JP7034860B2 - 領域登録システム - Google Patents
領域登録システム Download PDFInfo
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- JP7034860B2 JP7034860B2 JP2018146974A JP2018146974A JP7034860B2 JP 7034860 B2 JP7034860 B2 JP 7034860B2 JP 2018146974 A JP2018146974 A JP 2018146974A JP 2018146974 A JP2018146974 A JP 2018146974A JP 7034860 B2 JP7034860 B2 JP 7034860B2
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- 235000007164 Oryza sativa Nutrition 0.000 claims description 98
- 235000009566 rice Nutrition 0.000 claims description 98
- 238000005259 measurement Methods 0.000 claims description 49
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000003028 elevating effect Effects 0.000 claims description 13
- 230000001174 ascending effect Effects 0.000 claims description 9
- 240000007594 Oryza sativa Species 0.000 claims 1
- 241000209094 Oryza Species 0.000 description 97
- 238000004891 communication Methods 0.000 description 48
- 238000000034 method Methods 0.000 description 24
- 238000001514 detection method Methods 0.000 description 16
- 238000012545 processing Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- 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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
-
- 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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/002—Devices for adjusting or regulating the position of tools or wheels
- A01B63/008—Vertical adjustment of tools
-
- 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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
-
- 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
-
- 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
- A01B79/00—Methods for working soil
- A01B79/005—Precision agriculture
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
-
- 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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
- B60K2025/022—Auxiliary drives directly from an engine shaft by a mechanical transmission
-
- 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
Description
7 無線通信端末
14 植付部(作業部)
18 植付クラッチ(作業クラッチ)
22 エンジン(駆動源)
32 昇降シリンダ(昇降装置)
80 制御部
81 記憶部
82 位置登録部
83 判定部
84 基準点特定部
85 方向特定部
86 候補点登録部
87 領域登録部
88 表示制御部
100 領域登録システム
Claims (4)
- 圃場の全体又は一部の領域を登録するために、作業車両に当該領域の外周を走行させて当該領域を登録する領域登録システムにおいて、
前記作業車両に取り付けられており、測位システムからの測位信号を受信する測位アンテナと、
前記測位信号に基づいて前記測位アンテナの位置であるアンテナ位置を計測点として登録する位置登録部と、
前記作業車両が前記領域の外周を走行している間の計測点であって、かつ、前記領域のコーナーに相当すると判定した位置であるコーナーアンテナ基準点を特定する基準点特定部と、
前記コーナーアンテナ基準点を通過した後の前記作業車両の旋回方向を特定する方向特定部と、
前記コーナーアンテナ基準点を、当該コーナーアンテナ基準点を計測した時点での前記作業車両の前方にオフセットさせるとともに、前記方向特定部が特定した旋回方向に応じて、当該作業車両の車幅方向の何れかにオフセットさせた位置をコーナー候補点として登録する候補点登録部と、
前記コーナー候補点を含む領域を登録可能な領域登録部と、
を備えることを特徴とする領域登録システム。 - 請求項1に記載の領域登録システムであって、
前記基準点特定部は、前記作業車両が前進から後進に切り替わったタイミングで取得された前記計測点を前記コーナーアンテナ基準点として特定することを特徴とする領域登録システム。 - 請求項1又は2に記載の領域登録システムであって、
前記作業車両は、
農作業を行う作業部と、
前記作業部を駆動する駆動部と、
前記駆動部の動力を前記作業部に伝達する伝達状態と、前記駆動部の動力を前記作業部に伝達しない遮断状態と、の間で切替可能な作業クラッチと、
を備え、
前記基準点特定部は、前記作業クラッチが前記伝達状態から前記遮断状態に切り替わったタイミングで取得された前記計測点を前記コーナーアンテナ基準点として特定することを特徴とする領域登録システム。 - 請求項1から3までの何れか一項に記載の領域登録システムであって、
前記作業車両は、苗を植え付ける植付部を備えた田植機であり、
前記植付部を下降させて植付作業を行う下降位置と、前記植付部を上昇させて植付作業を行わない上昇位置と、の間で当該植付部の高さを変更させる昇降装置を備え、
前記基準点特定部は、前記昇降装置が前記植付部を前記下降位置から上昇位置に変更させたタイミングで取得された前記計測点を前記コーナーアンテナ基準点として特定することを特徴とする領域登録システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018146974A JP7034860B2 (ja) | 2018-08-03 | 2018-08-03 | 領域登録システム |
US17/265,250 US20210302972A1 (en) | 2018-08-03 | 2019-06-21 | Region Registration System |
PCT/JP2019/024684 WO2020026638A1 (ja) | 2018-08-03 | 2019-06-21 | 領域登録システム |
CN201980050764.2A CN112512296A (zh) | 2018-08-03 | 2019-06-21 | 区域登记系统 |
KR1020207035414A KR20210038427A (ko) | 2018-08-03 | 2019-06-21 | 영역 등록 시스템 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018146974A JP7034860B2 (ja) | 2018-08-03 | 2018-08-03 | 領域登録システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020018270A JP2020018270A (ja) | 2020-02-06 |
JP7034860B2 true JP7034860B2 (ja) | 2022-03-14 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018146974A Active JP7034860B2 (ja) | 2018-08-03 | 2018-08-03 | 領域登録システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20210302972A1 (ja) |
JP (1) | JP7034860B2 (ja) |
KR (1) | KR20210038427A (ja) |
CN (1) | CN112512296A (ja) |
WO (1) | WO2020026638A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4801252B2 (ja) | 2000-12-19 | 2011-10-26 | ヤンマー株式会社 | 農業用作業車 |
JP5080855B2 (ja) | 2007-05-14 | 2012-11-21 | 株式会社クボタ | 作業車 |
JP2017127291A (ja) | 2016-01-22 | 2017-07-27 | ヤンマー株式会社 | 農業用作業車両 |
JP2017127289A (ja) | 2016-01-22 | 2017-07-27 | ヤンマー株式会社 | 農業用作業車両 |
US20180100740A1 (en) | 2016-10-10 | 2018-04-12 | Hanwha Techwin Co., Ltd. | Method and apparatus for planning path |
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DE102004031211A1 (de) * | 2004-06-28 | 2006-02-09 | Claas Selbstfahrende Erntemaschinen Gmbh | Verfahren und Vorrichtung zur Steuerung einer landwirtschaftlichen Arbeitsmaschine |
ATE518177T1 (de) * | 2005-10-07 | 2011-08-15 | Saab Ab | Verfahren und vorrichtung zur routenplanung |
DE102006015204A1 (de) * | 2006-03-30 | 2007-10-18 | Claas Selbstfahrende Erntemaschinen Gmbh | Verfahren zur Erstellung eines Routenplans für landwirtschaftliche Maschinensysteme |
US8060299B2 (en) * | 2007-02-28 | 2011-11-15 | Caterpillar Inc. | Machine with automated steering system |
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JP6219790B2 (ja) * | 2014-07-29 | 2017-10-25 | 株式会社クボタ | 作業車協調システム |
US9516806B2 (en) * | 2014-10-10 | 2016-12-13 | Irobot Corporation | Robotic lawn mowing boundary determination |
JP6502221B2 (ja) * | 2015-09-14 | 2019-04-17 | 株式会社クボタ | 作業車支援システム |
US9795074B2 (en) * | 2015-10-27 | 2017-10-24 | Cnh Industrial America Llc | Automatic swath generation device and methods |
US10070577B2 (en) * | 2016-02-09 | 2018-09-11 | Rowbot Systems Llc | Real-time field mapping for autonomous agricultural platform |
US10073457B2 (en) * | 2016-06-10 | 2018-09-11 | Cnh Industrial America Llc | Autoscaling rows of travel for an off-road vehicle |
EP3508045A4 (en) * | 2016-09-05 | 2020-04-22 | Kubota Corporation | AUTONOMOUS WORK VEHICLE DRIVING SYSTEM, ROUTE MANAGEMENT DEVICE, ROUTE GENERATION DEVICE AND ROUTE DETERMINATION DEVICE |
US11320279B2 (en) * | 2016-12-02 | 2022-05-03 | Kubota Corporation | Travel route management system and travel route determination device |
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-
2018
- 2018-08-03 JP JP2018146974A patent/JP7034860B2/ja active Active
-
2019
- 2019-06-21 KR KR1020207035414A patent/KR20210038427A/ko active Search and Examination
- 2019-06-21 WO PCT/JP2019/024684 patent/WO2020026638A1/ja active Application Filing
- 2019-06-21 CN CN201980050764.2A patent/CN112512296A/zh active Pending
- 2019-06-21 US US17/265,250 patent/US20210302972A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4801252B2 (ja) | 2000-12-19 | 2011-10-26 | ヤンマー株式会社 | 農業用作業車 |
JP5080855B2 (ja) | 2007-05-14 | 2012-11-21 | 株式会社クボタ | 作業車 |
JP2017127291A (ja) | 2016-01-22 | 2017-07-27 | ヤンマー株式会社 | 農業用作業車両 |
JP2017127289A (ja) | 2016-01-22 | 2017-07-27 | ヤンマー株式会社 | 農業用作業車両 |
US20180100740A1 (en) | 2016-10-10 | 2018-04-12 | Hanwha Techwin Co., Ltd. | Method and apparatus for planning path |
Also Published As
Publication number | Publication date |
---|---|
CN112512296A (zh) | 2021-03-16 |
US20210302972A1 (en) | 2021-09-30 |
KR20210038427A (ko) | 2021-04-07 |
WO2020026638A1 (ja) | 2020-02-06 |
JP2020018270A (ja) | 2020-02-06 |
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