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1. WO2018159147 - TRAVEL ROUTE SPECIFICATION SYSTEM

Publication Number WO/2018/159147
Publication Date 07.09.2018
International Application No. PCT/JP2018/001575
International Filing Date 19.01.2018
IPC
G05D 1/02 2006.1
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 2006.1
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 69/00
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
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
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 1/0212
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
G05D 1/0268
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
0268using internal positioning means
G05D 1/0278
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
0276using signals provided by a source external to the vehicle
0278using satellite positioning signals, e.g. GPS
Applicants
  • ヤンマー株式会社 YANMAR CO., LTD. [JP]/[JP]
Inventors
  • 西井 康人 NISHII Yasuto
Agents
  • 宮地 正浩 MIYAJI Masahiro
Priority Data
2017-04043203.03.2017JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) TRAVEL ROUTE SPECIFICATION SYSTEM
(FR) SYSTÈME DE SPÉCIFICATION D'ITINÉRAIRE DE DÉPLACEMENT
(JA) 走行経路特定システム
Abstract
(EN)
The present invention flexibly determines a starting route in which autonomous travel is started. The present invention is provided with: a route generation unit that generates scheduled travel routes K1, K2 including a plurality of work routes K1 in which a work vehicle is caused to travel autonomously; a control unit that is able to cause a work vehicle 1 to travel autonomously along the scheduled travel routes K1, K2; an information acquisition unit that acquires position information and azimuth information of the work vehicle 1; and a specification unit that specifies an autonomous travel candidate route K3, in which the work vehicle 1 is able to start autonomous travel, prior to when the work vehicle 1 starts autonomous travel. The specification unit sets a candidate specification area P on the basis of the position information and the azimuth information of the work vehicle 1, and is able to specify, as the autonomous travel candidate route K3, the work route K1, included in a candidate specification area P3, of the plurality of work routes K1.
(FR)
La présente invention détermine de manière flexible un itinéraire de départ dans lequel un déplacement autonome est lancé. La présente invention comprend : une unité de génération d'itinéraires afin de générer des itinéraires de déplacement programmés (K1, K2) comprenant une pluralité d'itinéraires de travail (K1) dans lesquelles un véhicule de travail (1) est amené à se déplacer de manière autonome ; une unité de commande pouvant amener un véhicule de travail à se déplacer de manière autonome sur les itinéraires de déplacement programmés (K1, K2) ; une unité d'acquisition d'informations afin d'acquérir des informations de position et des informations d'azimut du véhicule de travail (1) ; une unité de spécification afin de spécifier un itinéraire candidat de déplacement autonome (K3), dans lequel le véhicule de travail (1) peut commencer un déplacement autonome, avant que le véhicule de travail (1) ne commence à se déplacer de manière autonome. L'unité de spécification délimite une zone de spécification candidate (P) à partir des informations de position et des informations d'azimut du véhicule de travail (1), et peut spécifier, en tant qu'itinéraire candidat de déplacement autonome (K3), l'itinéraire de travail (K1), compris dans une zone de spécification candidate (P3), de la pluralité d'itinéraires de travail (K1).
(JA)
自律走行を開始する開始経路を柔軟に決定すること。作業車両を自律走行させる複数の作業経路K1を含む予定走行経路K1、K2を生成する経路生成部と、作業車両1を各予定走行経路K1、K2に沿って自律走行させることが可能な制御部と、作業車両1の位置情報及び方位情報を取得する情報取得部と、作業車両1によって自律走行が開始される前に作業車両1が自律走行を開始することが可能な自律走行候補経路K3を特定する特定部とを備え、特定部は、作業車両1の位置情報及び方位情報に基づいて候補特定用領域Pを設定し、複数の作業経路K1の内、候補特定用領域P3に含まれる作業経路K1を自律走行候補経路K3として特定可能である。
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