KR102283928B1 - 자율 주행 경로 생성 시스템 - Google Patents

자율 주행 경로 생성 시스템 Download PDF

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Publication number: KR102283928B1
Authority: KR; South Korea
Prior art keywords: path; work; obstacle; travel; tractor
Prior art date: 2016-05-10

Application number

KR1020217003434A

Other languages

English (en)

Korean (ko)

Other versions

KR20210016086A (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.)

2016-05-10

Filing date

2017-04-07

Publication date

2021-07-29

2016-05-10 Priority claimed from JP2016094513A external-priority patent/JP6739227B2/ja

2016-05-10 Priority claimed from JP2016094515A external-priority patent/JP6739228B2/ja

2016-05-24 Priority claimed from JP2016102978A external-priority patent/JP6692692B2/ja

2016-05-24 Priority claimed from JP2016102980A external-priority patent/JP6682354B2/ja

2017-04-07 Application filed by 얀마 파워 테크놀로지 가부시키가이샤 filed Critical 얀마 파워 테크놀로지 가부시키가이샤

2021-02-10 Publication of KR20210016086A publication Critical patent/KR20210016086A/ko

2021-07-29 Application granted granted Critical

2021-07-29 Publication of KR102283928B1 publication Critical patent/KR102283928B1/ko

Links

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Images

Classifications

- 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

Landscapes

Engineering & Computer Science (AREA)
Radar, Positioning & Navigation (AREA)
Automation & Control Theory (AREA)
Physics & Mathematics (AREA)
Remote Sensing (AREA)
General Physics & Mathematics (AREA)
Aviation & Aerospace Engineering (AREA)
Mechanical Engineering (AREA)
Transportation (AREA)
Human Computer Interaction (AREA)
Computer Vision & Pattern Recognition (AREA)
Multimedia (AREA)
Electromagnetism (AREA)
Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Guiding Agricultural Machines (AREA)

KR1020217003434A 2016-05-10 2017-04-07 자율 주행 경로 생성 시스템 KR102283928B1 (ko)

Applications Claiming Priority (10)

Application Number	Priority Date	Filing Date	Title
JP2016094513A JP6739227B2 (ja)	2016-05-10	2016-05-10	自律走行経路生成システム
JP2016094515A JP6739228B2 (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-2016-094513		2016-05-10
JPJP-P-2016-102978		2016-05-24
JPJP-P-2016-102980		2016-05-24
JP2016102978A JP6692692B2 (ja)	2016-05-24	2016-05-24	自律走行経路生成システム
JP2016102980A JP6682354B2 (ja)	2016-05-24	2016-05-24	自律走行経路生成システム
PCT/JP2017/014436 WO2017195510A1 (ja)	2016-05-10	2017-04-07	自律走行経路生成システム
KR1020207017172A KR20200075029A (ko)	2016-05-10	2017-04-07	자율 주행 경로 생성 시스템

Related Parent 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
KR20210016086A KR20210016086A (ko)	2021-02-10
KR102283928B1 true KR102283928B1 (ko)	2021-07-29

Family

ID=60267829

Family Applications (4)

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

Family Applications Before (2)

Application Number	Title	Priority Date	Filing Date
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 (1)

Application Number	Title	Priority Date	Filing Date
KR1020207004115A KR102126168B1 (ko)	2016-05-10	2017-04-07	자율 주행 경로 생성 시스템

Country Status (3)

Country	Link
KR (4)	KR102079890B1 (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
EP3800979B1 (en)	2018-05-25	2023-03-22	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***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***
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
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
CN112868367B (zh) *	2019-11-29	2024-07-09	株式会社久保田	自动行驶控制***、联合收割机、收获机
CN112868366A (zh) *	2019-11-29	2021-06-01	株式会社久保田	自动行驶控制*、自动行驶路径生成*、联合收割机
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
KR102669118B1 (ko) *	2021-12-29	2024-05-24	재단법인대구경북과학기술원	농업용 자율 주행 차량 관제 장치 및 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、***、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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2017
- 2017-04-07 KR KR1020187026558A patent/KR102079890B1/ko active Application Filing
- 2017-04-07 CN CN201780027984.4A patent/CN109074081A/zh active Pending
- 2017-04-07 CN CN202210633017.5A patent/CN114995427A/zh active Pending
- 2017-04-07 KR KR1020207017172A patent/KR20200075029A/ko active Application Filing
- 2017-04-07 KR KR1020217003434A patent/KR102283928B1/ko active IP Right Grant
- 2017-04-07 KR KR1020207004115A patent/KR102126168B1/ko active IP Right Grant
- 2017-04-07 WO PCT/JP2017/014436 patent/WO2017195510A1/ja active Application Filing

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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
WO2015118731A1 (ja)	2014-02-06	2015-08-13	ヤンマー株式会社	併走作業システムの制御装置
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
CN109074081A (zh)	2018-12-21
KR102126168B1 (ko)	2020-06-24
WO2017195510A1 (ja)	2017-11-16
KR20200018732A (ko)	2020-02-19
KR102079890B1 (ko)	2020-02-20
CN114995427A (zh)	2022-09-02
KR20180116319A (ko)	2018-10-24
KR20200075029A (ko)	2020-06-25
KR20210016086A (ko)	2021-02-10

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Date	Code	Title
2021-02-03	A107	Divisional application of patent
2021-03-03	A201	Request for examination
2021-04-27	E701	Decision to grant or registration of patent right
2021-07-26	GRNT	Written decision to grant

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KR102283928B1 (ko)	2021-07-29	자율 주행 경로 생성 시스템
KR102279839B1 (ko)	2021-07-20	경로 생성 시스템
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JP6682354B2 (ja)	2020-04-15	自律走行経路生成システム
KR102144244B1 (ko)	2020-08-12	경로 생성 장치
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