JP7648650B2 - 移動体、制御ユニット、および移動体の動作を制御する方法 - Google Patents

移動体、制御ユニット、および移動体の動作を制御する方法 Download PDF

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JP7648650B2
JP7648650B2 JP2022563677A JP2022563677A JP7648650B2 JP 7648650 B2 JP7648650 B2 JP 7648650B2 JP 2022563677 A JP2022563677 A JP 2022563677A JP 2022563677 A JP2022563677 A JP 2022563677A JP 7648650 B2 JP7648650 B2 JP 7648650B2
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moving body
data
trunks
sensor
tractor
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JPWO2022107586A1 (https=
Inventor
純一 湯浅
隼輔 宮下
拓也 玉井
俊介 江戸
諒 倉田
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Kubota Corp
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Kubota Corp
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    • 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
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • 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
    • 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, 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2022563677A 2020-11-18 2021-11-01 移動体、制御ユニット、および移動体の動作を制御する方法 Active JP7648650B2 (ja)

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JP2020192013 2020-11-18
JP2020192013 2020-11-18
PCT/JP2021/040298 WO2022107586A1 (ja) 2020-11-18 2021-11-01 移動体、制御ユニット、および移動体の動作を制御する方法

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JP7688045B2 (ja) * 2020-11-18 2025-06-03 株式会社クボタ 移動体、制御ユニット、データ生成ユニット、移動体の動作を制御する方法、およびデータを生成する方法
WO2023243514A1 (ja) * 2022-06-17 2023-12-21 株式会社クボタ 作業車両、および作業車両の制御方法
JPWO2024135019A1 (https=) * 2022-12-21 2024-06-27
US20250209812A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
US20250204332A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
US20250204329A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method, system, and agricultural machine
US20250204331A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
US20250209600A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
US20250209599A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
US20250204330A1 (en) * 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
US20250205901A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
US20250204333A1 (en) 2023-12-26 2025-06-26 Kubota Corporation Method for generating cut point data, system for generating cut point data, and agricultural machine
WO2025154265A1 (ja) * 2024-01-19 2025-07-24 日本電気株式会社 位置推定システム、マップ生成システム、位置推定方法、マップ生成方法及びプログラム
WO2025182602A1 (ja) * 2024-03-01 2025-09-04 ソニーグループ株式会社 情報処理装置、情報処理方法、および移動体制御システム
JP2026005863A (ja) 2024-06-27 2026-01-16 株式会社クボタ 走行制御システム、作業車両および走行制御方法
JP2026005859A (ja) 2024-06-27 2026-01-16 株式会社クボタ 走行制御システム、作業車両および走行制御方法
JP2026005858A (ja) 2024-06-27 2026-01-16 株式会社クボタ 走行制御システム、作業車両および走行制御方法
JP2026005862A (ja) 2024-06-27 2026-01-16 株式会社クボタ 走行制御システム、作業車両、走行制御方法およびコンピュータプログラム
JP2026005861A (ja) 2024-06-27 2026-01-16 株式会社クボタ 走行制御システム、作業車両および走行制御方法

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