CN109074081A - 自主行驶路径生成系统 - Google Patents
自主行驶路径生成系统 Download PDFInfo
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- CN109074081A CN109074081A CN201780027984.4A CN201780027984A CN109074081A CN 109074081 A CN109074081 A CN 109074081A CN 201780027984 A CN201780027984 A CN 201780027984A CN 109074081 A CN109074081 A CN 109074081A
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Classifications
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210633017.5A CN114995427A (zh) | 2016-05-10 | 2017-04-07 | 自主行驶路径生成系统 |
Applications Claiming Priority (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016-094515 | 2016-05-10 | ||
JP2016094513A JP6739227B2 (ja) | 2016-05-10 | 2016-05-10 | 自律走行経路生成システム |
JP2016094515A JP6739228B2 (ja) | 2016-05-10 | 2016-05-10 | 自律走行経路生成システム |
JP2016-094513 | 2016-05-10 | ||
JP2016-102978 | 2016-05-24 | ||
JP2016-102980 | 2016-05-24 | ||
JP2016102980A JP6682354B2 (ja) | 2016-05-24 | 2016-05-24 | 自律走行経路生成システム |
JP2016102978A JP6692692B2 (ja) | 2016-05-24 | 2016-05-24 | 自律走行経路生成システム |
PCT/JP2017/014436 WO2017195510A1 (ja) | 2016-05-10 | 2017-04-07 | 自律走行経路生成システム |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210633017.5A Division CN114995427A (zh) | 2016-05-10 | 2017-04-07 | 自主行驶路径生成系统 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN109074081A true CN109074081A (zh) | 2018-12-21 |
Family
ID=60267829
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201780027984.4A Pending CN109074081A (zh) | 2016-05-10 | 2017-04-07 | 自主行驶路径生成系统 |
CN202210633017.5A Pending CN114995427A (zh) | 2016-05-10 | 2017-04-07 | 自主行驶路径生成系统 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210633017.5A Pending CN114995427A (zh) | 2016-05-10 | 2017-04-07 | 自主行驶路径生成系统 |
Country Status (3)
Country | Link |
---|---|
KR (4) | KR102079890B1 (ko) |
CN (2) | CN109074081A (ko) |
WO (1) | WO2017195510A1 (ko) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110057364A (zh) * | 2019-04-30 | 2019-07-26 | 盐城工业职业技术学院 | 一种水田拖拉机位姿检测和偏航角提取方法及装置 |
CN110209154A (zh) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | 自动收割机的残留收割路径规划系统及其方法 |
CN110502021A (zh) * | 2019-09-24 | 2019-11-26 | 一米信息服务(北京)有限公司 | 一种农机作业路径规划方法及系统 |
CN110825091A (zh) * | 2019-11-29 | 2020-02-21 | 洛阳中科龙网创新科技有限公司 | 一种基于无人机的智能拖拉机智能选路方法及装置 |
CN111854744A (zh) * | 2020-07-17 | 2020-10-30 | 无锡卡尔曼导航技术有限公司 | 一种gnss单点定位和惯性导航割草机的运行方法 |
CN112868367A (zh) * | 2019-11-29 | 2021-06-01 | 株式会社久保田 | 自动行驶控制系统、联合收割机、收获机 |
CN112868366A (zh) * | 2019-11-29 | 2021-06-01 | 株式会社久保田 | 自动行驶控制系统、自动行驶路径生成系统、联合收割机 |
CN113448324A (zh) * | 2020-03-09 | 2021-09-28 | 北京合众思壮科技股份有限公司 | 路径规划方法、装置、电子设备和存储介质 |
CN113518747A (zh) * | 2019-02-22 | 2021-10-19 | 株式会社尼罗沃克 | 无人机操纵器及操纵用程序 |
CN113678587A (zh) * | 2021-08-09 | 2021-11-23 | 华南农业大学 | 一种无人驾驶水稻中耕除草机及其作业方法 |
CN113804212A (zh) * | 2021-08-23 | 2021-12-17 | 上海联适导航技术股份有限公司 | 一种耙地作业的路径规划方法及装置 |
CN114007926A (zh) * | 2019-09-26 | 2022-02-01 | 株式会社久保田 | 作业车辆 |
CN114206703A (zh) * | 2019-09-30 | 2022-03-18 | 株式会社小松制作所 | 控制系统、作业车辆的控制方法以及作业车辆 |
CN114475602A (zh) * | 2020-11-12 | 2022-05-13 | 郑州宇通客车股份有限公司 | 一种车辆、车辆调头方法及装置 |
CN115016451A (zh) * | 2021-03-05 | 2022-09-06 | 广东博智林机器人有限公司 | 机器人作业轨迹规划方法、装置、计算机设备和存储介质 |
Families Citing this family (12)
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JP6919531B2 (ja) * | 2017-11-30 | 2021-08-18 | 井関農機株式会社 | 作業車両 |
AU2019275450B2 (en) * | 2018-05-25 | 2023-12-14 | The Toro Company | Autonomous grounds maintenance machines with path planning for trap and obstacle avoidance |
KR102049937B1 (ko) * | 2019-03-11 | 2019-11-28 | 엘에스엠트론 주식회사 | 농작업차량 자동제어 시스템 |
KR102168104B1 (ko) * | 2019-05-24 | 2020-10-21 | 장진만 | 농업용기계의 자율 주행 방법 |
KR102304098B1 (ko) * | 2019-11-05 | 2021-09-23 | 대한민국 | 영상 기반 경로 인식 및 조향각 산출 기술을 지원하는 자율 주행 농기계 장치 및 그 동작 방법 |
SE2050727A1 (en) * | 2020-06-17 | 2021-12-18 | Husqvarna Ab | Methods of navigating a self-propelled robotic tool, and robotic tools, and computer pograms implementing such methods |
US11622495B2 (en) | 2021-06-01 | 2023-04-11 | Gint Co., Ltd. | Method of automatically combining farm vehicle and work machine and farm vehicle |
KR20230049792A (ko) | 2021-10-06 | 2023-04-14 | 대한민국(농촌진흥청장) | 농기계 제어를 위한 자율 주행 장치, 이를 포함하는 농기계 및 자율 주행 방법 |
KR102669118B1 (ko) * | 2021-12-29 | 2024-05-24 | 재단법인대구경북과학기술원 | 농업용 자율 주행 차량 관제 장치 및 방법 |
CN115290095A (zh) * | 2022-09-28 | 2022-11-04 | 陕西耕辰科技有限公司 | 一种农机作业路径自动规划方法、系统、农机及存储介质 |
KR102592085B1 (ko) * | 2023-02-02 | 2023-10-20 | 주식회사 긴트 | 농업용 차량의 정밀한 자율주행을 위한 ab주행 기준선 이동 가이드 시스템 및 이의 운용방법 |
CN116149337B (zh) * | 2023-04-14 | 2023-07-07 | 未岚大陆(北京)科技有限公司 | 割草控制方法、设置方法、割草机、设置装置和电子设备 |
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JPH1165657A (ja) * | 1997-08-22 | 1999-03-09 | Minolta Co Ltd | 移動体の制御装置 |
CN1636428A (zh) * | 2003-12-25 | 2005-07-13 | 井关农机株式会社 | 对地作业机用控制装置 |
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CN104781633A (zh) * | 2014-03-06 | 2015-07-15 | 日本集奥瑟甫有限公司 | 农田导航系统和农田导航方法及其软件和软件的存储设备 |
WO2015146778A1 (ja) * | 2014-03-27 | 2015-10-01 | 株式会社クボタ | 作業車協調システム |
JP2016021181A (ja) * | 2014-07-15 | 2016-02-04 | シャープ株式会社 | 自走式電子機器 |
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JP2003114719A (ja) * | 2001-08-03 | 2003-04-18 | Sanyo Electric Co Ltd | 自走ロボット |
JP2003345437A (ja) * | 2002-05-22 | 2003-12-05 | Toshiba Tec Corp | 自律走行ロボット |
JP4999965B2 (ja) * | 2010-06-04 | 2012-08-15 | 中国電力株式会社 | 自動耕作方法、及び自動耕作システム |
WO2015118731A1 (ja) * | 2014-02-06 | 2015-08-13 | ヤンマー株式会社 | 併走作業システムの制御装置 |
JP6339427B2 (ja) | 2014-03-31 | 2018-06-06 | ヤンマー株式会社 | 併走作業システム |
-
2017
- 2017-04-07 KR KR1020187026558A patent/KR102079890B1/ko active Application Filing
- 2017-04-07 WO PCT/JP2017/014436 patent/WO2017195510A1/ja active Application Filing
- 2017-04-07 CN CN201780027984.4A patent/CN109074081A/zh active Pending
- 2017-04-07 KR KR1020207017172A patent/KR20200075029A/ko active Application Filing
- 2017-04-07 KR KR1020217003434A patent/KR102283928B1/ko active IP Right Grant
- 2017-04-07 KR KR1020207004115A patent/KR102126168B1/ko active IP Right Grant
- 2017-04-07 CN CN202210633017.5A patent/CN114995427A/zh active Pending
Patent Citations (6)
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JPH1165657A (ja) * | 1997-08-22 | 1999-03-09 | Minolta Co Ltd | 移動体の制御装置 |
CN1636428A (zh) * | 2003-12-25 | 2005-07-13 | 井关农机株式会社 | 对地作业机用控制装置 |
CN102167038A (zh) * | 2010-12-03 | 2011-08-31 | 北京农业信息技术研究中心 | 农田地块全区域覆盖最优作业路径生成方法及装置 |
CN104781633A (zh) * | 2014-03-06 | 2015-07-15 | 日本集奥瑟甫有限公司 | 农田导航系统和农田导航方法及其软件和软件的存储设备 |
WO2015146778A1 (ja) * | 2014-03-27 | 2015-10-01 | 株式会社クボタ | 作業車協調システム |
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Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113518747A (zh) * | 2019-02-22 | 2021-10-19 | 株式会社尼罗沃克 | 无人机操纵器及操纵用程序 |
CN110209154A (zh) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | 自动收割机的残留收割路径规划系统及其方法 |
CN110057364B (zh) * | 2019-04-30 | 2020-08-07 | 盐城工业职业技术学院 | 一种水田拖拉机位姿检测和偏航角提取方法及装置 |
CN110057364A (zh) * | 2019-04-30 | 2019-07-26 | 盐城工业职业技术学院 | 一种水田拖拉机位姿检测和偏航角提取方法及装置 |
CN110502021A (zh) * | 2019-09-24 | 2019-11-26 | 一米信息服务(北京)有限公司 | 一种农机作业路径规划方法及系统 |
CN110502021B (zh) * | 2019-09-24 | 2022-07-15 | 一米信息服务(北京)有限公司 | 一种农机作业路径规划方法及系统 |
CN114007926A (zh) * | 2019-09-26 | 2022-02-01 | 株式会社久保田 | 作业车辆 |
CN114007926B (zh) * | 2019-09-26 | 2023-11-07 | 株式会社久保田 | 作业车辆 |
CN114206703A (zh) * | 2019-09-30 | 2022-03-18 | 株式会社小松制作所 | 控制系统、作业车辆的控制方法以及作业车辆 |
CN110825091A (zh) * | 2019-11-29 | 2020-02-21 | 洛阳中科龙网创新科技有限公司 | 一种基于无人机的智能拖拉机智能选路方法及装置 |
CN112868366A (zh) * | 2019-11-29 | 2021-06-01 | 株式会社久保田 | 自动行驶控制系统、自动行驶路径生成系统、联合收割机 |
CN112868367A (zh) * | 2019-11-29 | 2021-06-01 | 株式会社久保田 | 自动行驶控制系统、联合收割机、收获机 |
CN113448324A (zh) * | 2020-03-09 | 2021-09-28 | 北京合众思壮科技股份有限公司 | 路径规划方法、装置、电子设备和存储介质 |
CN113448324B (zh) * | 2020-03-09 | 2023-08-04 | 北京合众思壮科技股份有限公司 | 路径规划方法、装置、电子设备和存储介质 |
CN111854744A (zh) * | 2020-07-17 | 2020-10-30 | 无锡卡尔曼导航技术有限公司 | 一种gnss单点定位和惯性导航割草机的运行方法 |
CN114475602A (zh) * | 2020-11-12 | 2022-05-13 | 郑州宇通客车股份有限公司 | 一种车辆、车辆调头方法及装置 |
CN114475602B (zh) * | 2020-11-12 | 2023-05-09 | 宇通客车股份有限公司 | 一种车辆、车辆调头方法及装置 |
CN115016451A (zh) * | 2021-03-05 | 2022-09-06 | 广东博智林机器人有限公司 | 机器人作业轨迹规划方法、装置、计算机设备和存储介质 |
CN113678587A (zh) * | 2021-08-09 | 2021-11-23 | 华南农业大学 | 一种无人驾驶水稻中耕除草机及其作业方法 |
CN113804212B (zh) * | 2021-08-23 | 2022-07-26 | 上海联适导航技术股份有限公司 | 一种耙地作业的路径规划方法及装置 |
CN113804212A (zh) * | 2021-08-23 | 2021-12-17 | 上海联适导航技术股份有限公司 | 一种耙地作业的路径规划方法及装置 |
Also Published As
Publication number | Publication date |
---|---|
KR20200075029A (ko) | 2020-06-25 |
KR20200018732A (ko) | 2020-02-19 |
KR102126168B1 (ko) | 2020-06-24 |
KR102079890B1 (ko) | 2020-02-20 |
KR20210016086A (ko) | 2021-02-10 |
KR20180116319A (ko) | 2018-10-24 |
KR102283928B1 (ko) | 2021-07-29 |
WO2017195510A1 (ja) | 2017-11-16 |
CN114995427A (zh) | 2022-09-02 |
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