JP7034589B2 - 作業車両の経路生成システム - Google Patents
作業車両の経路生成システム Download PDFInfo
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- JP7034589B2 JP7034589B2 JP2016256348A JP2016256348A JP7034589B2 JP 7034589 B2 JP7034589 B2 JP 7034589B2 JP 2016256348 A JP2016256348 A JP 2016256348A JP 2016256348 A JP2016256348 A JP 2016256348A JP 7034589 B2 JP7034589 B2 JP 7034589B2
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Claims (2)
- 自律走行可能な作業車両が自律走行するための経路を生成する経路生成部を備える経路生成システムであって、
前記経路生成部は、
圃場内で前記経路生成部によって予め生成された前記圃場の中心側に向かって一方向に旋回しながら走行する経路に沿って一の作業車両が作業している途中に、当該圃場内に他の作業車両を追加する際に、前記一の作業車両による作業が行われていない未作業領域を決定し、
決定された未作業領域を前記一の作業車両と前記他の作業車両に分配して、それぞれの前記作業車両に対して自律走行するための前記圃場の中心側に向かって一方向に旋回しながら走行する経路を再生成し、
それぞれの前記作業車両が再生成した経路を自律走行している際に、前記一の作業車両と前記他の作業車両のうち一方の作業車両が経路から離脱した場合は、他方の作業車両に対して新たな経路を再生成する
ことを特徴とする作業車両の経路生成システム。 - 前記一の作業車両と他の作業車両は、近距離通信によって互いに通信可能に構成され、
前記近距離通信を用いて、再生成された経路を両作業車両の夫々が走行する際に、両作業車両の異常接近を回避するように、各作業車両の走行を制御する
請求項1に記載の経路生成システム。
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JP2016256348A JP7034589B2 (ja) | 2016-12-28 | 2016-12-28 | 作業車両の経路生成システム |
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JP2016256348A JP7034589B2 (ja) | 2016-12-28 | 2016-12-28 | 作業車両の経路生成システム |
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JP2020122233A Division JP7104106B2 (ja) | 2020-07-16 | 2020-07-16 | 作業車両の経路生成システム |
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JP2018108034A JP2018108034A (ja) | 2018-07-12 |
JP7034589B2 true JP7034589B2 (ja) | 2022-03-14 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2020178714A (ja) * | 2020-07-16 | 2020-11-05 | ヤンマーパワーテクノロジー株式会社 | 作業車両の経路生成システム |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3859467A4 (en) | 2018-12-27 | 2021-11-03 | Honda Motor Co., Ltd. | DEVICE AND PROCESS FOR PROCESSING INFORMATION |
JP7045341B2 (ja) * | 2019-01-29 | 2022-03-31 | ヤンマーパワーテクノロジー株式会社 | 協調作業システム |
JP6735047B1 (ja) * | 2019-02-28 | 2020-08-05 | 井関農機株式会社 | 刈取作業方法 |
JP7288417B2 (ja) * | 2020-03-31 | 2023-06-07 | 本田技研工業株式会社 | 自律作業システム、自律作業設定方法、およびプログラム |
JP6874893B2 (ja) * | 2020-06-30 | 2021-05-19 | 井関農機株式会社 | 刈取作業方法 |
JP7205782B2 (ja) | 2021-02-25 | 2023-01-17 | 井関農機株式会社 | 刈取作業方法 |
AU2022330478A1 (en) * | 2021-08-20 | 2024-02-29 | Kubota Corporation | Farming assistance system |
Citations (6)
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US20020165649A1 (en) | 2001-05-07 | 2002-11-07 | The Board Of Trustees Of The Leland Stanford Junior University | Method and apparatus for vehicle control, navigation and positioning |
US20050273253A1 (en) | 2004-06-03 | 2005-12-08 | Norbert Diekhans | Route planning system and method for agricultural working machines |
WO2015006600A1 (en) | 2013-07-10 | 2015-01-15 | Agco Corporation | Automating distribution of work in a field |
JP2016093125A (ja) | 2014-11-13 | 2016-05-26 | ヤンマー株式会社 | 走行経路設定装置 |
WO2016087535A1 (en) | 2014-12-04 | 2016-06-09 | Agco International Gmbh | Automated agriculture system |
WO2016129671A1 (ja) | 2015-02-13 | 2016-08-18 | ヤンマー株式会社 | 自律走行作業車両の制御システム |
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JPH07295643A (ja) * | 1994-04-26 | 1995-11-10 | Minolta Co Ltd | 走行経路制御装置 |
JP2002259500A (ja) * | 2001-03-06 | 2002-09-13 | Omron Corp | 指図書作成装置及び作業支援システム |
JP2003160232A (ja) * | 2001-11-22 | 2003-06-03 | Kansai Matsushita System Kk | 新聞配送車両管理システム、配送管理装置、コンピュータプログラム及び記録媒体 |
JP4012457B2 (ja) * | 2002-11-19 | 2007-11-21 | 日立建機株式会社 | 除雪管理方法及びシステム |
US8639408B2 (en) * | 2008-10-15 | 2014-01-28 | Deere & Company | High integrity coordination system for multiple off-road vehicles |
JP2014106195A (ja) * | 2012-11-29 | 2014-06-09 | Chugoku Electric Power Co Inc:The | 検針訪問支援システム |
JP6239441B2 (ja) * | 2014-05-22 | 2017-11-29 | ヤンマー株式会社 | 作業車両併走システム |
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Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20020165649A1 (en) | 2001-05-07 | 2002-11-07 | The Board Of Trustees Of The Leland Stanford Junior University | Method and apparatus for vehicle control, navigation and positioning |
US20050273253A1 (en) | 2004-06-03 | 2005-12-08 | Norbert Diekhans | Route planning system and method for agricultural working machines |
WO2015006600A1 (en) | 2013-07-10 | 2015-01-15 | Agco Corporation | Automating distribution of work in a field |
JP2016093125A (ja) | 2014-11-13 | 2016-05-26 | ヤンマー株式会社 | 走行経路設定装置 |
WO2016087535A1 (en) | 2014-12-04 | 2016-06-09 | Agco International Gmbh | Automated agriculture system |
WO2016129671A1 (ja) | 2015-02-13 | 2016-08-18 | ヤンマー株式会社 | 自律走行作業車両の制御システム |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2020178714A (ja) * | 2020-07-16 | 2020-11-05 | ヤンマーパワーテクノロジー株式会社 | 作業車両の経路生成システム |
JP7104106B2 (ja) | 2020-07-16 | 2022-07-20 | ヤンマーパワーテクノロジー株式会社 | 作業車両の経路生成システム |
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