JP7789918B2 - 作業車両、制御方法および制御システム - Google Patents

作業車両、制御方法および制御システム

Info

Publication number
JP7789918B2
JP7789918B2 JP2024530397A JP2024530397A JP7789918B2 JP 7789918 B2 JP7789918 B2 JP 7789918B2 JP 2024530397 A JP2024530397 A JP 2024530397A JP 2024530397 A JP2024530397 A JP 2024530397A JP 7789918 B2 JP7789918 B2 JP 7789918B2
Authority
JP
Japan
Prior art keywords
work vehicle
implement
control device
contact
work
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
JP2024530397A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2024004486A1 (https=
JPWO2024004486A5 (https=
Inventor
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 JPWO2024004486A1 publication Critical patent/JPWO2024004486A1/ja
Publication of JPWO2024004486A5 publication Critical patent/JPWO2024004486A5/ja
Application granted granted Critical
Publication of JP7789918B2 publication Critical patent/JP7789918B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles
    • 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
    • G05D1/622—Obstacle avoidance
    • 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
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/672—Positioning of towed, pushed or suspended implements, e.g. ploughs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/20—Details of software or hardware architectures used for the control of position using external object recognition
    • 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
    • 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)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2024530397A 2022-06-29 2023-05-29 作業車両、制御方法および制御システム Active JP7789918B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022104117 2022-06-29
JP2022104117 2022-06-29
PCT/JP2023/019973 WO2024004486A1 (ja) 2022-06-29 2023-05-29 作業車両、制御方法および制御システム

Publications (3)

Publication Number Publication Date
JPWO2024004486A1 JPWO2024004486A1 (https=) 2024-01-04
JPWO2024004486A5 JPWO2024004486A5 (https=) 2025-02-27
JP7789918B2 true JP7789918B2 (ja) 2025-12-22

Family

ID=89382753

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024530397A Active JP7789918B2 (ja) 2022-06-29 2023-05-29 作業車両、制御方法および制御システム

Country Status (4)

Country Link
US (1) US20250120330A1 (https=)
EP (1) EP4538819A4 (https=)
JP (1) JP7789918B2 (https=)
WO (1) WO2024004486A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250331439A1 (en) * 2024-04-24 2025-10-30 Deere & Company Obstacle avoidance by automatically shifting a guidance line
US20260013429A1 (en) * 2024-07-09 2026-01-15 Deere & Company Remote attribute monitoring during an agricultural operation based on priority
EP4706367A1 (en) * 2024-09-09 2026-03-11 AGCO International GmbH Methods of generating a map of anomalies in agricultural fields, and related agricultural vehicles
EP4706366A1 (en) * 2024-09-09 2026-03-11 AGCO International GmbH Methods of detecting anomalies associated with agricultural implements, and related agricultural machines

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017228155A (ja) 2016-06-23 2017-12-28 株式会社クボタ 走行支援システム及び作業車
JP2019101931A (ja) 2017-12-06 2019-06-24 ヤンマー株式会社 走行経路設定装置
CN112492956A (zh) 2020-11-26 2021-03-16 江苏沃得植保机械有限公司 一种割草机及其自动驾驶方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6919531B2 (ja) * 2017-11-30 2021-08-18 井関農機株式会社 作業車両
US11277956B2 (en) * 2018-07-26 2022-03-22 Bear Flag Robotics, Inc. Vehicle controllers for agricultural and industrial applications
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
EP4149836B1 (en) * 2020-05-14 2026-02-25 Raven Industries, Inc. Obstacle monitoring systems and methods for same
JP7622071B2 (ja) 2020-08-20 2025-01-27 株式会社クボタ 作業機
US20230389458A1 (en) * 2022-06-01 2023-12-07 Deere & Company System and method for field object detection, mapping, and avoidance

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017228155A (ja) 2016-06-23 2017-12-28 株式会社クボタ 走行支援システム及び作業車
JP2019101931A (ja) 2017-12-06 2019-06-24 ヤンマー株式会社 走行経路設定装置
CN112492956A (zh) 2020-11-26 2021-03-16 江苏沃得植保机械有限公司 一种割草机及其自动驾驶方法

Also Published As

Publication number Publication date
EP4538819A1 (en) 2025-04-16
EP4538819A4 (en) 2025-08-06
JPWO2024004486A1 (https=) 2024-01-04
WO2024004486A1 (ja) 2024-01-04
US20250120330A1 (en) 2025-04-17

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