JP7620728B2 - 農道識別システム、制御システムおよび農業機械 - Google Patents

農道識別システム、制御システムおよび農業機械 Download PDF

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Publication number
JP7620728B2
JP7620728B2 JP2023566203A JP2023566203A JP7620728B2 JP 7620728 B2 JP7620728 B2 JP 7620728B2 JP 2023566203 A JP2023566203 A JP 2023566203A JP 2023566203 A JP2023566203 A JP 2023566203A JP 7620728 B2 JP7620728 B2 JP 7620728B2
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Japan
Prior art keywords
road
work vehicle
farm
identification system
agricultural machine
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JP2023566203A
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English (en)
Japanese (ja)
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JPWO2023106071A1 (https=
JPWO2023106071A5 (https=
Inventor
隼輔 宮下
裕亮 村田
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Kubota Corp
Original Assignee
Kubota Corp
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Publication of JPWO2023106071A5 publication Critical patent/JPWO2023106071A5/ja
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    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • 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
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • 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
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • 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
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
    • 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
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • G05D2107/10—Outdoor regulated spaces
    • G05D2107/13—Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Economics (AREA)
  • Strategic Management (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Health & Medical Sciences (AREA)
  • Animal Husbandry (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Primary Health Care (AREA)
  • Mining & Mineral Resources (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Agronomy & Crop Science (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2023566203A 2021-12-06 2022-11-18 農道識別システム、制御システムおよび農業機械 Active JP7620728B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021197662 2021-12-06
JP2021197662 2021-12-06
PCT/JP2022/042918 WO2023106071A1 (ja) 2021-12-06 2022-11-18 農道識別システム、制御システムおよび農業機械

Publications (3)

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JPWO2023106071A1 JPWO2023106071A1 (https=) 2023-06-15
JPWO2023106071A5 JPWO2023106071A5 (https=) 2024-08-16
JP7620728B2 true JP7620728B2 (ja) 2025-01-23

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JP2023566203A Active JP7620728B2 (ja) 2021-12-06 2022-11-18 農道識別システム、制御システムおよび農業機械

Country Status (4)

Country Link
US (1) US12509091B2 (https=)
EP (1) EP4445707A4 (https=)
JP (1) JP7620728B2 (https=)
WO (1) WO2023106071A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024134233A (ja) * 2023-03-20 2024-10-03 トヨタ自動車株式会社 運行管理システム
CN117063714B (zh) * 2023-06-16 2026-03-27 石河子大学 一种基于点云图像联合的辣椒收获机运动参数控制方法
US20250331439A1 (en) * 2024-04-24 2025-10-30 Deere & Company Obstacle avoidance by automatically shifting a guidance line
JP2026066877A (ja) * 2024-10-07 2026-04-17 トヨタ自動車株式会社 車両製造システム、及び車両製造方法
CN119396151A (zh) * 2024-10-29 2025-02-07 中国热带农业科学院南亚热带作物研究所 一种丘陵山地机械通用作业动力平台实时路径校正方法
CN119142365B (zh) * 2024-11-11 2025-03-07 成都云智天下科技股份有限公司 一种智能公交车辆的自动驾驶与控制系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012167942A (ja) 2011-02-10 2012-09-06 Hitachi Ltd 最適経路検索システム及び最適経路検索方法
WO2018101351A1 (ja) 2016-12-02 2018-06-07 株式会社クボタ 走行経路管理システム及び走行経路決定装置
JP2019086438A (ja) 2017-11-08 2019-06-06 本田技研工業株式会社 地図生成サーバおよび地図生成方法
JP2020144101A (ja) 2019-01-25 2020-09-10 ベイジン バイドゥ ネットコム サイエンス アンド テクノロジー カンパニー リミテッド 走行経路を生成するための方法及び装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204426033U (zh) * 2015-01-21 2015-07-01 青岛农业大学 草莓采摘机器人
US10251329B2 (en) * 2016-06-10 2019-04-09 Cnh Industrial Canada, Ltd. Planning and control of autonomous agricultural operations
US10795351B2 (en) * 2016-07-19 2020-10-06 Raven Industries, Inc. System and method for autonomous control of agricultural machinery and equipment
CN109522787B (zh) * 2018-09-30 2020-10-09 广州地理研究所 一种基于遥感数据的细小道路识别方法
US11528837B2 (en) * 2019-03-08 2022-12-20 Climate Llc Real-time agricultural recommendations using weather sensing on equipment
JP2021029218A (ja) 2019-08-29 2021-03-01 井関農機株式会社 農道経路情報格納システムおよび作業車両
JP2021130401A (ja) 2020-02-20 2021-09-09 株式会社ジェイテクト ４輪駆動車の制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012167942A (ja) 2011-02-10 2012-09-06 Hitachi Ltd 最適経路検索システム及び最適経路検索方法
WO2018101351A1 (ja) 2016-12-02 2018-06-07 株式会社クボタ 走行経路管理システム及び走行経路決定装置
JP2019086438A (ja) 2017-11-08 2019-06-06 本田技研工業株式会社 地図生成サーバおよび地図生成方法
JP2020144101A (ja) 2019-01-25 2020-09-10 ベイジン バイドゥ ネットコム サイエンス アンド テクノロジー カンパニー リミテッド 走行経路を生成するための方法及び装置

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Publication number Publication date
JPWO2023106071A1 (https=) 2023-06-15
EP4445707A4 (en) 2025-04-23
EP4445707A1 (en) 2024-10-16
WO2023106071A1 (ja) 2023-06-15
US12509091B2 (en) 2025-12-30
US20240317238A1 (en) 2024-09-26

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