JP2018097526A - 作業車 - Google Patents
作業車 Download PDFInfo
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- JP2018097526A JP2018097526A JP2016240527A JP2016240527A JP2018097526A JP 2018097526 A JP2018097526 A JP 2018097526A JP 2016240527 A JP2016240527 A JP 2016240527A JP 2016240527 A JP2016240527 A JP 2016240527A JP 2018097526 A JP2018097526 A JP 2018097526A
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- 238000001514 detection method Methods 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 11
- 238000006073 displacement reaction Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000007704 transition Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- 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
- A01B69/001—Steering by means of optical assistance, e.g. television cameras
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
- A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
- A01D34/6806—Driving mechanisms
- A01D34/6818—Motor starting mechanisms
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/25—Road altitude
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60Y2200/223—Ridable lawn mowers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
- G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Optics & Photonics (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
この操舵制御ルーチンでは、まず、現在設定されている走行モードがチェックされる(#01)。手動走行モードが設定されていると、ステップ#21からステップ#23までの手動走行用操舵制御が実行される。この手動走行用操舵制御では、左右一対の変速レバー49の操作量が取得される(#21)。取得した操作量から、車体2の向きを修正する必要があるかどうかチェックされる(#22)。修正の必要があれば(#22Yes分岐)、操舵情報が生成され、操舵制御部84に出力される(#23)。ステップ#22のチェックで、修正の必要がなければ(#22No分岐)、ステップ#01に戻って、現在設定されている走行モードがチェックされる。
(1)上述した実施形態では、基準走行経路から隣接する後続走行経路への移行、後続走行経路から隣接する後続走行経路への移行のための、Uターン走行やスイッチバック走行などの方向転換走行は、手動走行モードで行われた。しかしながら、このような方向転換走行を自動で行う自動方向転換走行モードを備えることも可能である。作業車の作業幅と旋回半径とを考慮して、予めそのための方向転換操舵情報を作成しておいて、所定の距離の走行、あるいは、経路終端を検出するセンサからの信号等をトリガーとして、方向転換操舵情報を後輪速度演算部83に与えることで、実現できる。
(4)上述した実施形態では、光ビームを検出する第1検出部と、作業境界線を検出する第2検出部とを共通化し、1台の撮影カメラ5によって兼用された。これに代えて、第1検出部と第2検出部とを別の撮影カメラ5によって構成してもよい。あるいは、1台の撮影カメラ5の撮影視野を第1撮影視野と第2撮影視野とに切り替える姿勢変更機構を設け、第1検出部として機能するカメラ姿勢(第1撮影視野)と、第2検出部として機能するカメラ姿勢(第2撮影視野)を作り出してもよい。さらに、ミラー機構を用いて、第1撮影視野と第2撮影視野とを切り替える構成を採用してもよい。
(5)上述した実施形態では、左右一対の後輪12の速度差を変更することで操舵機能を作り出していたが、これに代えて、ステアリング機構を用いて操舵機能を作り出してもよい。その際、操舵制御部84は、モータ等を用いてステアリング機構を制御する。
13 :モーアユニット
48 :走行モードSW
49 :変速レバー
5 :撮影カメラ(第1検出部、第2検出部)
50 :カメラマウント
51 :レンズユニット
52 :2次元イメージセンサ
6 :ビーム投光器
7 :画像処理部
71 :第1位置ずれ算出部
72 :第2位置ずれ算出部
73 :作業境界線算出部
80 :走行管理部
81 :走行モード設定部
82 :操舵情報生成部
83 :後輪速度演算部
83a :左後輪速度演算部
83b :右後輪速度演算部
84 :操舵制御部
Claims (6)
- 基準走行経路に沿って作業走行した後に、前記基準走行経路に平行な複数の後続走行経路に沿って作業走行する作業車であって、
前記基準走行経路の一端側に配置されたビーム投光器からの光ビームを検出する第1検出部と、
前記第1検出部からの検出信号に基づいて、車体の前記基準走行経路からの位置ずれを算出する第1位置ずれ算出部と、
作業走行によって生じた作業境界線を検出する第2検出部と、
前記第2検出部からの検出信号に基づいて、前記後続走行経路に沿って走行する前記車体の、前記作業境界線からの位置ずれを算出する第2位置ずれ算出部と、
前記第1位置ずれ算出部及び前記第2位置ずれ算出部によって算出された位置ずれに基づいて、前記位置ずれを修正するための操舵情報を生成する操舵情報生成部と、
を備えた作業車。 - 前記第1検出部は前記光ビームを検出するイメージセンサを含み、前記第2検出部は前記作業境界線の画像を取得するイメージセンサを含む請求項1に記載の作業車。
- 前記第1検出部及び前記第2検出部は共通の撮影カメラで構成されている請求項1または2に記載の作業車。
- 前記撮影カメラの撮影視野は、前記第1検出部として機能する第1撮影視野と、前記第2検出部として機能する第2撮影視野との間で切り替えられる請求項3に記載の作業車。
- 前記操舵情報に基づいて自動操舵する操舵制御部が備えられている請求項1から4のいずれか一項に記載の作業車。
- 前記操舵情報に基づいて、前記車体の位置ずれをガイダンスする機能が備えられている請求項1から5のいずれか一項に記載の作業車。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016240527A JP2018097526A (ja) | 2016-12-12 | 2016-12-12 | 作業車 |
US15/825,327 US11516963B2 (en) | 2016-12-12 | 2017-11-29 | Work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016240527A JP2018097526A (ja) | 2016-12-12 | 2016-12-12 | 作業車 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2018097526A true JP2018097526A (ja) | 2018-06-21 |
Family
ID=62487596
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016240527A Pending JP2018097526A (ja) | 2016-12-12 | 2016-12-12 | 作業車 |
Country Status (2)
Country | Link |
---|---|
US (1) | US11516963B2 (ja) |
JP (1) | JP2018097526A (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020000192A (ja) * | 2018-06-29 | 2020-01-09 | 有限会社曽田農機設計事務所 | 作業機及びその運転方法 |
EP3847879A3 (en) * | 2019-12-19 | 2021-10-06 | Kubota Corporation | Agricultural machine |
Families Citing this family (11)
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US9693504B2 (en) * | 2015-01-28 | 2017-07-04 | Briggs & Stratton Corporation | Mower utility bed |
CN109017779A (zh) * | 2018-09-30 | 2018-12-18 | 洛阳福格森机械装备有限公司 | 一种收获机智能辅助驾驶系统及控制方法 |
WO2020081844A1 (en) * | 2018-10-17 | 2020-04-23 | Mean Green Products, LLC | Deck height control system |
US11219160B2 (en) * | 2018-12-18 | 2022-01-11 | Kubota Corporation | Riding mower with a cutting guide |
CN109709959A (zh) * | 2018-12-27 | 2019-05-03 | 合肥泰禾光电科技股份有限公司 | 偏移量计算方法、装置、自动行驶控制方法及行走机构 |
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 |
US20210176912A1 (en) * | 2019-12-16 | 2021-06-17 | Cnh Industrial America Llc | System and method for assessing agricultural operation performance based on image data of processed and unprocessed portions of the field |
CN113068501A (zh) * | 2020-01-06 | 2021-07-06 | 苏州宝时得电动工具有限公司 | 一种智能割草机 |
WO2021139414A1 (zh) * | 2020-01-06 | 2021-07-15 | 苏州宝时得电动工具有限公司 | 自移动设备 |
CN113099820B (zh) * | 2020-01-09 | 2023-03-28 | 苏州宝时得电动工具有限公司 | 一种智能割草机 |
US20220400606A1 (en) * | 2021-06-18 | 2022-12-22 | Green Industry Innovators, L.L.C. | Landscaping equipment with included laser and methods of operation |
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JP2020000192A (ja) * | 2018-06-29 | 2020-01-09 | 有限会社曽田農機設計事務所 | 作業機及びその運転方法 |
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US20180160619A1 (en) | 2018-06-14 |
US11516963B2 (en) | 2022-12-06 |
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