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1.发明公开
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
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.
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公开(公告)号：EP3959954A1
公开(公告)日：2022-03-02
申请号：EP20794135.2
申请日：2020-04-24
申请人： Kubota Corporation
摘要： A harvesting machine includes: a machine main body 1; a harvesting unit 15 that is provided forward of the machine main body 1 and is capable of swinging upward and downward relative to the machine main body 1; a height detection unit that is capable of detecting a height position H at which the harvesting unit 15 is located; and an obstacle detection unit that is capable of detecting an obstacle that is located forward thereof in a travel direction. The obstacle detection unit includes: a first sensor 21 and a second sensor 22 that are provided at different positions in a vertical direction, and output detection information regarding a detection area that is located forward thereof in the travel direction; a selection unit that selects at least either the detection information from the first sensor 21 or the detection information from the second sensor 22 based on the height position H of the harvesting unit 15; and a determination unit that determines the obstacle based on the detection information selected by the selection unit.
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公开(公告)号：EP3991533A1
公开(公告)日：2022-05-04
申请号：EP20833468.0
申请日：2020-05-20
申请人： Kubota Corporation
摘要： Provided is a working vehicle capable of operation and driving that includes a plurality of image capture devices 4 that capture an image of surroundings of a vehicle body; a direction detection unit 51 that detects an advancement direction of the operation and driving; an image selection unit 52 that acquires, as a detection image, a surrounding area image captured by one image capture device 4 of the plurality of image capture devices 4 capturing a front advancement direction detected by the direction detection unit 51; and a detection unit 53 that analyzes the detection image acquired by the image selection unit 52 and detects an obstacle.
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公开(公告)号：EP4449841A1
公开(公告)日：2024-10-23
申请号：EP22910704.0
申请日：2022-11-18
申请人： Kubota Corporation
发明人： EDO, Shunsuke , MIYASHITA, Shunsuke
摘要： An agricultural machine includes a controller to control an action of the agricultural machine, and at least one sensing device to sense an environment around the agricultural machine. When the at least one acquires motion information of a person performing a gesture, the controller causes the agricultural machine to perform an action determined based on a type of the gesture and an operational authority granted to the person.
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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
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.
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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
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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公开(公告)号：EP4173464A1
公开(公告)日：2023-05-03
申请号：EP21829678.8
申请日：2021-06-09
申请人： KUBOTA CORPORATION
摘要： The efficiency of work done by an agricultural robot (1) in a facility (100) is improved.
An agricultural robot (1) includes a traveling body (3), a working unit (4) to do work relating to a crop (2), the working unit (4) being provided on the traveling body (3), an optical sensor (5A, 5B) provided on the traveling body (3), and a location manager (41C) to determine, based on sensor data obtained by the optical sensor (5A, 5B), whether or not the traveling body (3) is located in a facility (100) for cultivation of the crop (2), and the working unit (4) does the work relating to the crop (2) based on the working unit (4) if the location manager (41C) determines the traveling body (3) as being located in the facility (100).-
公开(公告)号：EP3991531A1
公开(公告)日：2022-05-04
申请号：EP20830975.7
申请日：2020-05-20
申请人： Kubota Corporation
IPC分类号： A01B69/00 , G05D1/02 , G06T7/00 , A01D41/127
摘要： An obstacle detection system for an agricultural work vehicle includes: an obstacle estimation unit 52 that estimates a region in a field based on a detection signal from an obstacle sensor 21 in which region an obstacle is present, and outputs obstacle present region information; an image capturing unit 22 that outputs a captured image of the field; an obstacle detection unit 54 that detects the obstacle from an input image and outputs obstacle detection information; and an image preprocessing unit 53 that generates, as an image to be input to the obstacle detection unit 54, a trimmed image obtained by trimming the captured image so as to include the region in which the obstacle is present, based on the obstacle present region information and shooting-angle-of-view information regarding the image capturing unit 22.
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公开(公告)号：EP3959955A1
公开(公告)日：2022-03-02
申请号：EP20796043.6
申请日：2020-04-24
申请人： Kubota Corporation
摘要： Provided is a harvester configured to effect a work-performing traveling for harvesting agricultural products in a field while traveling in the field autonomously. This harvester includes a traveling device effecting the work-performing traveling, a machine body supported to the traveling device, a harvesting section supported to a front portion of the machine body and harvesting the products in the field, an imaging device provided at a front portion of the machine body and at a position higher than the harvesting section so as to view down a product present in an un-worked area located forwardly of the harvesting section, a detecting section detecting abnormality in the field from an image imaged by the imaging device, and a controlling section executing an abnormality situation control as a control in accordance with the abnormality detected in the field.
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