CN108289408B - 作业车 - Google Patents

作业车 Download PDF

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Publication number
CN108289408B
CN108289408B CN201680068273.7A CN201680068273A CN108289408B CN 108289408 B CN108289408 B CN 108289408B CN 201680068273 A CN201680068273 A CN 201680068273A CN 108289408 B CN108289408 B CN 108289408B
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CN
China
Prior art keywords
steering
travel
traveling
vehicle
preliminary seedling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201680068273.7A
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English (en)
Chinese (zh)
Other versions
CN108289408A (zh
Inventor
直本哲
森下孝文
青田和树
宫本惇平
久保田祐树
石见宪一
宫西吉秀
永田康弘
吉田和正
目野鹰博
林繁树
高濑竣也
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
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Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015254613A external-priority patent/JP6576237B2/ja
Priority claimed from JP2016002832A external-priority patent/JP6552419B2/ja
Priority claimed from JP2016004590A external-priority patent/JP6643091B2/ja
Priority claimed from JP2016004591A external-priority patent/JP6552420B2/ja
Priority claimed from JP2016006431A external-priority patent/JP6643094B2/ja
Priority to CN202310217728.9A priority Critical patent/CN116034683A/zh
Priority to CN202111046329.8A priority patent/CN113728771B/zh
Application filed by Kubota Corp filed Critical Kubota Corp
Publication of CN108289408A publication Critical patent/CN108289408A/zh
Publication of CN108289408B publication Critical patent/CN108289408B/zh
Application granted granted Critical
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
    • A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN201680068273.7A 2015-12-25 2016-06-16 作业车 Active CN108289408B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202111046329.8A CN113728771B (zh) 2015-12-25 2016-06-16 作业车
CN202310217728.9A CN116034683A (zh) 2015-12-25 2016-06-16 作业车

Applications Claiming Priority (11)

Application Number Priority Date Filing Date Title
JP2015254613A JP6576237B2 (ja) 2015-12-25 2015-12-25 作業車
JP2015-254613 2015-12-25
JP2016002832A JP6552419B2 (ja) 2016-01-08 2016-01-08 乗用型田植機
JP2016-002832 2016-01-08
JP2016-004590 2016-01-13
JP2016-004591 2016-01-13
JP2016004591A JP6552420B2 (ja) 2016-01-13 2016-01-13 作業車
JP2016004590A JP6643091B2 (ja) 2016-01-13 2016-01-13 農作業機
JP2016006431A JP6643094B2 (ja) 2016-01-15 2016-01-15 圃場作業車両
JP2016-006431 2016-01-15
PCT/JP2016/067995 WO2017110116A1 (ja) 2015-12-25 2016-06-16 作業車

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202310217728.9A Division CN116034683A (zh) 2015-12-25 2016-06-16 作业车
CN202111046329.8A Division CN113728771B (zh) 2015-12-25 2016-06-16 作业车

Publications (2)

Publication Number Publication Date
CN108289408A CN108289408A (zh) 2018-07-17
CN108289408B true CN108289408B (zh) 2021-09-24

Family

ID=59091134

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201680068273.7A Active CN108289408B (zh) 2015-12-25 2016-06-16 作业车
CN202310217728.9A Pending CN116034683A (zh) 2015-12-25 2016-06-16 作业车
CN202111046329.8A Active CN113728771B (zh) 2015-12-25 2016-06-16 作业车

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN202310217728.9A Pending CN116034683A (zh) 2015-12-25 2016-06-16 作业车
CN202111046329.8A Active CN113728771B (zh) 2015-12-25 2016-06-16 作业车

Country Status (3)

Country Link
KR (5) KR20240056785A (ko)
CN (3) CN108289408B (ko)
WO (1) WO2017110116A1 (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12018945B2 (en) 2021-09-29 2024-06-25 Zimeno Inc. Tractor parameter calibration

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JP6910269B2 (ja) * 2017-10-26 2021-07-28 株式会社クボタ 走行作業機
KR20200096512A (ko) * 2017-12-18 2020-08-12 가부시끼 가이샤 구보다 작업차 및 트랙터
JP6917883B2 (ja) * 2017-12-25 2021-08-11 株式会社クボタ 圃場作業機
EP3744603B1 (en) 2018-01-23 2024-02-21 Kubota Corporation Work vehicle
JP2019201612A (ja) * 2018-05-25 2019-11-28 株式会社クボタ 作業車
JP7089965B2 (ja) * 2018-07-11 2022-06-23 株式会社クボタ 作業車両
JP7039406B2 (ja) * 2018-07-11 2022-03-22 株式会社クボタ 作業車両
US10753752B2 (en) * 2018-07-26 2020-08-25 Trimble Inc. Vehicle manual guidance systems with steering wheel angle sensors and road wheel angle sensors
CN109463084A (zh) * 2018-11-07 2019-03-15 深圳春沐源控股有限公司 定植机及其控制方法
CN109496508B (zh) * 2018-12-03 2021-08-31 潍坊宏图环保设备有限公司 新能源插秧机高效率气动插值结构
JP7011225B2 (ja) * 2018-12-04 2022-01-26 井関農機株式会社 苗移植機
JP2020099222A (ja) 2018-12-20 2020-07-02 株式会社クボタ 作業車
JP7236887B2 (ja) * 2019-03-14 2023-03-10 ヤンマーパワーテクノロジー株式会社 経路生成システム
JP7203654B2 (ja) * 2019-03-25 2023-01-13 ヤンマーパワーテクノロジー株式会社 自動走行システム
JP2021007385A (ja) * 2019-06-28 2021-01-28 株式会社クボタ 農作業機
JP7358163B2 (ja) * 2019-09-30 2023-10-10 株式会社小松製作所 制御システム、作業車両の制御方法、および、作業車両
CN110837252B (zh) * 2019-10-23 2022-12-16 江苏大学 一种水稻无人驾驶插秧机全路径规划及断点续航方法
JP7376314B2 (ja) * 2019-10-29 2023-11-08 三菱マヒンドラ農機株式会社 作業車両
CN110683302A (zh) * 2019-11-03 2020-01-14 黑龙江八一农垦大学 智能轨道式水稻秧苗运输系统
KR102125370B1 (ko) 2019-11-20 2020-06-22 (주)지금강이엔지 파종기용 라인마커의 유압제어장치
JP7373408B2 (ja) * 2020-01-10 2023-11-02 三菱マヒンドラ農機株式会社 作業車両
JP2022011846A (ja) * 2020-06-30 2022-01-17 株式会社クボタ 収穫機及び収穫機の自動走行方法
KR20230029589A (ko) * 2020-06-30 2023-03-03 가부시끼 가이샤 구보다 수확기, 수확기의 자동 주행 방법, 프로그램, 기록 매체, 시스템, 농작업기, 농작업기의 자동 주행 방법, 방법, 자동 조타 관리 시스템
FR3119508B1 (fr) * 2021-02-05 2023-12-29 Kuhn S A S Procédé de semis contrôlé d’une parcelle agricole et système pour sa mise en œuvre
US11543246B1 (en) 2021-09-29 2023-01-03 Zimeno, Inc. Rear axle center locating
JP2024062709A (ja) * 2022-10-25 2024-05-10 株式会社小松製作所 作業機械及び作業機械を制御するための方法

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CN101548593A (zh) * 2008-03-31 2009-10-07 株式会社久保田 作业车的控制装置
CN202183961U (zh) * 2010-05-28 2012-04-11 井关农机株式会社 移植机
CN104691615A (zh) * 2013-12-06 2015-06-10 刘扬 插秧机转向自动控制系统
CN103749051A (zh) * 2014-01-02 2014-04-30 常州亚美柯机械设备有限公司 具有辅秧储载装置的双乘式插秧机

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Publication number Priority date Publication date Assignee Title
US12018945B2 (en) 2021-09-29 2024-06-25 Zimeno Inc. Tractor parameter calibration

Also Published As

Publication number Publication date
CN113728771B (zh) 2023-05-23
CN113728771A (zh) 2021-12-03
KR20240056783A (ko) 2024-04-30
KR20240056784A (ko) 2024-04-30
CN116034683A (zh) 2023-05-02
KR20180098525A (ko) 2018-09-04
KR102660752B1 (ko) 2024-04-26
KR20240056785A (ko) 2024-04-30
KR20240056781A (ko) 2024-04-30
CN108289408A (zh) 2018-07-17
WO2017110116A1 (ja) 2017-06-29

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