JP7411018B2 - 作業車両の自動走行システム - Google Patents
作業車両の自動走行システム Download PDFInfo
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- JP7411018B2 JP7411018B2 JP2022094597A JP2022094597A JP7411018B2 JP 7411018 B2 JP7411018 B2 JP 7411018B2 JP 2022094597 A JP2022094597 A JP 2022094597A JP 2022094597 A JP2022094597 A JP 2022094597A JP 7411018 B2 JP7411018 B2 JP 7411018B2
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- control
- rice transplanter
- automatic
- work
- planting
- Prior art date
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- 241000209094 Oryza Species 0.000 description 220
- 235000007164 Oryza sativa Nutrition 0.000 description 220
- 235000009566 rice Nutrition 0.000 description 220
- 238000004891 communication Methods 0.000 description 56
- 230000008859 change Effects 0.000 description 55
- 238000000034 method Methods 0.000 description 36
- 230000005540 biological transmission Effects 0.000 description 35
- 230000008569 process Effects 0.000 description 28
- 238000001514 detection method Methods 0.000 description 10
- 238000012423 maintenance Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000005856 abnormality Effects 0.000 description 5
- 230000000881 depressing effect Effects 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000000994 depressogenic effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000003416 augmentation Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007562 laser obscuration time method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
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
-
- 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
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
-
- 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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
-
- 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
- A01B79/00—Methods for working soil
- A01B79/02—Methods for working soil combined with other agricultural processing, e.g. fertilising, planting
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/005—Following a specific plan, e.g. pattern
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/15—Agricultural vehicles
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/30—Auxiliary equipments
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/22—Agricultural vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Guiding Agricultural Machines (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Transplanting Machines (AREA)
Description
27から足を離すことで、田植機1の走行停止を指示することができる。
(1)パスサーチが完了していること
(2)ステアリング角度が田植機1の作業方向に対して所定範囲内であること
(3)田植機1の走行部が中立(ニュートラル)であること
(4)田植機1のパーキングブレーキがOFFであること
(5)ステアリング操作フラグがOFFであること
(6)速度固定フラグがOFFであること
(7)自動植付に関する異常が発生していないこと
ただし、これは例示であり、一部の条件が省略されたり、他の条件が付加されたりしてもよい。
14 植付部(作業部)
27 変速ペダル(車速操作部)
63 植付クラッチ(作業クラッチ)
69 作業部自動制御入切スイッチ(操作部)
135 走行経路
136 作業経路
137 旋回経路
E1 終点
Claims (3)
- 作業車両を自動走行させることが可能な作業車両の自動走行システムであって、
前記作業車両の旋回時における前記作業部の昇降制御を自動的に行う作業部自動制御の実行又は非実行を選択可能な操作部を備え、
前記作業車両が自動走行している場合においては、前記操作部により前記作業部自動制御の実行及び非実行の何れが選択されているかにかかわらず、前記作業部自動制御が実行されることを特徴とする作業車両の自動走行システム。 - 作業車両を自動走行させることが可能な作業車両の自動走行システムであって、
前記作業車両の旋回時における前記作業部の上昇制御を自動的に行う作業部自動制御の実行又は非実行を選択可能な操作部を備え、
前記作業車両が自動走行している場合においては、前記操作部により前記作業部自動制御の実行及び非実行の何れが選択されているかにかかわらず、前記作業部自動制御が実行されることを特徴とする自動走行システム。 - 作業車両を自動走行させることが可能な作業車両の自動走行システムであって、
前記作業車両の旋回時における前記作業部の下降制御を自動的に行う作業部自動制御の実行又は非実行を選択可能な操作部を備え、
前記作業車両が自動走行している場合においては、前記操作部により前記作業部自動制御の実行及び非実行の何れが選択されているかにかかわらず、前記作業部自動制御が実行されることを特徴とする自動走行システム。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022094597A JP7411018B2 (ja) | 2019-01-31 | 2022-06-10 | 作業車両の自動走行システム |
JP2023217165A JP2024026483A (ja) | 2019-01-31 | 2023-12-22 | 作業車両の自動走行システム |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019015895A JP7100792B2 (ja) | 2019-01-31 | 2019-01-31 | 作業車両の自動走行システム |
JP2022094597A JP7411018B2 (ja) | 2019-01-31 | 2022-06-10 | 作業車両の自動走行システム |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019015895A Division JP7100792B2 (ja) | 2019-01-31 | 2019-01-31 | 作業車両の自動走行システム |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023217165A Division JP2024026483A (ja) | 2019-01-31 | 2023-12-22 | 作業車両の自動走行システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022111360A JP2022111360A (ja) | 2022-07-29 |
JP7411018B2 true JP7411018B2 (ja) | 2024-01-10 |
Family
ID=71840513
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019015895A Active JP7100792B2 (ja) | 2019-01-31 | 2019-01-31 | 作業車両の自動走行システム |
JP2022094597A Active JP7411018B2 (ja) | 2019-01-31 | 2022-06-10 | 作業車両の自動走行システム |
JP2023217165A Pending JP2024026483A (ja) | 2019-01-31 | 2023-12-22 | 作業車両の自動走行システム |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019015895A Active JP7100792B2 (ja) | 2019-01-31 | 2019-01-31 | 作業車両の自動走行システム |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023217165A Pending JP2024026483A (ja) | 2019-01-31 | 2023-12-22 | 作業車両の自動走行システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220105960A1 (ja) |
EP (1) | EP3918893A4 (ja) |
JP (3) | JP7100792B2 (ja) |
KR (1) | KR20210118056A (ja) |
CN (1) | CN113347874A (ja) |
WO (1) | WO2020158298A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020109013A1 (de) * | 2020-04-01 | 2021-10-07 | Horsch Leeb Application Systems Gmbh | Verfahren zur Fahrspurplanung mehrerer landwirtschaftlicher Arbeitsmaschinen |
CN113120076A (zh) * | 2020-09-25 | 2021-07-16 | 丰疆智能(深圳)有限公司 | 农机自动调头方法、农机自动调头***和应用 |
US11822339B2 (en) * | 2021-06-30 | 2023-11-21 | Deere & Company | Predictive technique for dispensing product from tractor tool |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005198594A (ja) | 2004-01-16 | 2005-07-28 | Iseki & Co Ltd | 苗植機の苗植昇降制御装置 |
JP2012235702A (ja) | 2011-05-09 | 2012-12-06 | Yanmar Co Ltd | 田植機 |
JP2015029470A (ja) | 2013-08-02 | 2015-02-16 | 三菱農機株式会社 | 乗用型田植機 |
JP2016082946A (ja) | 2014-10-28 | 2016-05-19 | 井関農機株式会社 | 作業車両 |
JP2018000039A (ja) | 2016-06-28 | 2018-01-11 | 株式会社クボタ | 作業車 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4088780B2 (ja) | 2003-05-20 | 2008-05-21 | 井関農機株式会社 | 乗用型作業機 |
JP6896434B2 (ja) | 2017-01-24 | 2021-06-30 | 株式会社クボタ | 作業車 |
US10795378B2 (en) * | 2017-06-13 | 2020-10-06 | Verizon Patent And Licensing Inc. | Remote token-based control of autonomous vehicles |
US11937538B2 (en) * | 2018-06-21 | 2024-03-26 | Kubota Corporation | Work vehicle and grass mowing machine |
-
2019
- 2019-01-31 JP JP2019015895A patent/JP7100792B2/ja active Active
-
2020
- 2020-01-06 CN CN202080007942.6A patent/CN113347874A/zh active Pending
- 2020-01-06 US US17/427,047 patent/US20220105960A1/en active Pending
- 2020-01-06 KR KR1020217014139A patent/KR20210118056A/ko active Search and Examination
- 2020-01-06 WO PCT/JP2020/000062 patent/WO2020158298A1/ja unknown
- 2020-01-06 EP EP20749065.7A patent/EP3918893A4/en active Pending
-
2022
- 2022-06-10 JP JP2022094597A patent/JP7411018B2/ja active Active
-
2023
- 2023-12-22 JP JP2023217165A patent/JP2024026483A/ja active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005198594A (ja) | 2004-01-16 | 2005-07-28 | Iseki & Co Ltd | 苗植機の苗植昇降制御装置 |
JP2012235702A (ja) | 2011-05-09 | 2012-12-06 | Yanmar Co Ltd | 田植機 |
JP2015029470A (ja) | 2013-08-02 | 2015-02-16 | 三菱農機株式会社 | 乗用型田植機 |
JP2016082946A (ja) | 2014-10-28 | 2016-05-19 | 井関農機株式会社 | 作業車両 |
JP2018000039A (ja) | 2016-06-28 | 2018-01-11 | 株式会社クボタ | 作業車 |
Also Published As
Publication number | Publication date |
---|---|
JP7100792B2 (ja) | 2022-07-14 |
JP2020120637A (ja) | 2020-08-13 |
KR20210118056A (ko) | 2021-09-29 |
CN113347874A (zh) | 2021-09-03 |
EP3918893A1 (en) | 2021-12-08 |
EP3918893A4 (en) | 2022-10-26 |
JP2024026483A (ja) | 2024-02-28 |
JP2022111360A (ja) | 2022-07-29 |
US20220105960A1 (en) | 2022-04-07 |
WO2020158298A1 (ja) | 2020-08-06 |
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