JP7756174B2 - 地図生成システムおよび地図生成方法 - Google Patents

地図生成システムおよび地図生成方法

Info

Publication number
JP7756174B2
JP7756174B2 JP2023567593A JP2023567593A JP7756174B2 JP 7756174 B2 JP7756174 B2 JP 7756174B2 JP 2023567593 A JP2023567593 A JP 2023567593A JP 2023567593 A JP2023567593 A JP 2023567593A JP 7756174 B2 JP7756174 B2 JP 7756174B2
Authority
JP
Japan
Prior art keywords
data
types
map
road
work vehicle
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
JP2023567593A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023112515A5 (https=
JPWO2023112515A1 (https=
Inventor
隼輔 宮下
裕亮 村田
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.)
Kubota Corp
Original Assignee
Kubota Corp
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 Kubota Corp filed Critical Kubota Corp
Publication of JPWO2023112515A1 publication Critical patent/JPWO2023112515A1/ja
Publication of JPWO2023112515A5 publication Critical patent/JPWO2023112515A5/ja
Application granted granted Critical
Publication of JP7756174B2 publication Critical patent/JP7756174B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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]
    • G05D1/2462—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using feature-based mapping
    • 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
    • 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
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • 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
    • G05D1/20—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]
    • 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
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Geometry (AREA)
  • Processing Or Creating Images (AREA)
  • Image Processing (AREA)
JP2023567593A 2021-12-17 2022-10-28 地図生成システムおよび地図生成方法 Active JP7756174B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021205037 2021-12-17
JP2021205037 2021-12-17
PCT/JP2022/040394 WO2023112515A1 (ja) 2021-12-17 2022-10-28 地図生成システムおよび地図生成方法

Publications (3)

Publication Number Publication Date
JPWO2023112515A1 JPWO2023112515A1 (https=) 2023-06-22
JPWO2023112515A5 JPWO2023112515A5 (https=) 2024-08-19
JP7756174B2 true JP7756174B2 (ja) 2025-10-17

Family

ID=86774511

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023567593A Active JP7756174B2 (ja) 2021-12-17 2022-10-28 地図生成システムおよび地図生成方法

Country Status (4)

Country Link
US (1) US12585286B2 (https=)
EP (1) EP4443411A4 (https=)
JP (1) JP7756174B2 (https=)
WO (1) WO2023112515A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7799049B2 (ja) * 2022-05-13 2026-01-14 株式会社クボタ 経路計画システム
US12543620B2 (en) * 2023-11-10 2026-02-10 Exel Industries Navigation system for agricultural machine
JP7641551B1 (ja) 2024-03-25 2025-03-07 Ｈａｌｏｗｏｒｌｄ株式会社 マップ作成システム及び自動走行システム
US20250331439A1 (en) * 2024-04-24 2025-10-30 Deere & Company Obstacle avoidance by automatically shifting a guidance line
US20260023381A1 (en) * 2024-07-16 2026-01-22 Raven Industries, Inc. Landmarking navigation systems and methods for same

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170223889A1 (en) 2016-02-09 2017-08-10 Rowbot Systems Llc Real-time field mapping for autonomous agricultural platform
JP2017161987A (ja) 2016-03-07 2017-09-14 ヤンマー株式会社 作業車両の走行領域形状登録システム
CN110321184A (zh) 2018-03-29 2019-10-11 北京新唐思创教育科技有限公司 场景地图绘制方法及计算机存储介质
US20210018929A1 (en) 2019-07-16 2021-01-21 Lg Electronics Inc. Mobile robot and control method thereof

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6728608B2 (en) * 2002-08-23 2004-04-27 Applied Perception, Inc. System and method for the creation of a terrain density model
US8798840B2 (en) * 2011-09-30 2014-08-05 Irobot Corporation Adaptive mapping with spatial summaries of sensor data
KR101799977B1 (ko) * 2013-07-05 2017-11-22 한국기술교육대학교 산학협력단 로봇의 주행 제어 방법 및 그 장치
US10723027B2 (en) * 2017-09-26 2020-07-28 Toyota Research Institute, Inc. Robot systems incorporating cloud services systems
JP6735303B2 (ja) 2018-03-15 2020-08-05 ヤンマーパワーテクノロジー株式会社 作業車両および作物列認識プログラム
EP3647733A1 (en) * 2018-10-29 2020-05-06 Aptiv Technologies Limited Automatic annotation of environmental features in a map during navigation of a vehicle
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
JP2021073602A (ja) 2021-01-28 2021-05-13 ヤンマーパワーテクノロジー株式会社 自動走行システム及び状況報知装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170223889A1 (en) 2016-02-09 2017-08-10 Rowbot Systems Llc Real-time field mapping for autonomous agricultural platform
JP2017161987A (ja) 2016-03-07 2017-09-14 ヤンマー株式会社 作業車両の走行領域形状登録システム
CN110321184A (zh) 2018-03-29 2019-10-11 北京新唐思创教育科技有限公司 场景地图绘制方法及计算机存储介质
US20210018929A1 (en) 2019-07-16 2021-01-21 Lg Electronics Inc. Mobile robot and control method thereof

Also Published As

Publication number Publication date
WO2023112515A1 (ja) 2023-06-22
EP4443411A1 (en) 2024-10-09
US12585286B2 (en) 2026-03-24
EP4443411A4 (en) 2025-04-16
US20240329654A1 (en) 2024-10-03
JPWO2023112515A1 (https=) 2023-06-22

Similar Documents

Publication Publication Date Title
JP7775330B2 (ja) 自動運転を行う農業機械のための経路計画システム
JP7756174B2 (ja) 地図生成システムおよび地図生成方法
JP7766109B2 (ja) 自動走行を行う農業機械のための経路計画システムおよび経路計画方法
JP7799049B2 (ja) 経路計画システム
JP7620728B2 (ja) 農道識別システム、制御システムおよび農業機械
JPWO2023112515A5 (https=)
JP7789918B2 (ja) 作業車両、制御方法および制御システム
JP7766111B2 (ja) 農業機械、農業機械に用いるセンシングシステムおよびセンシング方法
WO2023119996A1 (ja) 障害物検出システム、農業機械および障害物検出方法
US20250117021A1 (en) Travel control system, agricultural machine and travel control method
EP4501091B1 (en) Turning control for autonomous agricultural vehicle
EP4501092B1 (en) Turning control for autonomous agricultural vehicle
JP7801445B2 (ja) 農業管理システム
JP7680986B2 (ja) 経路生成システム、農業機械および経路生成方法
US20240337753A1 (en) Agricultural machine, sensing system for use in agricultural machine, and sensing method
JP7709409B2 (ja) 農業機械の自動走行のための経路生成システムおよび経路生成方法
JP7793055B2 (ja) 農業機械の自動走行のための経路生成システムおよび経路生成方法
US20250143200A1 (en) Travel control system, travel control method, and computer program

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240605

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20240605

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20250401

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250530

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20250708

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250905

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250930

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20251006

R150 Certificate of patent or registration of utility model

Ref document number: 7756174

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150