from the GPS satellites 37, 37,. , Position information of the aircraft is obtained at set time intervals, displacement information and orientation information of the aircraft are obtained from the gyro sensor 31 and the orientation sensor 32, and the set route R set in advance by the aircraft based on the position information, the displacement information, and the orientation information. In order to travel along (FIG. 3), the steering actuator 40, the speed change means 44, the elevating actuator 25, the PTO on / off means 45, the engine controller 60, etc. are controlled to automatically run and work automatically. In addition, the positional information on the outer periphery of the field H which becomes a work range is also set in advance by a known method and stored in the storage device 30m.

  In addition, an obstacle sensor 41 is disposed on the autonomous traveling work vehicle 1 and is connected to the control device 30 so as not to contact the obstacle. For example, the obstacle sensor 41 is composed of a laser sensor or an ultrasonic sensor, and is arranged at the front, side, or rear of the aircraft and connected to the control device 30, and there are obstacles at the front, side, or rear of the aircraft. Whether or not an obstacle approaches within a set distance is controlled to stop traveling.

  In addition, the autonomous traveling work vehicle 1 is mounted with a camera 42 for photographing the front, rear, and work implements and is connected to the control device 30. The video imaged by the camera 42 is displayed on the display 113 of the remote control device 112 provided in the accompanying traveling work vehicle 100. However, when the display screen of the display 113 is small, it is displayed on another large display, the camera image is always or selectively displayed on another dedicated display, or the display means 49 provided in the autonomous traveling work vehicle 1 is used. It is also possible to display it. In addition, even if one camera 42 is arranged at the center of the aircraft and rotated around the vertical axis to photograph the surroundings, a plurality of cameras 42 are arranged at the front, rear, or four corners of the aircraft. The configuration for photographing the surroundings is not limited.

  The remote control device 112 sets the travel route R of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement, It stores work data.

  The accompanying traveling work vehicle 100, which is a manned traveling vehicle, is operated by an operator, and a remote operation device 112 is mounted on the accompanying traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted. The accompanying traveling work vehicle 100 may include a GPS mobile communication device 33 and a mobile GPS antenna 34.

  The remote operation device 112 can be attached to and detached from an operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while attached to the dashboard of the accompanying traveling work vehicle 100, or can be taken out of the accompanying traveling work vehicle 100 to be carried and operated, or attached to the dashboard of the autonomous traveling work vehicle 1. Can be operated. The remote operation device 112 can be configured by, for example, a notebook or tablet personal computer. In this embodiment, a tablet computer is used.

  Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the transceivers 110 and 111 are provided as communication means for communicating with the autonomous traveling work vehicle 1 and the remote operation device 112. Each is provided. The transceiver 111 is configured integrally with the remote operation device 112. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote operation device 112 is provided with a display 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a transceiver 111, a CPU, a storage device, a battery, and the like are housed in the housing.

  The autonomous traveling work vehicle 1 can be remotely operated by a remote operation device 112. For example, the autonomous traveling work vehicle 1 can be operated for emergency stop, temporary stop, re-start, change of vehicle speed, change of engine speed, raising / lowering of the work machine, turning on / off of the PTO clutch, and the like. That is, the operator can easily operate the autonomous traveling work vehicle by controlling the accelerator actuator, the shifting means 44, the braking device 46, the PTO on / off means 45, etc. from the remote control device 112 via the transceiver 111, the transceiver 110, and the control device 30. 1 can be remotely controlled.

  The display 113 can display surrounding images taken by the camera 42, the state of the autonomous traveling work vehicle 1, the state of work, information on GPS, an operation screen, and the like so that the operator can monitor.

  The state of the autonomous traveling work vehicle 1 includes a traveling state, an engine state, a working machine state, and the like. The traveling state includes a shift position, a vehicle speed, a fuel remaining amount, a battery voltage, and the like. Is the engine speed, load factor, etc., and the state of the work equipment is the type of work equipment, PTO speed, work equipment height, etc., which are displayed on the display 113 or the windshield 107 with numbers, level meters, etc. Is done.

  The work status includes: work route (target route or set travel route R), work process, current position, distance to the headland calculated from the process, remaining route, number of processes, current work time, remaining Working hours, etc. The remaining paths can be easily recognized by filling the existing work paths from the entire work paths. Further, by displaying the next stroke from the current position with an arrow, it is possible to easily recognize the next stroke such as the turning direction from the current time. The information regarding GPS includes longitude and latitude at which the autonomous traveling work vehicle 1 is actually located, the number of satellites supplemented, radio wave reception intensity, an abnormality in the positioning system, and the like.

  In the present embodiment, an operator gets on the accompanying traveling work vehicle 100 and operates it, and the autonomous traveling working vehicle 1 can be operated by mounting the remote operation device 112 on the accompanying traveling work vehicle 100. As shown in FIG. 3, the accompanying traveling work vehicle 100 travels while working diagonally behind the autonomous traveling work vehicle 1, and monitors and operates the autonomous traveling work vehicle 1. However, depending on the work mode, as illustrated in FIG. 7, the accompanying traveling work vehicle 100 may travel and work behind the autonomous traveling work vehicle 1, and is not limited.

  Next, a configuration for displaying on the windshield 107 by the head-up display device 185 provided on the dashboard 117 of the accompanying traveling work vehicle 100 will be described with reference to FIGS. 4 and 5. In the cabin 101 of the accompanying traveling work vehicle 100, a dashboard 117 for supporting and covering the handle shaft of the steering handle 104 and arranging a key switch, a headlight switch, and the like is disposed at the front left and right center of the driver seat 102. A display device 149 for displaying the engine speed, fuel gauge, alarm monitor, and the like of the accompanying traveling work vehicle 100 is provided on the dashboard 117. A remote operation device 112 that can display the set travel route R of the autonomous traveling work vehicle 1, the state of the vehicle, and the like is disposed on the side of the display device 149. However, the mounting position of the remote control device 112 is not limited, and can be disposed on the upper side, the lower side, the side panel, or the like of the dashboard 117 as long as it is in the vicinity of the driver's seat 102. The remote control device 112 is configured to be detachable.

  A head-up display device 185 is disposed between the display device 149 on the dashboard 117 and the windshield 107 constituting the cabin 101. The head-up display device 185 includes a projection device 186, a reflecting mirror 187, and a combiner (reflecting unit) 188 provided on the windshield 107. The light emitted from the projection device 186 is reflected by the reflecting mirror 187 and is reflected on the windshield 107. The operator is further reflected by the combiner 188, and the operator looks like an image is displayed on the combiner 188.

  The image displayed by the head-up display device 185 represents the state of the autonomous traveling work vehicle 1, for example, the engine speed, the working mode, the set traveling route R, and the like. Same as what can be displayed. Therefore, the state display of the autonomous traveling work vehicle 1 can be divided and displayed on the head-up display device 185 and the display 113, and the display contents can be selected according to the work or the operator's request. This selection can be made on the display 113 configured with a touch panel.

  As described above, the position calculation means for measuring the position of the aircraft using the satellite positioning system, and the autonomous traveling work vehicle controlled to automatically travel and work along the traveling route R set by the control device. 1 and the remote operation device 112 provided in the accompanying traveling work vehicle 100 and autonomous traveling. The control device 30 of the work vehicle 1 can communicate with each other via communication means, and the accompanying travel work vehicle 100 can display the state of the autonomous travel work vehicle 1 and the set travel route R on the windshield 107. Head-up display device 185, remote control device 11 capable of displaying and operating the set travel route R of autonomous traveling work vehicle 1 and the state of the vehicle. Because comprising the door, the operator in a state viewed windshield 107 without diverting the line of sight, to confirm the autonomous work vehicle 1, it is possible to operate the associated traveling working vehicle 100 while allowing the remote operation.

  The combiner 188 is composed of a hologram mirror or the like, and is long in the left-right direction on the left-right inner surface of the windshield 107 in front of the steering handle 104. The reflecting mirror 187 is connected to a rotating actuator 189 such as a motor, and the reflecting mirror 187 is configured to be rotatable left and right, so that the image display position can be changed to the left and right. However, the projection device 186 and the reflecting mirror 187 may be integrally rotated by the rotation actuator 189. The rotation actuator 189, the switching operation means 190, and the projection device 186 are connected to a control device 130 mounted on the accompanying traveling work vehicle 100. The switching operation means 190 is disposed in the vicinity of the display device 149 or on the dashboard 117 so that it can be easily operated. The remote control device 112 may be operated.

  In this way, the video can be switched and displayed on the left side, center and right side of the combiner 188 by the operation of the switching operation means 190. However, instead of providing the rotation actuator 189, the projection device 186 is used for wide projection, or the reflecting mirror 187 is a concave mirror so that the left, center, and right positions of the combiner 188 are switched in the direction of projection. It is also possible to adopt a configuration in which

  Thus, as shown in FIG. 3, when the autonomous traveling work vehicle 1 travels diagonally to the left front of the accompanying traveling work vehicle 100, the switching means 190 is operated and displayed on the left side of the combiner 188. As shown in FIG. 6, when the autonomous traveling work vehicle 1 travels diagonally right front of the accompanying traveling work vehicle 100 and performs work as shown in FIG. 6, the switching means 190 is operated and displayed on the right side of the combiner 188. As shown in FIG. 7, when the autonomous traveling work vehicle 1 travels behind the accompanying traveling work vehicle 100 and works, the switching means 190 is operated so as to be displayed at the center of the combiner 188. As described above, the reflecting mirror 187 of the head-up display device 185 is configured to be turnable to the left and right by the turning actuator 189, and the turning actuator 189 is connected to the switching operation unit 190 and switched to the left and right and center of the windshield 107. Since it is possible to display, when the accompanying traveling work vehicle is working in an oblique rearward direction of the autonomous traveling working vehicle, the position of the autonomous traveling working vehicle 1 traveling obliquely forward is reversed when the headland turns. However, the state of the autonomous traveling work vehicle 1 can be confirmed while the left and right display is switched and the autonomous traveling working vehicle 1 is always confirmed during work.

  Further, instead of providing the switching means 190, it is possible to automatically switch the video display. For example, when the accompanying traveling work vehicle 100 finishes the headland turning, the turning actuator 189 is operated to automatically display an image in the opposite direction of the combiner 188. Whether or not the accompanying traveling work vehicle 100 has made a headland turn can be detected by a steering sensor or an orientation sensor provided in the accompanying traveling work vehicle 100. Further, it is possible to detect the headland turning by raising / lowering the work implement, the engine speed, the traveling speed, and the like, and the present invention is not limited thereto.

  In this way, the turning actuator is connected to the control device and drives the turning actuator in accordance with the headland turning of the accompanying traveling work vehicle, so that the operator changes the position of the remote control device 112 each time the headland turns. Operation can be omitted and workability and operability can be improved.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling work vehicle 30 Control apparatus 100 Accompanying traveling working vehicle 111 Transmitter / receiver 112 Remote control device 133 Communication device 181 Arm 182 Rotation actuator

Claims (1)

Position calculation means for positioning the position of the aircraft using a satellite positioning system, an autonomous traveling work vehicle controlled to automatically travel and work along a traveling route set by a control device, and the autonomous traveling The remote operation device provided in the accompanying traveling work vehicle and the control device of the autonomous traveling working vehicle communicate with each other by performing an operation with the accompanying traveling work vehicle that performs the operation while accompanying the vehicle at a predetermined distance from the work vehicle. Can communicate with each other through means,
The accompanying traveling work vehicle can display a head-up display device that can display a state and a set traveling route of the autonomous traveling working vehicle on a windshield, and a set traveling route and a vehicle state of the autonomous traveling working vehicle. A remote control device operable together with the detection means for detecting the headland turning of the accompanying traveling work vehicle,
The reflection mirror of the head-up display device is configured to be rotatable left and right by a rotation actuator,
The rotation actuator is configured to be driven in accordance with the headland turning of the accompanying traveling work vehicle,
A display device that performs automatic switching of the display position of the head-up display device in conjunction with the headland turning of the accompanying traveling work vehicle in conjunction with the output of the detection means .

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