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1. 发明公开

EP3854191A1 FIELD WORK VEHICLE 审中-实审
公开(公告)号：EP3854191A1
公开(公告)日：2021-07-28
申请号：EP19861931.4
申请日：2019-09-13
申请人： Kubota Corporation
发明人： YUASA, Junichi , MATSUZAKI, Yushi , ISHIKAWA Shinnosuke
IPC分类号： A01B69/00
摘要： There is provided an agricultural field work vehicle capable of entering a work travel path intended by the driver in transition from manual turn travel to autonomous work travel. An agricultural field work vehicle includes (i) an autonomous travel control section 511 configured to cause the agricultural field work vehicle to perform autonomous travel on the basis of work travel paths and the position of the agricultural field work vehicle, (ii) a manual travel control section 512 configured to control manual travel of the agricultural field work vehicle along a turn travel path, (iii) a destination travel path singling-out section 64 configured to single out a destination work travel path from among a group of candidates of destination work travel paths that the agricultural field work vehicle is able to enter from the turn travel path through which the agricultural field work vehicle is driven manually, (iv) a notification device 40 configured to notify the driver of path notification information, which is information on the work travel paths, which include the destination work travel path singled out, and (v) an autonomous travel start operation tool 92 for use to instruct the agricultural field work vehicle to switch from controlling the manual travel to controlling the autonomous travel.

2. 发明公开

EP3847879A3 AGRICULTURAL MACHINE 有权
公开(公告)号：EP3847879A3
公开(公告)日：2021-10-06
申请号：EP20213209.8
申请日：2020-12-10
申请人： Kubota Corporation
发明人： HAYASHIDA, Shogo , UMEMOTO, Susumu , ISHIKAWA, Shinnosuke , YUASA, Junichi
IPC分类号： A01B69/04
摘要： An agricultural machine (30) is provided, which includes a swath information acquiring module (101), a first determining module (102) configured to determine a traveling path of an automatic operation based on a position of a swath, a setting module (103) configured to set a work continuation width based on the traveling path, a second determining module (102) configured to determine, when there is a manual operation by a worker during the automatic operation, whether the agricultural machine during the manual operation is within the work continuation width, and an executing module (161) configured to execute the automatic operation. The executing module resumes the agricultural machine to the traveling path after a termination of the manual operation and continues the automatic operation when the agricultural machine is within the work continuation width, and cancels the automatic operation at a time when the agricultural machine is determined to be not within the work continuation width.

3. 发明公开

EP4394539A1 WORK VEHICLE, CONTROL SYSTEM FOR WORK VEHICLE, AND CONTROL METHOD 审中-公开
公开(公告)号：EP4394539A1
公开(公告)日：2024-07-03
申请号：EP23218358.2
申请日：2023-12-19
申请人： Kubota Corporation
发明人： OKURA, Kohei , YUASA, Junichi
IPC分类号： G05D1/24
CPC分类号： A01B69/00 , G01C21/005 , G05D1/245 , G05D1/248 , G05D2111/5220240101 , G05D2109/1020240101 , G05D2107/2120240101 , G05D2105/1520240101 , G05D1/646
摘要： A work vehicle includes a positioning system to output first chronological data, an inertial measurement system to output second chronological data based on measurement values from an acceleration sensor and an angular velocity sensor, and a controller to, in a first state when positioning by the positioning system is possible, consecutively estimate a first azimuth angle based on the first and second chronological data, consecutively estimate a second azimuth angle based on the second chronological data, calculate a rate of change in azimuth error of the second azimuth angle based on a difference between the consecutively-estimated first and second azimuth angles in the first state, and, in a second state associated with a decreased reliability of positioning, perform steering control based on an azimuth angle resulting from causing the second azimuth angle estimated based on the second chronological data to be corrected based on the rate of change in azimuth error.

4. 发明公开

EP4250046A1 MOVING BODY, CONTROL UNIT, DATA GENERATION UNIT, METHOD FOR CONTROLLING MOVING BODY MOTION, AND METHOD FOR GENERATING DATA 审中-实审
公开(公告)号：EP4250046A1
公开(公告)日：2023-09-27
申请号：EP21894462.7
申请日：2021-11-01
申请人： Kubota Corporation
发明人： YUASA, Junichi , MIYASHITA, Shunsuke , TAMAI, Takuya , EDO, Shunsuke , KURATA, Ryo
IPC分类号： G05D1/02 , A01B69/00 , G01S17/89
摘要： High-accuracy positioning is realized in an environment where multiple trees grow. The mobile machine moves between multiple rows of trees. The mobile machine includes: at least two LiDAR sensors to output two-dimensional or three-dimensional point clouds data indicating a distribution of objects in a surrounding environment of the mobile machine; a storage device to store environment map data indicating a distribution of trunks of the multiple rows of trees; a localization device; and a controller to control movement of the mobile machine in accordance with the position of the mobile machine as estimated by the localization device. The localization device detects the trunks of the rows of trees in the surrounding environment of the mobile machine based on the point clouds data that is repeatedly output from the at least two LiDAR sensors while the mobile machine is moving, and performs matching between the detected trunks of the rows of trees and the environment map data to estimate a position of the mobile machine.

5. 发明公开

EP3838716A1 WORKING MACHINE 有权
公开(公告)号：EP3838716A1
公开(公告)日：2021-06-23
申请号：EP20212709.8
申请日：2020-12-09
申请人： KUBOTA CORPORATION
发明人： YUASA, Junichi , GONO, Tsuyoshi
IPC分类号： B62D1/04
摘要： The invention refers to a working machine (1) comprising a machine body (3) configured to travel, a working device to be attached to the machine body (3), a steering handle (11a) provided to the machine body (3), the steering handle (11a) being configured to be rotatably operated, an assist grip (60) attached to the steering handle (11a) and configured to assist a rotating operation of the steering handle (11a), and an operation tool (61) provided to the assist grip (60) and configured to operate devices provided to the machine body (3). (Fig. 12)

6. 发明公开

EP4250045A1 MOVING BODY, DATA GENERATING UNIT, AND METHOD FOR GENERATING DATA 审中-实审
公开(公告)号：EP4250045A1
公开(公告)日：2023-09-27
申请号：EP21894461.9
申请日：2021-11-01
申请人： Kubota Corporation
发明人： YUASA, Junichi , MIYASHITA, Shunsuke , TAMAI, Takuya , EDO, Shunsuke , KURATA, Ryo
IPC分类号： G05D1/02 , A01B69/00 , G01S17/894 , G01S17/93
摘要： High-accuracy positioning is realized in an environment where multiple trees grow. The mobile machine moves between multiple rows of trees. The mobile machine includes: one or more sensors to output sensor data indicating a distribution of objects in a surrounding environment of the mobile machine; and a data generator. While performing localization, the data generator detects trunks of the rows of trees in the surrounding environment of the mobile machine based on the sensor data that is repeatedly output from the one or more sensors, and generates local map data from which to generate environment map data indicating a distribution of the detected trunks of the rows of trees and record the local map data to a storage device.

7. 发明公开

EP4019295A1 AGRICULTURAL MACHINE, AND SYSTEM AND METHOD FOR CONTROLLING AN AGRICULTURAL MACHINE 审中-实审
公开(公告)号：EP4019295A1
公开(公告)日：2022-06-29
申请号：EP21216360.4
申请日：2021-12-21
申请人： Kubota Corporation
发明人： KURATA, Ryo , YUASA, Junichi
IPC分类号： B60C23/00 , A01B69/04
摘要： An agricultural machine includes one or more tires, a detector to detect a low pressure state in which a pressure of one of the tires is lower than a reference range or a high pressure state in which the tire pressure is higher than the reference range, and a controller to control an operation of at least one of the agricultural machine and an additional agricultural machine to be linked to the agricultural machine. One of the agricultural machine and the additional agricultural machine is a work vehicle that is capable of self-driving, and the other one is an implement to be linked to the work vehicle. The controller causes, in response to detection of the low or high pressure state, at least one of the agricultural machines to perform a specific operation that is different from an operation to be performed when the pressure is in the reference range.

8. 发明公开

EP3992744A1 WORK VEHICLE MONITORING SYSTEM 有权
公开(公告)号：EP3992744A1
公开(公告)日：2022-05-04
申请号：EP21201338.7
申请日：2021-10-07
申请人： Kubota Corporation
发明人： YUASA, Junichi
IPC分类号： G05D1/00 , G07C5/00 , G08C17/00
摘要： A work vehicle (1) capable of automated travel, comprising:
a satellite positioning apparatus (57);
a monitoring camera (3);
a vehicle wireless communicator (61); and
an automated travel controller (52);
a monitoring terminal (4), comprising:
an operating unit (42) to be operated by a monitoring person;
a monitor (41) capable of displaying a shot image of the monitoring camera (3); and
a terminal wireless communicator (43); and
a relay apparatus (7) configured or programmed to relay data communication between the vehicle wireless communicator (61) and the terminal wireless communicator (43).

9. 发明公开

EP4299840A1 SWIVELING WORK MACHINE AND METHOD FOR DETECTING ORIENTATION OF SWIVELING WORK MACHINE 审中-实审
公开(公告)号：EP4299840A1
公开(公告)日：2024-01-03
申请号：EP23178758.1
申请日：2023-06-12
申请人： KUBOTA CORPORATION
发明人： YUASA, Junichi
IPC分类号： E02F9/12 , E02F9/26
摘要： A swiveling work machine (1) includes: a swivel base (2) rotatable about a swivel axis (X) extending in an up-down direction; a working device (20) provided on the swivel base (2); a position detector (50) provided on the swivel base (2) to detect a position; and a calculator (31) to calculate an orientation (D) of the swivel base (2) based on a detected position (Pd) which is the position detected by the position detector (50), in which the calculator (31) is configured or programmed to calculate an axis position (Px) which is a position of the swivel axis (X) based on a plurality of the detected positions (Pd) obtained during rotation of the swivel base (2) about the swivel axis (X), and calculate the orientation (D) of the swivel base (2), based on the axis position (Px) and the detected position (Pd).

10. 发明公开

EP4250044A1 MOVING BODY, CONTROL UNIT, AND METHOD FOR CONTROLLING OPERATION OF MOVING BODY 审中-实审
公开(公告)号：EP4250044A1
公开(公告)日：2023-09-27
申请号：EP21894460.1
申请日：2021-11-01
申请人： Kubota Corporation
发明人： YUASA, Junichi , MIYASHITA, Shunsuke , TAMAI, Takuya , EDO, Shunsuke , KURATA, Ryo
IPC分类号： G05D1/02 , A01B69/00 , G01S17/42 , G01S17/931
摘要： High-accuracy positioning is realized in an environment where multiple trees grow. The mobile machine moves between multiple rows of trees. The mobile machine includes: one or more sensors to output sensor data indicating a distribution of objects in a surrounding environment of the mobile machine; a storage device to store environment map data indicating a distribution of trunks of the multiple rows of trees; a localization device; and a controller to control movement of the mobile machine in accordance with the position of the mobile machine estimated by the localization device. The localization device detects the trunks of the rows of trees in the surrounding environment of the mobile machine based on the sensor data that is repeatedly output from the one or more sensors while the mobile machine is moving, and performs matching between the detected trunks of the rows of trees and the environment map data to estimate a position of the mobile machine.

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