KR102144244B1 - 경로 생성 장치 - Google Patents

경로 생성 장치 Download PDF

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Publication number
KR102144244B1
KR102144244B1 KR1020197029410A KR20197029410A KR102144244B1 KR 102144244 B1 KR102144244 B1 KR 102144244B1 KR 1020197029410 A KR1020197029410 A KR 1020197029410A KR 20197029410 A KR20197029410 A KR 20197029410A KR 102144244 B1 KR102144244 B1 KR 102144244B1
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KR
South Korea
Prior art keywords
area
work
work vehicle
travel
pavement
Prior art date
Application number
KR1020197029410A
Other languages
English (en)
Korean (ko)
Other versions
KR20190119150A (ko
Inventor
도시후미 히라마츠
Original Assignee
얀마 파워 테크놀로지 가부시키가이샤
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
Priority claimed from JP2016043415A external-priority patent/JP6507109B2/ja
Priority claimed from JP2016048461A external-priority patent/JP6557621B2/ja
Priority claimed from JP2016048462A external-priority patent/JP6557622B2/ja
Application filed by 얀마 파워 테크놀로지 가부시키가이샤 filed Critical 얀마 파워 테크놀로지 가부시키가이샤
Publication of KR20190119150A publication Critical patent/KR20190119150A/ko
Application granted granted Critical
Publication of KR102144244B1 publication Critical patent/KR102144244B1/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
    • G05D1/0231—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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • G05D1/0212—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
    • G05D1/0231—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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
KR1020197029410A 2016-03-07 2017-03-03 경로 생성 장치 KR102144244B1 (ko)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
JP2016043415A JP6507109B2 (ja) 2016-03-07 2016-03-07 作業車両の走行領域形状登録システム
JPJP-P-2016-043415 2016-03-07
JPJP-P-2016-048462 2016-03-11
JPJP-P-2016-048461 2016-03-11
JP2016048461A JP6557621B2 (ja) 2016-03-11 2016-03-11 経路生成装置
JP2016048462A JP6557622B2 (ja) 2016-03-11 2016-03-11 経路生成装置
PCT/JP2017/008481 WO2017154772A1 (ja) 2016-03-07 2017-03-03 経路生成装置

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020187021945A Division KR102113414B1 (ko) 2016-03-07 2017-03-03 경로 생성 장치

Publications (2)

Publication Number Publication Date
KR20190119150A KR20190119150A (ko) 2019-10-21
KR102144244B1 true KR102144244B1 (ko) 2020-08-12

Family

ID=59790294

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1020197029410A KR102144244B1 (ko) 2016-03-07 2017-03-03 경로 생성 장치
KR1020187021945A KR102113414B1 (ko) 2016-03-07 2017-03-03 경로 생성 장치

Family Applications After (1)

Application Number Title Priority Date Filing Date
KR1020187021945A KR102113414B1 (ko) 2016-03-07 2017-03-03 경로 생성 장치

Country Status (3)

Country Link
KR (2) KR102144244B1 (zh)
CN (2) CN108780318A (zh)
WO (1) WO2017154772A1 (zh)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6967958B2 (ja) * 2017-12-07 2021-11-17 株式会社クボタ 圃場作業支援端末、圃場作業機、および、圃場作業支援プログラム
KR20200096489A (ko) * 2017-12-20 2020-08-12 가부시끼 가이샤 구보다 작업차, 작업차를 위한 주행 경로 선택 시스템, 및 주행 경로 산출 시스템
JP6745784B2 (ja) * 2017-12-20 2020-08-26 株式会社クボタ 作業車
JP6929815B2 (ja) * 2018-03-27 2021-09-01 ヤンマーパワーテクノロジー株式会社 走行経路管理システム
DE102019201297B4 (de) * 2019-02-01 2021-03-18 Zf Friedrichshafen Ag Autonomer Betrieb eines Fahrzeugs innerhalb eines sicheren Arbeitsbereichs
WO2020176480A1 (en) * 2019-02-25 2020-09-03 Deka Products Limited Partnership System and method for surface feature detection and traversal
CN109828584A (zh) * 2019-03-01 2019-05-31 重庆润通智能装备有限公司 待割草坪移除、添加障碍物后的路径规划方法及系统
JP7407569B2 (ja) * 2019-11-26 2024-01-04 ヤンマーパワーテクノロジー株式会社 領域登録システム
JP7387544B2 (ja) * 2020-06-30 2023-11-28 株式会社クボタ 農作業車のための自動操舵管理システム
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
CN114305202B (zh) * 2020-09-30 2023-06-20 好样科技有限公司 一种自行走装置及其控制方法
GB2600101B (en) * 2020-10-16 2023-03-01 Micropply Ltd Method and system for identifying suitable zones for autonomous vehicle operation
TWI826777B (zh) * 2021-03-19 2023-12-21 國立陽明交通大學 畦田式無人載具自動導航系統及其方法
JP2023147898A (ja) * 2022-03-30 2023-10-13 ヤンマーホールディングス株式会社 制御装置及び作業車両
KR102592085B1 (ko) * 2023-02-02 2023-10-20 주식회사 긴트 농업용 차량의 정밀한 자율주행을 위한 ab주행 기준선 이동 가이드 시스템 및 이의 운용방법

Citations (2)

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WO2015147111A1 (ja) 2014-03-28 2015-10-01 ヤンマー株式会社 自律走行作業車両
JP2015195796A (ja) * 2014-06-30 2015-11-09 ヤンマー株式会社 併走作業システム

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JPS641012A (en) * 1987-06-24 1989-01-05 Matsushita Electric Ind Co Ltd Unattended working vehicle
JPH07253815A (ja) * 1994-03-15 1995-10-03 Minolta Co Ltd 自律走行作業車
JPH09212238A (ja) * 1996-01-31 1997-08-15 Shizukou Kk 自律走行清掃車両の走行経路設定装置
JP3656332B2 (ja) 1996-08-28 2005-06-08 独立行政法人農業・生物系特定産業技術研究機構 作業車両の無人走行による無人作業方法
CN102167038B (zh) * 2010-12-03 2013-09-04 北京农业信息技术研究中心 农田地块全区域覆盖最优作业路径生成方法及装置
CN103673937B (zh) * 2013-11-11 2017-06-20 安徽赛为信息技术有限责任公司 一种双重算法模式农机田作业面积的计算系统及其方法
JP2015146748A (ja) 2014-02-05 2015-08-20 ヤンマー株式会社 電動作業車両
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JP2015195796A (ja) * 2014-06-30 2015-11-09 ヤンマー株式会社 併走作業システム

Also Published As

Publication number Publication date
KR20180100355A (ko) 2018-09-10
WO2017154772A1 (ja) 2017-09-14
CN108780318A (zh) 2018-11-09
KR20190119150A (ko) 2019-10-21
KR102113414B1 (ko) 2020-05-20
CN114859915A (zh) 2022-08-05

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