JP7811220B2 - 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 - Google Patents

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

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Publication number
JP7811220B2
JP7811220B2 JP2023570861A JP2023570861A JP7811220B2 JP 7811220 B2 JP7811220 B2 JP 7811220B2 JP 2023570861 A JP2023570861 A JP 2023570861A JP 2023570861 A JP2023570861 A JP 2023570861A JP 7811220 B2 JP7811220 B2 JP 7811220B2
Authority
JP
Japan
Prior art keywords
agricultural machine
field
work vehicle
area
search area
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
JP2023570861A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023127556A1 (https=
JPWO2023127556A5 (https=
Inventor
長浩 藤原
隼輔 宮下
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 JPWO2023127556A1 publication Critical patent/JPWO2023127556A1/ja
Publication of JPWO2023127556A5 publication Critical patent/JPWO2023127556A5/ja
Application granted granted Critical
Publication of JP7811220B2 publication Critical patent/JP7811220B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G05D1/2427—Means based on the reflection of waves generated by the vehicle for monitoring a zone of adjustable size or form
    • 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
    • G05D1/60—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
    • 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
    • G05D2111/17—Coherent light, e.g. laser signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
JP2023570861A 2021-12-27 2022-12-16 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 Active JP7811220B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021212578 2021-12-27
JP2021212578 2021-12-27
PCT/JP2022/046458 WO2023127556A1 (ja) 2021-12-27 2022-12-16 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

Publications (3)

Publication Number Publication Date
JPWO2023127556A1 JPWO2023127556A1 (https=) 2023-07-06
JPWO2023127556A5 JPWO2023127556A5 (https=) 2024-08-23
JP7811220B2 true JP7811220B2 (ja) 2026-02-04

Family

ID=86998872

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023570861A Active JP7811220B2 (ja) 2021-12-27 2022-12-16 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

Country Status (4)

Country Link
US (1) US20240337753A1 (https=)
EP (1) EP4434312A4 (https=)
JP (1) JP7811220B2 (https=)
WO (1) WO2023127556A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12498722B2 (en) 2023-08-02 2025-12-16 Kubota Corporation Turning control for autonomous agricultural vehicle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015191592A (ja) 2014-03-28 2015-11-02 ヤンマー株式会社 自律走行作業車両
JP2018113937A (ja) 2017-01-20 2018-07-26 株式会社クボタ 自動走行作業車
JP2019192024A (ja) 2018-04-26 2019-10-31 株式会社クボタ 作業車
US20210031681A1 (en) 2019-07-29 2021-02-04 Waymo Llc Maintaining road safety when there is a disabled autonomous vehicle
JP2021108606A (ja) 2020-01-14 2021-08-02 株式会社クボタ 作業機

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0649422B2 (ja) * 1986-12-22 1994-06-29 株式会社クボタ 農用トラクタの走行操作構造
EP3125059B1 (en) * 2014-03-26 2019-01-09 Yanmar Co., Ltd. Autonomous travel working vehicle
EP3125061B1 (en) * 2014-03-28 2019-06-12 Yanmar Co., Ltd. Autonomous travelling service vehicle
JP6942664B2 (ja) 2018-03-28 2021-09-29 ヤンマーパワーテクノロジー株式会社 作業車両の走行制御システム
DE102019111642B3 (de) * 2019-05-06 2020-06-04 Sick Ag Absichern der Umgebung eines Fahrzeugs
JP7509663B2 (ja) * 2020-11-12 2024-07-02 ヤンマーホールディングス株式会社 自律走行システム、自律走行方法、及び自律走行プログラム
JP7476093B2 (ja) * 2020-12-25 2024-04-30 株式会社クボタ 作業車両
US20240319323A1 (en) * 2021-12-21 2024-09-26 Intel Corporation Radar apparatus, system, and method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015191592A (ja) 2014-03-28 2015-11-02 ヤンマー株式会社 自律走行作業車両
JP2018113937A (ja) 2017-01-20 2018-07-26 株式会社クボタ 自動走行作業車
JP2019192024A (ja) 2018-04-26 2019-10-31 株式会社クボタ 作業車
US20210031681A1 (en) 2019-07-29 2021-02-04 Waymo Llc Maintaining road safety when there is a disabled autonomous vehicle
JP2021108606A (ja) 2020-01-14 2021-08-02 株式会社クボタ 作業機

Also Published As

Publication number Publication date
WO2023127556A1 (ja) 2023-07-06
EP4434312A1 (en) 2024-09-25
JPWO2023127556A1 (https=) 2023-07-06
EP4434312A4 (en) 2025-03-12
US20240337753A1 (en) 2024-10-10

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