Title:
MOVING BODY, CONTROL UNIT, AND METHOD FOR CONTROLLING OPERATION OF MOVING BODY
Document Type and Number:
WIPO Patent Application WO/2022/107586
Kind Code:
A1
Abstract:
This invention achieves highly accurate positioning in an environment overgrown with multiple trees. A moving body moves between a plurality of rows of trees. The moving body comprises: one or more sensors that output sensor data indicating the distribution of objects in the environment around the moving body; a storage device that stores environment map data indicating the distribution of trunk parts of the plurality of rows of trees; a self-position estimation device; and a control device that controls the movement of the moving body in accordance with the position of the moving body estimated by the self-position estimation device. The self-position estimation device: detects the trunk parts of the rows of trees in the environment around the moving body on the basis of the sensor data repeatedly output from the one or more sensors while the moving body is moving; and estimates the position of the moving body by matching the detected trunk parts of the rows of trees and the environment map data.
Inventors:
YUASA JUNICHI (JP)
MIYASHITA SHUNSUKE (JP)
TAMAI TAKUYA (JP)
EDO SHUNSUKE (JP)
KURATA RYO (JP)
MIYASHITA SHUNSUKE (JP)
TAMAI TAKUYA (JP)
EDO SHUNSUKE (JP)
KURATA RYO (JP)
Application Number:
PCT/JP2021/040298
Publication Date:
May 27, 2022
Filing Date:
November 01, 2021
Export Citation:
Assignee:
KUBOTA KK (JP)
International Classes:
G05D1/02; A01B69/00; G01S17/42; G01S17/931
Domestic Patent References:
| WO2017208306A1 | 2017-12-07 |
Foreign References:
| JP2019152924A | 2019-09-12 | |||
| JP2018505426A | 2018-02-22 | |||
| JPH04176786A | 1992-06-24 | |||
| JP2010096752A | 2010-04-30 | |||
| JP2019170312A | 2019-10-10 | |||
| JP2016206876A | 2016-12-08 | |||
| JP2010072973A | 2010-04-02 | |||
| JP2019154378A | 2019-09-19 | |||
| JPH0443916U | 1992-04-14 | |||
| JP2019106940A | 2019-07-04 | |||
| JP2020104617A | 2020-07-09 | |||
| JP2020012680A | 2020-01-23 | |||
| JP2019154379A | 2019-09-19 |
Attorney, Agent or Firm:
OKUDA Seiji (JP)
Download PDF: