Title:
WORK VEHICLE AND METHOD FOR CONTROLLING WORK VEHICLE
Document Type and Number:
WIPO Patent Application WO/2023/243514
Kind Code:
A1
Abstract:
This work vehicle autonomously travels between multiple crop rows. The work vehicle is provided with: an external sensor for outputting sensor data showing a distribution of terrestrial objects around the work vehicle; and a control device for controlling the autonomous traveling of the work vehicle. The control device detects two crop rows present on both sides of the work vehicle on the basis of the sensor data and causes the work vehicle to autonomously travel along a passage between the two crop rows. When an end of at least the crop row, from among the two crop rows, that is located on the side corresponding to a turning direction is detected on the basis of the sensor data while traveling, the control device sets a ground-fixed coordinate system for making a turn and a target point of the turning. The control device controls the turn toward the target point on the basis of the coordinate system.
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Inventors:
TAMAI TAKUYA (JP)
KINOSHITA TOMOHIRO (JP)
KURODA KOICHI (JP)
KINOSHITA TOMOHIRO (JP)
KURODA KOICHI (JP)
Application Number:
PCT/JP2023/021173
Publication Date:
December 21, 2023
Filing Date:
June 07, 2023
Export Citation:
Assignee:
KUBOTA KK (JP)
International Classes:
A01B69/00; G01S17/86; G01S17/931; G05D1/02
Other References:
ISHIYAMA KENJI, SHIRO HONDA, HIROHISA IMAI: "Multi-purpose Autonomous Orchard Vehicles, Tree-shaping for Labor Saving, and Vehicle Management IoT System", YAMAHA MOTOR TECHNICAL REVIEW, vol. 56, no. 7, 1 December 2021 (2021-12-01), pages 30 - 37, XP093118994
HIDEYUKI NISHINO, FUKAO TAKANORI: "Development of an Automatic Fruit Harvesting Robot", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 39, no. 10, 1 December 2021 (2021-12-01), pages 892 - 895, XP093118997
HIRAMATSU YUJI, AKAMA SHUN-ICHI, UENOYAMA MASASHI, KANESHIRO TOMOKI, WATANABE TAKAHIRO: "Grape Harvesting Robot", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 39, no. 10, 1 December 2021 (2021-12-01), pages 896 - 900, XP093118999
TAKEDA JUN-ICHI: "Development on the autonomous mowing robot for orchard", GRANTS-IN-AID FOR SCIENTIFIC RESEARCH RESEARCH RESULTS REPORT, 18 June 2013 (2013-06-18), pages 1 - 5, XP093119006, Retrieved from the Internet [retrieved on 20240112]
MURAKAMI NORIYUKI: "Vehicles that can run unmanned at agricultural sites without using GPS", HOKKAIDO AGRICULTURAL RESEARCH CENTER 2013 RESULTS INFORMATION, NATIONAL AGRICULTURE AND FOOD RESEARCH ORGANIZATION, 1 January 2013 (2013-01-01), XP093119019, Retrieved from the Internet [retrieved on 20240112]
HIDEYUKI NISHINO, FUKAO TAKANORI: "Development of an Automatic Fruit Harvesting Robot", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 39, no. 10, 1 December 2021 (2021-12-01), pages 892 - 895, XP093118997
HIRAMATSU YUJI, AKAMA SHUN-ICHI, UENOYAMA MASASHI, KANESHIRO TOMOKI, WATANABE TAKAHIRO: "Grape Harvesting Robot", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 39, no. 10, 1 December 2021 (2021-12-01), pages 896 - 900, XP093118999
TAKEDA JUN-ICHI: "Development on the autonomous mowing robot for orchard", GRANTS-IN-AID FOR SCIENTIFIC RESEARCH RESEARCH RESULTS REPORT, 18 June 2013 (2013-06-18), pages 1 - 5, XP093119006, Retrieved from the Internet
MURAKAMI NORIYUKI: "Vehicles that can run unmanned at agricultural sites without using GPS", HOKKAIDO AGRICULTURAL RESEARCH CENTER 2013 RESULTS INFORMATION, NATIONAL AGRICULTURE AND FOOD RESEARCH ORGANIZATION, 1 January 2013 (2013-01-01), XP093119019, Retrieved from the Internet
Attorney, Agent or Firm:
OKUDA Seiji (JP)
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