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1. WO2018163615 - ROUTE GENERATION SYSTEM

Publication Number WO/2018/163615
Publication Date 13.09.2018
International Application No. PCT/JP2018/001574
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
A01B 79/005
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
79Methods for working soil
005Precision agriculture
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 1/0219
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
Applicants
  • ヤンマー株式会社 YANMAR CO., LTD. [JP]/[JP]
Inventors
  • 平松 敏史 HIRAMATSU Toshifumi
Agents
  • 宮地 正浩 MIYAJI Masahiro
Priority Data
2017-04478609.03.2017JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROUTE GENERATION SYSTEM
(FR) SYSTÈME DE GÉNÉRATION D'ITINÉRAIRE
(JA) 経路生成システム
Abstract
(EN) The present invention generates a connecting route that corresponds with the shape of a non-work area. The present invention comprises a route generation unit that generates a travel route for autonomous travel by a work vehicle in a work region and a non-work region, and a direction setting unit for setting the direction of travel of the work vehicle in the work region. The route generation unit generates a route comprising a plurality of work routes P1, P2 in which autonomous work is carried out by a work vehicle in the work region, and a plurality of connecting routes Q which are travel routes whereby a work vehicle performs autonomous travel in the non-work region and which connect the work routes P1 and P2. The route generation unit can generate, as the connecting route Q, a route comprising a first turning route Q1, a second turning route Q3, and a straight-ahead route Q2 that is set between the first turning route Q1 and second turning route Q3, and can generate the straight-ahead route Q2 so that the direction of travel and the straight-ahead route Q2 will not be perpendicular to one another.
(FR) La présente invention génère un itinéraire de liaison qui correspond à la forme d'une zone de non-travail. La présente invention comprend une unité de génération d'itinéraire qui génère un itinéraire de déplacement pour un déplacement autonome d'un véhicule de travail dans une région de travail et une région de non-travail, et une unité de définition de direction pour définir la direction de déplacement du véhicule de travail dans la région de travail. L'unité de génération d'itinéraire génère un itinéraire comprenant une pluralité d'itinéraires de travail P1, P2 dans lesquels un travail autonome est effectué par un véhicule de travail dans la région de travail, et une pluralité d'itinéraires de liaison Q qui sont des itinéraires de déplacement moyennant lesquels un véhicule de travail effectue un déplacement autonome dans la région de non-travail et qui relient les itinéraires de travail P1 et P2. L'unité de génération d'itinéraire peut générer, en tant qu'itinéraire de liaison Q, un itinéraire comprenant un premier itinéraire de virage Q1, un second itinéraire de virage Q3, et un itinéraire en ligne droite Q2 qui est défini entre le premier itinéraire de virage Q1 et le second itinéraire de virage Q3, et peut générer l'itinéraire en ligne droite Q2 de telle sorte que la direction de déplacement et l'itinéraire en ligne droite Q2 ne seront pas perpendiculaires l'un à l'autre.
(JA) 非作業領域の形状に応じた接続経路を生成すること。作業領域及び非作業領域において作業車両により自律走行される走行経路を生成する経路生成部と、作業領域における作業車両の進行方向を設定する方向設定部とを備え、経路生成部は、作業領域内において作業車両により自律作業が行われる複数の作業経路P1、P2と、非作業領域において作業車両により自律走行が行われる走行経路であって各作業経路P1、P2を接続する複数の接続経路Qとを含む経路を生成するものであり、経路生成部は、接続経路Qとして、第1旋回経路Q1と、第2旋回経路Q3と、第1旋回経路Q1と第2旋回経路Q3との間に設定される直進経路Q2とを含む経路を生成可能であって、且つ、進行方向と直進経路Q2とが直交しないように直進経路Q2を生成可能である。
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