CN109074081A - 自主行驶路径生成系统 - Google Patents

自主行驶路径生成系统 Download PDF

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Publication number
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
Authority
CN
China
Prior art keywords
road
driving path
path
traveling
barrier
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.)
Pending
Application number
CN201780027984.4A
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English (en)
Chinese (zh)
Inventor
平松敏史
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.)
Yanmar Co Ltd
Original Assignee
Yanmar Co Ltd
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 JP2016094513A external-priority patent/JP6739227B2/ja
Priority claimed from JP2016094515A external-priority patent/JP6739228B2/ja
Priority claimed from JP2016102980A external-priority patent/JP6682354B2/ja
Priority claimed from JP2016102978A external-priority patent/JP6692692B2/ja
Application filed by Yanmar Co Ltd filed Critical Yanmar Co Ltd
Priority to CN202210633017.5A priority Critical patent/CN114995427A/zh
Publication of CN109074081A publication Critical patent/CN109074081A/zh
Pending legal-status Critical Current

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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)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (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)
CN201780027984.4A 2016-05-10 2017-04-07 自主行驶路径生成系统 Pending CN109074081A (zh)

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
JP2016094513A JP6739227B2 (ja) 2016-05-10 2016-05-10 自律走行経路生成システム
JP2016-094513 2016-05-10
JP2016094515A JP6739228B2 (ja) 2016-05-10 2016-05-10 自律走行経路生成システム
JP2016-094515 2016-05-10
JP2016102980A JP6682354B2 (ja) 2016-05-24 2016-05-24 自律走行経路生成システム
JP2016-102980 2016-05-24
JP2016-102978 2016-05-24
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) KR20200075029A (ko)
CN (2) CN109074081A (ko)
WO (1) WO2017195510A1 (ko)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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

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* Cited by examiner, † Cited by third party
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JP6919531B2 (ja) * 2017-11-30 2021-08-18 井関農機株式会社 作業車両
EP4218390A1 (en) 2018-05-25 2023-08-02 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
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
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
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2016021181A (ja) * 2014-07-15 2016-02-04 シャープ株式会社 自走式電子機器

Cited By (20)

* Cited by examiner, † Cited by third party
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
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
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
CN114007926B (zh) * 2019-09-26 2023-11-07 株式会社久保田 作业车辆
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
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
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
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
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
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

Also Published As

Publication number Publication date
KR102079890B1 (ko) 2020-02-20
KR20210016086A (ko) 2021-02-10
WO2017195510A1 (ja) 2017-11-16
KR20200075029A (ko) 2020-06-25
KR20200018732A (ko) 2020-02-19
CN114995427A (zh) 2022-09-02
KR102283928B1 (ko) 2021-07-29
KR20180116319A (ko) 2018-10-24
KR102126168B1 (ko) 2020-06-24

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