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1. WO2018139024 - PATH GENERATION SYSTEM, AND AUTONOMOUS TRAVEL SYSTEM ENABLING WORK VEHICLE TO TRAVEL ALONG PATH GENERATED THEREWITH

Publication Number WO/2018/139024
Publication Date 02.08.2018
International Application No. PCT/JP2017/041941
International Filing Date 22.11.2017
IPC
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
A01B 69/00 2006.01
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
CPC
A01B 69/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
007Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
008automatic
G01C 21/34
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
G05D 1/0088
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0088characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
G05D 1/0219
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
0219ensuring the processing of the whole working surface
G05D 2201/0201
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0201Agriculture or harvesting machine
Applicants
  • ヤンマー株式会社 YANMAR CO., LTD. [JP]/[JP]
Inventors
  • 平松 敏史 HIRAMATSU, Toshifumi
Agents
  • 桂川 直己 KATSURAGAWA, Naoki
Priority Data
2017-01261627.01.2017JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) PATH GENERATION SYSTEM, AND AUTONOMOUS TRAVEL SYSTEM ENABLING WORK VEHICLE TO TRAVEL ALONG PATH GENERATED THEREWITH
(FR) SYSTÈME DE GÉNÉRATION DE TRAJET, ET SYSTÈME DE DÉPLACEMENT AUTONOME PERMETTANT À UN VÉHICULE DE TRAVAIL DE SE DÉPLACER LE LONG DU TRAJET GÉNÉRÉ AVEC CELUI-CI
(JA) 経路生成システム、及びそれによって生成された経路に沿って作業車両を走行させる自律走行システム
Abstract
(EN)
A work vehicle setting unit (36) of this path generation system (99) sets vehicle information of a tractor (1). An altitude information acquisition unit (56) acquires altitude information about an agricultural field in which an autonomous travel path is generated. A travel direction setting unit (57) sets the travel direction of the tractor (1) in the aforementioned agricultural field. A region setting unit (58) sets multiple regions, including a work region in which multiple autonomous work paths are generated parallel to the travel direction in the agricultural field, and a headland in which a connection path is generated connecting the aforementioned multiple autonomous work paths. On the basis of the vehicle information, the altitude information and the travel direction, the region setting unit (58) sets the width of the headland (the headland width) in the direction parallel to the direction of travel.
(FR)
L'invention concerne une unité de réglage de véhicule de travail (36) de ce système de génération de trajet (99) qui définit des informations de véhicule d'un tracteur (1). Une unité d'acquisition d'informations d'altitude (56) acquiert des informations d'altitude concernant un champ agricole dans lequel un trajet de déplacement autonome est généré. Une unité de réglage de direction de déplacement (57) règle la direction de déplacement du tracteur (1) dans le champ agricole susmentionné. Une unité de réglage de régions (58) définit de multiples régions, comprenant une région de travail dans laquelle de multiples trajets de travail autonomes sont générés parallèlement à la direction de déplacement dans le champ agricole, et une tournière dans laquelle un trajet de connexion est généré, reliant les multiples trajets de travail autonomes susmentionnés. Sur la base des informations de véhicule, des informations d'altitude et de la direction de déplacement, l'unité de réglage de régions (58) règle la largeur de la tournière (la largeur de la tournière) dans la direction parallèle à la direction de déplacement.
(JA)
経路生成システム(99)の作業車両設定部(36)は、トラクタ(1)の車両情報を設定する。高度情報取得部(56)は、自律走行経路が生成される圃場の高度情報を取得する。走行方向設定部(57)は、前記圃場におけるトラクタ(1)の走行方向を設定する。領域設定部(58)は、前記圃場に前記走行方向に平行な複数の自律作業路が生成される作業領域と前記複数の自律作業路同士を接続する接続路が生成される枕地を含む複数の領域を設定する。領域設定部(58)は、前記車両情報と前記高度情報と前記走行方向とに基づいて前記枕地における前記走行方向に平行な方向の幅(枕地幅)を設定する。
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