JP7627199B2 - 自動走行方法、作業車両及び自動走行システム - Google Patents

自動走行方法、作業車両及び自動走行システム Download PDF

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Publication number
JP7627199B2
JP7627199B2 JP2021150935A JP2021150935A JP7627199B2 JP 7627199 B2 JP7627199 B2 JP 7627199B2 JP 2021150935 A JP2021150935 A JP 2021150935A JP 2021150935 A JP2021150935 A JP 2021150935A JP 7627199 B2 JP7627199 B2 JP 7627199B2
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Japan
Prior art keywords
driving
unit
automatic
work
area
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JP2021150935A
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English (en)
Japanese (ja)
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JP2023043362A (ja
Inventor
昇圭 李
武利 中平
昌章 村山
康永 大森
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.)
Yanmar Holdings Co Ltd
Original Assignee
Yanmar Holdings Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yanmar Holdings Co Ltd filed Critical Yanmar Holdings Co Ltd
Priority to JP2021150935A priority Critical patent/JP7627199B2/ja
Priority to KR1020220099042A priority patent/KR20230040877A/ko
Priority to EP22193933.3A priority patent/EP4151063A1/en
Priority to CN202211121020.5A priority patent/CN115826567A/zh
Priority to US17/945,985 priority patent/US20230085285A1/en
Publication of JP2023043362A publication Critical patent/JP2023043362A/ja
Priority to JP2025010190A priority patent/JP2025061783A/ja
Application granted granted Critical
Publication of JP7627199B2 publication Critical patent/JP7627199B2/ja
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • 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
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/14—Mowing tables
    • A01D41/141—Automatic header control
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/14—Mowing tables
    • A01D41/145—Header lifting devices
    • 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
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • 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
    • 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
    • B60Y2200/222—Harvesters
    • 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)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)
JP2021150935A 2021-09-16 2021-09-16 自動走行方法、作業車両及び自動走行システム Active JP7627199B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2021150935A JP7627199B2 (ja) 2021-09-16 2021-09-16 自動走行方法、作業車両及び自動走行システム
KR1020220099042A KR20230040877A (ko) 2021-09-16 2022-08-09 자동 주행 방법, 작업 차량, 및 자동 주행 시스템
EP22193933.3A EP4151063A1 (en) 2021-09-16 2022-09-05 Automatic traveling method, work vehicle, and automatic traveling system
CN202211121020.5A CN115826567A (zh) 2021-09-16 2022-09-15 自动行驶方法、作业车辆以及自动行驶系统
US17/945,985 US20230085285A1 (en) 2021-09-16 2022-09-15 Automatic Traveling Method, Work Vehicle, And Automatic Traveling System
JP2025010190A JP2025061783A (ja) 2021-09-16 2025-01-24 自動走行方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021150935A JP7627199B2 (ja) 2021-09-16 2021-09-16 自動走行方法、作業車両及び自動走行システム

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2025010190A Division JP2025061783A (ja) 2021-09-16 2025-01-24 自動走行方法

Publications (2)

Publication Number Publication Date
JP2023043362A JP2023043362A (ja) 2023-03-29
JP7627199B2 true JP7627199B2 (ja) 2025-02-05

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JP2021150935A Active JP7627199B2 (ja) 2021-09-16 2021-09-16 自動走行方法、作業車両及び自動走行システム
JP2025010190A Pending JP2025061783A (ja) 2021-09-16 2025-01-24 自動走行方法

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JP2025010190A Pending JP2025061783A (ja) 2021-09-16 2025-01-24 自動走行方法

Country Status (5)

Country Link
US (1) US20230085285A1 (enExample)
EP (1) EP4151063A1 (enExample)
JP (2) JP7627199B2 (enExample)
KR (1) KR20230040877A (enExample)
CN (1) CN115826567A (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021040603A (ja) * 2019-09-13 2021-03-18 株式会社 神崎高級工機製作所 自動走行機能付き芝刈車両
JP7434127B2 (ja) * 2020-09-16 2024-02-20 株式会社クボタ 作業機

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003009626A (ja) 2001-06-28 2003-01-14 Yanmar Agricult Equip Co Ltd 作業車
JP2019103467A (ja) 2017-12-14 2019-06-27 株式会社クボタ 圃場作業機
JP2020022397A (ja) 2018-08-07 2020-02-13 株式会社クボタ 収穫機

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5685514U (enExample) * 1979-12-03 1981-07-09
JPS5769529U (enExample) * 1980-10-17 1982-04-26
JP6312416B2 (ja) * 2013-12-12 2018-04-18 株式会社クボタ 圃場作業機
JP6643091B2 (ja) 2016-01-13 2020-02-12 株式会社クボタ 農作業機
JP7174484B2 (ja) * 2017-12-18 2022-11-17 株式会社クボタ 農作業車
JP7113708B2 (ja) * 2018-09-19 2022-08-05 株式会社クボタ 圃場作業車
JP7042732B2 (ja) * 2018-11-30 2022-03-28 株式会社クボタ 自動操舵システムおよび自動操舵方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003009626A (ja) 2001-06-28 2003-01-14 Yanmar Agricult Equip Co Ltd 作業車
JP2019103467A (ja) 2017-12-14 2019-06-27 株式会社クボタ 圃場作業機
JP2020022397A (ja) 2018-08-07 2020-02-13 株式会社クボタ 収穫機

Also Published As

Publication number Publication date
US20230085285A1 (en) 2023-03-16
JP2025061783A (ja) 2025-04-11
EP4151063A1 (en) 2023-03-22
KR20230040877A (ko) 2023-03-23
JP2023043362A (ja) 2023-03-29
CN115826567A (zh) 2023-03-21

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