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公开(公告)号：US11556132B2
公开(公告)日：2023-01-17
申请号：US16479436
申请日：2017-12-21
Applicant: KUBOTA CORPORATION
Inventor： Keishiro Nishi , Atsushi Shinkai , Tomofumi Fukunaga , Takahiro Nakatsuka , Yushi Matsuzaki , Kazuo Sakaguchi , Takafumi Morishita
Abstract: A work vehicle includes: an electronic control system for automatic driving; and a cabin with which a boarding space is formed. The electronic control system includes an antenna unit for satellite navigation, and the antenna unit is attached to a central area of a roof of the cabin in a left-right direction. An upper surface of an area of the roof around the antenna unit is formed so as to be an inclined surface that is inclined in a front-rear direction. Left and right end portions of the roof are provided with left and right bulging edge portions that bulge upward from the left and right end portions and have a length that spans between front and rear ends of the roof, and water drain grooves that guide water on the roof toward the left and right bulging edge portions such that water detours the antenna unit.
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公开(公告)号：US11320279B2
公开(公告)日：2022-05-03
申请号：US16463095
申请日：2017-11-29
Applicant: Kubota Corporation
Inventor： Sakura Tomita , Tomohiko Sano , Kazuo Sakaguchi , Tetsuya Nakajima , Makoto Oshitani , Kenichi Iwami , Osamu Yoshida
Abstract: A travel route management system includes an area setting unit that sets a work site to an outer peripheral area SA and an area CA to be worked on an inner side of the outer peripheral area SA, and a route element selecting unit that sequentially selects a next travel route element to be traveled on next, from among multiple mutually-parallel travel route elements, the travel route elements constituting a travel route that covers the area CA to be worked. The route element selecting unit selects a U-turn travel route for moving from a travel route element serving as a movement origin to a next travel route element serving as a movement destination, the selection being made on the basis of an interval between the movement origin and the movement destination.
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13.发明授权公开(公告)号：US11169279B2
公开(公告)日：2021-11-09
申请号：US15847933
申请日：2017-12-20
Applicant: Kubota Corporation
Inventor： Atsushi Shinkai , Kazuo Sakaguchi , Izuru Shimamoto , Kenji Tamatani , Megumi Suzukawa , Akisato Hori
Abstract: A work-vehicle position measurement system includes a reference station and a work vehicle. The reference station is provided at a reference position to measure a measured position of the reference position by receiving a radio wave from a satellite and to transmit reference information including the measured position. The work vehicle includes circuitry configured to obtain a calculated position of the work vehicle based on satellite information from the satellite and the reference information transmitted from the reference station, to control the work vehicle to travel along a predetermined travel route in a work field based on the calculated position of the work vehicle, and to manage map data of the work field to correspond to the reference information of the reference position.
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公开(公告)号：US20200375084A1
公开(公告)日：2020-12-03
申请号：US16766463
申请日：2018-12-10
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Tomohiko Sano , Osamu Yoshida , Tetsuya Nakajima , Takashi Nakabayashi , Satoshi Maruo , Kazuhiro Takahara
IPC: A01B69/04 , B60W40/064 , B60W30/045 , A01D75/00 , A01B76/00 , G05D1/02
Abstract: A slip determination system is provided that is capable of providing appropriate control information to a traveling vehicle when the traveling vehicle has proceeded to an area where a slip is likely to occur during automatic travel. The slip determination system includes: a vehicle position detection module for detecting a vehicle position; and an automatic travel control portion for enabling automatic travel based on the vehicle position and a set travel path; a slip amount calculation portion for calculating a slip amount of the traveling vehicle body, using an estimated movement distance of the traveling vehicle body calculated based on the number of revolutions of a driving axle of the traveling vehicle body, and an actual movement distance of the traveling vehicle body calculated based on the vehicle position; an appropriateness determination portion for performing appropriateness determination to determine, based on the slip amount, whether or not a state of a traveling ground surface is appropriate for automatic travel; and an automatic travel stop portion for stopping automatic travel based on a determination result.
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公开(公告)号：US10813267B2
公开(公告)日：2020-10-27
申请号：US15956758
申请日：2018-04-19
Applicant: Kubota Corporation
Inventor： Atsushi Shinkai , Kazuo Sakaguchi , Kotaro Yamaguchi , Hiroki Suga
Abstract: A control apparatus for an automatic traveling vehicle includes a position sensor and circuitry. The position sensor is to detect a vehicle position of the automatic traveling vehicle. The circuitry is configured to control the automatic traveling vehicle to travel along a first route, a first turn route connected to the first route, a straight route connected to the first turn route, a second turn route connected to the straight route, and a second route connected to the second turn route in this order, and to calculate the straight route extending from a reference point on the first turn route to the second turn route such that the straight route is tangent to the second turn route.
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Patent Agency Ranking
公开(公告)号：US10782132B2
公开(公告)日：2020-09-22
申请号：US15841295
申请日：2017-12-14
Applicant: Kubota Corporation
Inventor： Megumi Suzukawa , Kazuo Sakaguchi , Atsushi Shinkai
Abstract: A division map creation system includes circuitry and a memory. The circuitry is configured to acquire work field information including a shape of a work field and a position of the work field and to acquire travel routes based on the work field information. Each of work vehicles is configured to travel along each of the travel routes in the work field. The circuitry is configured to divide the work field into a plurality of sections in order to create division maps based on a travel direction in which each of the work vehicles travels along each of the travel routes and based on a work width within which each of the work vehicles works while travelling in the work field. The memory is to store the division maps such that each of the division maps corresponds to each of the work vehicles.
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公开(公告)号：US20200064144A1
公开(公告)日：2020-02-27
申请号：US16463095
申请日：2017-11-29
Applicant: Kubota Corporation
Inventor： Sakura Tomita , Tomohiko Sano , Kazuo Sakaguchi , Tetsuya Nakajima , Makoto Oshitani , Kenichi Iwami , Osamu Yoshida
Abstract: A travel route management system includes an area setting unit that sets a work site to an outer peripheral area SA and an area CA to be worked on an inner side of the outer peripheral area SA, and a route element selecting unit that sequentially selects a next travel route element to be traveled on next, from among multiple mutually-parallel travel route elements, the travel route elements constituting a travel route that covers the area CA to be worked. The route element selecting unit selects a U-turn travel route for moving from a travel route element serving as a movement origin to a next travel route element serving as a movement destination, the selection being made on the basis of an interval between the movement origin and the movement destination.
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公开(公告)号：US20180136664A1
公开(公告)日：2018-05-17
申请号：US15580006
申请日：2016-06-16
Applicant: Kubota Corporation
Inventor： Sakura Tomita , Yuki Kubota , Chiaki Komaru , Kazuo Sakaguchi , Shigeki Hayashi , Tetsuya Nakajima , Tomohiko Sano
IPC: G05D1/02 , A01D41/127
Abstract: A work vehicle support system includes: an own vehicle position detecting module configured to detect an own vehicle position of a work vehicle; and a work-unfinished region outer-shape map calculating section configured to calculate, during circulating work-traveling along an outer perimeter of a work scheduled region, an outer-shape map of a work-unfinished region in the work scheduled region, from own vehicle position data acquired by the own vehicle position detecting module.
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公开(公告)号：US12268112B2
公开(公告)日：2025-04-08
申请号：US17839535
申请日：2022-06-14
Applicant: KUBOTA CORPORATION
Inventor： Kenji Tamatani , Yuji Okuyama , Kazuo Sakaguchi , Yusuke Takahashi
Abstract: An agricultural machine includes a traveling vehicle body, a detector to detect objects in an area surrounding the traveling vehicle body, a detection adjuster to adjust a detection direction of the detector, a position sensor to detect a position of the traveling vehicle body, and an information acquirer to acquire information relating to an entrance/exit of an agricultural field. The detection adjuster is operable to perform a first adjustment of orienting the detection direction toward an end point of the entrance/exit when the traveling vehicle body is traveling toward the entrance/exit and a distance from the position of the traveling vehicle body to the entrance/exit included in the information is a predetermined value or less, and a second adjustment of orienting the detection direction toward the end point of the entrance/exit or a space forward of the end point in a traveling direction when the traveling vehicle body is traveling on the entrance/exit.
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公开(公告)号：US11897333B2
公开(公告)日：2024-02-13
申请号：US16764014
申请日：2018-11-22
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Tomohiko Sano , Osamu Yoshida , Satoshi Maruo , Takashi Nakabayashi
IPC: A01D41/127 , B60K31/00 , A01D41/12 , A01F12/60
CPC classification number: B60K31/00 , A01D41/1208 , A01D41/1217 , A01D41/1272 , A01D41/1275 , A01D41/1278 , A01F12/60 , B60Y2200/222 , B60Y2300/02
Abstract: A harvester includes: a crop tank that stores a crop harvested by a harvesting device; a weight detection unit that detects a storage weight, which is a value indicating the weight of the crop stored in the crop tank; a maximum weight calculation unit that calculates a maximum weight, which is a value indicating the weight of the crop at the maximum storage amount of the crop tank; a unit harvest weight calculation unit calculates a unit harvest weight that indicates the weight of the crop harvested per unit of harvest-travel distance; and a maximum travel distance calculation unit that calculates a maximum travel distance, which is the maximum distance that can be traveled during traveling harvesting before the amount of the crop stored in the crop tank reaches the maximum storage amount, based on the storage weight, the maximum weight, and the unit harvest weight.
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