KR102126168B1 - 자율 주행 경로 생성 시스템 - Google Patents

자율 주행 경로 생성 시스템 Download PDF

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Publication number
KR102126168B1
KR102126168B1 KR1020207004115A KR20207004115A KR102126168B1 KR 102126168 B1 KR102126168 B1 KR 102126168B1 KR 1020207004115 A KR1020207004115 A KR 1020207004115A KR 20207004115 A KR20207004115 A KR 20207004115A KR 102126168 B1 KR102126168 B1 KR 102126168B1
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KR
South Korea
Prior art keywords
path
work
tractor
travel path
obstacle
Prior art date
Application number
KR1020207004115A
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English (en)
Korean (ko)
Other versions
KR20200018732A (ko
Inventor
도시후미 히라마츠
Original Assignee
얀마 파워 테크놀로지 가부시키가이샤
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Publication date
Priority claimed from JP2016094515A external-priority patent/JP6739228B2/ja
Priority claimed from JP2016094513A external-priority patent/JP6739227B2/ja
Priority claimed from JP2016102980A external-priority patent/JP6682354B2/ja
Priority claimed from JP2016102978A external-priority patent/JP6692692B2/ja
Application filed by 얀마 파워 테크놀로지 가부시키가이샤 filed Critical 얀마 파워 테크놀로지 가부시키가이샤
Publication of KR20200018732A publication Critical patent/KR20200018732A/ko
Application granted granted Critical
Publication of KR102126168B1 publication Critical patent/KR102126168B1/ko

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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
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
KR1020207004115A 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템 KR102126168B1 (ko)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
JP2016094515A JP6739228B2 (ja) 2016-05-10 2016-05-10 自律走行経路生成システム
JPJP-P-2016-094513 2016-05-10
JP2016094513A JP6739227B2 (ja) 2016-05-10 2016-05-10 自律走行経路生成システム
JPJP-P-2016-094515 2016-05-10
JPJP-P-2016-102978 2016-05-24
JP2016102980A JP6682354B2 (ja) 2016-05-24 2016-05-24 自律走行経路生成システム
JP2016102978A JP6692692B2 (ja) 2016-05-24 2016-05-24 自律走行経路生成システム
JPJP-P-2016-102980 2016-05-24
PCT/JP2017/014436 WO2017195510A1 (ja) 2016-05-10 2017-04-07 自律走行経路生成システム

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020187026558A Division KR102079890B1 (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020207017172A Division KR20200075029A (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템

Publications (2)

Publication Number Publication Date
KR20200018732A KR20200018732A (ko) 2020-02-19
KR102126168B1 true KR102126168B1 (ko) 2020-06-24

Family

ID=60267829

Family Applications (4)

Application Number Title Priority Date Filing Date
KR1020207004115A KR102126168B1 (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템
KR1020217003434A KR102283928B1 (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템
KR1020187026558A KR102079890B1 (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템
KR1020207017172A KR20200075029A (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템

Family Applications After (3)

Application Number Title Priority Date Filing Date
KR1020217003434A KR102283928B1 (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템
KR1020187026558A KR102079890B1 (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템
KR1020207017172A KR20200075029A (ko) 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템

Country Status (3)

Country Link
KR (4) KR102126168B1 (zh)
CN (2) CN109074081A (zh)
WO (1) WO2017195510A1 (zh)

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JP6919531B2 (ja) * 2017-11-30 2021-08-18 井関農機株式会社 作業車両
US11350563B2 (en) 2018-05-25 2022-06-07 The Toro Company Autonomous grounds maintenance machines with path planning for trap and obstacle avoidance
WO2020171229A1 (ja) * 2019-02-22 2020-08-27 株式会社ナイルワークス ドローン操縦機、および、操縦用プログラム
KR102049937B1 (ko) * 2019-03-11 2019-11-28 엘에스엠트론 주식회사 농작업차량 자동제어 시스템
CN110209154B (zh) * 2019-04-09 2022-10-14 丰疆智能科技股份有限公司 自动收割机的残留收割路径规划系统及其方法
CN110057364B (zh) * 2019-04-30 2020-08-07 盐城工业职业技术学院 一种水田拖拉机位姿检测和偏航角提取方法及装置
KR102168104B1 (ko) * 2019-05-24 2020-10-21 장진만 농업용기계의 자율 주행 방법
CN110502021B (zh) * 2019-09-24 2022-07-15 一米信息服务(北京)有限公司 一种农机作业路径规划方法及系统
JP7237788B2 (ja) * 2019-09-26 2023-03-13 株式会社クボタ 作業車両
JP7358163B2 (ja) * 2019-09-30 2023-10-10 株式会社小松製作所 制御システム、作業車両の制御方法、および、作業車両
KR102304098B1 (ko) * 2019-11-05 2021-09-23 대한민국 영상 기반 경로 인식 및 조향각 산출 기술을 지원하는 자율 주행 농기계 장치 및 그 동작 방법
KR20210067930A (ko) * 2019-11-29 2021-06-08 가부시끼 가이샤 구보다 자동 주행 제어 시스템, 자동 주행 경로 생성 시스템 및 콤바인
CN110825091A (zh) * 2019-11-29 2020-02-21 洛阳中科龙网创新科技有限公司 一种基于无人机的智能拖拉机智能选路方法及装置
CN113448324B (zh) * 2020-03-09 2023-08-04 北京合众思壮科技股份有限公司 路径规划方法、装置、电子设备和存储介质
SE2050727A1 (en) * 2020-06-17 2021-12-18 Husqvarna Ab Methods of navigating a self-propelled robotic tool, and robotic tools, and computer pograms implementing such methods
CN111854744A (zh) * 2020-07-17 2020-10-30 无锡卡尔曼导航技术有限公司 一种gnss单点定位和惯性导航割草机的运行方法
CN114475602B (zh) * 2020-11-12 2023-05-09 宇通客车股份有限公司 一种车辆、车辆调头方法及装置
CN115016451A (zh) * 2021-03-05 2022-09-06 广东博智林机器人有限公司 机器人作业轨迹规划方法、装置、计算机设备和存储介质
US11622495B2 (en) 2021-06-01 2023-04-11 Gint Co., Ltd. Method of automatically combining farm vehicle and work machine and farm vehicle
CN113678587B (zh) * 2021-08-09 2023-04-14 华南农业大学 一种无人驾驶水稻中耕除草机及其作业方法
CN113804212B (zh) * 2021-08-23 2022-07-26 上海联适导航技术股份有限公司 一种耙地作业的路径规划方法及装置
KR20230049792A (ko) 2021-10-06 2023-04-14 대한민국(농촌진흥청장) 농기계 제어를 위한 자율 주행 장치, 이를 포함하는 농기계 및 자율 주행 방법
CN115290095A (zh) * 2022-09-28 2022-11-04 陕西耕辰科技有限公司 一种农机作业路径自动规划方法、系统、农机及存储介质
KR102592085B1 (ko) * 2023-02-02 2023-10-20 주식회사 긴트 농업용 차량의 정밀한 자율주행을 위한 ab주행 기준선 이동 가이드 시스템 및 이의 운용방법
CN116149337B (zh) * 2023-04-14 2023-07-07 未岚大陆(北京)科技有限公司 割草控制方法、设置方法、割草机、设置装置和电子设备

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JP2016021181A (ja) * 2014-07-15 2016-02-04 シャープ株式会社 自走式電子機器

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JP6189779B2 (ja) * 2014-03-27 2017-08-30 株式会社クボタ 作業車協調システム
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Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2011254704A (ja) * 2010-06-04 2011-12-22 Chugoku Electric Power Co Inc:The 自動耕作方法、及び自動耕作システム
JP2016021181A (ja) * 2014-07-15 2016-02-04 シャープ株式会社 自走式電子機器

Also Published As

Publication number Publication date
WO2017195510A1 (ja) 2017-11-16
CN109074081A (zh) 2018-12-21
KR102283928B1 (ko) 2021-07-29
KR20200018732A (ko) 2020-02-19
KR20200075029A (ko) 2020-06-25
KR20210016086A (ko) 2021-02-10
CN114995427A (zh) 2022-09-02
KR102079890B1 (ko) 2020-02-20
KR20180116319A (ko) 2018-10-24

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