CN114786464B - 农业作业车、自动行驶控制程序、记录有自动行驶控制程序的记录介质、自动行驶控制方法 - Google Patents

农业作业车、自动行驶控制程序、记录有自动行驶控制程序的记录介质、自动行驶控制方法

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Publication number
CN114786464B
CN114786464B CN202080085504.1A CN202080085504A CN114786464B CN 114786464 B CN114786464 B CN 114786464B CN 202080085504 A CN202080085504 A CN 202080085504A CN 114786464 B CN114786464 B CN 114786464B
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CN
China
Prior art keywords
boundary
turning
machine body
boundary line
during
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
CN202080085504.1A
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English (en)
Chinese (zh)
Other versions
CN114786464A (zh
Inventor
久保田祐树
大久保树
石见宪一
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
Original Assignee
Kubota Corp
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Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Publication of CN114786464A publication Critical patent/CN114786464A/zh
Application granted granted Critical
Publication of CN114786464B publication Critical patent/CN114786464B/zh
Active legal-status Critical Current
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Classifications

    • 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
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • 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
    • 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
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • 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 [2D]
    • 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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/21—Farming, e.g. fields, pastures or barns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Catching Or Destruction (AREA)
CN202080085504.1A 2020-01-14 2020-05-19 农业作业车、自动行驶控制程序、记录有自动行驶控制程序的记录介质、自动行驶控制方法 Active CN114786464B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020003696A JP7343405B2 (ja) 2020-01-14 2020-01-14 農作業車
JP2020-003696 2020-01-14
PCT/JP2020/019722 WO2021145005A1 (ja) 2020-01-14 2020-05-19 農作業車、自動走行制御プログラム、自動走行制御プログラムを記録した記録媒体、自動走行制御方法

Publications (2)

Publication Number Publication Date
CN114786464A CN114786464A (zh) 2022-07-22
CN114786464B true CN114786464B (zh) 2026-08-04

Family

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CN202080085504.1A Active CN114786464B (zh) 2020-01-14 2020-05-19 农业作业车、自动行驶控制程序、记录有自动行驶控制程序的记录介质、自动行驶控制方法

Country Status (4)

Country Link
JP (3) JP7343405B2 (cg-RX-API-DMAC10.html)
KR (1) KR20220125221A (cg-RX-API-DMAC10.html)
CN (1) CN114786464B (cg-RX-API-DMAC10.html)
WO (1) WO2021145005A1 (cg-RX-API-DMAC10.html)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7343405B2 (ja) * 2020-01-14 2023-09-12 株式会社クボタ 農作業車
KR102673875B1 (ko) * 2021-08-27 2024-06-11 주식회사 알티케이 작업 차량의 작업 경로 자동 생성 방법 및 시스템
JP7769589B2 (ja) * 2022-06-15 2025-11-13 ヤンマーホールディングス株式会社 自動走行方法、自動走行システム、及び自動走行プログラム
JP7813204B2 (ja) * 2022-08-18 2026-02-12 ヤンマーホールディングス株式会社 経路設定方法、経路設定システム、及び経路設定プログラム
CN117016069B (zh) * 2023-08-15 2025-10-28 湖南农业大学 一种用于旋耕机的左右距离自动可调的平地器及其调整方法

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KR20170019638A (ko) * 2015-08-12 2017-02-22 현대자동차주식회사 선회 궤적 예측 기반의 충돌 회피 제동 제어 방법 및 장치
CN108791482A (zh) * 2017-04-26 2018-11-13 株式会社久保田 自动转向系统
CN109952547A (zh) * 2016-11-18 2019-06-28 奥迪股份公司 根据车道数据对机动车的自动控制和机动车
JP2019106983A (ja) * 2017-12-18 2019-07-04 株式会社クボタ 農作業車

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JP3656332B2 (ja) 1996-08-28 2005-06-08 独立行政法人農業・生物系特定産業技術研究機構 作業車両の無人走行による無人作業方法
JP2002182746A (ja) 2000-12-19 2002-06-26 Yanmar Agricult Equip Co Ltd 農業用作業車
JP2018117559A (ja) 2017-01-24 2018-08-02 株式会社クボタ 作業車
CN107817794B (zh) * 2017-10-13 2021-07-23 上海司南卫星导航技术股份有限公司 自动导航方法、控制装置及导航系统
JP2019080496A (ja) * 2017-10-27 2019-05-30 井関農機株式会社 コンバインの操縦アシスト装置
JP6974148B2 (ja) * 2017-12-07 2021-12-01 株式会社クボタ 走行作業機
JP6917935B2 (ja) 2018-03-22 2021-08-11 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
JP6975668B2 (ja) 2018-03-23 2021-12-01 ヤンマーパワーテクノロジー株式会社 作業車両用の自動走行システム
CN108944899A (zh) * 2018-07-26 2018-12-07 南京威尔瑞智能科技有限公司 一种基于模糊控制的无人驾驶车辆转向盘控制系统及方法
JP7069002B2 (ja) * 2018-12-21 2022-05-17 株式会社クボタ 圃場作業車及び圃場地図データ生成システム
CN110654460B (zh) * 2019-12-02 2020-03-24 浙江中车电车有限公司 一种用于车辆转弯主动控制的方法
JP7343405B2 (ja) * 2020-01-14 2023-09-12 株式会社クボタ 農作業車

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Publication number Priority date Publication date Assignee Title
KR20170019638A (ko) * 2015-08-12 2017-02-22 현대자동차주식회사 선회 궤적 예측 기반의 충돌 회피 제동 제어 방법 및 장치
CN109952547A (zh) * 2016-11-18 2019-06-28 奥迪股份公司 根据车道数据对机动车的自动控制和机动车
CN108791482A (zh) * 2017-04-26 2018-11-13 株式会社久保田 自动转向系统
JP2019106983A (ja) * 2017-12-18 2019-07-04 株式会社クボタ 農作業車

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Publication number Publication date
KR20220125221A (ko) 2022-09-14
JP2023155424A (ja) 2023-10-20
CN114786464A (zh) 2022-07-22
JP7343405B2 (ja) 2023-09-12
JP2025107313A (ja) 2025-07-17
WO2021145005A1 (ja) 2021-07-22
JP2021108598A (ja) 2021-08-02
JP7678042B2 (ja) 2025-05-15

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