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公开(公告)号：US10884427B2
公开(公告)日：2021-01-05
申请号：US15788808
申请日：2017-10-20
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Megumi Suzukawa , Sakura Tomita , Yuji Okuyama
Abstract: A travel route generating device for a work vehicle includes a cell memory to store cell information with respect to cells obtained by dividing a topographical map of a work field in which the work vehicle works. A travel probability memory is to store a travel probability with respect to each of the cells. The travel probability includes a left-turn travel probability, a straight travel probability, and a right-turn travel probability in each of the cells. Circuitry is configured to determine a travel direction in each of the cells based on the travel probability of each of the cells. The work vehicle is configured to travel through each of the cells in the travel direction. The circuitry is configured to change the travel probability with respect to affected cells affected by moving the work vehicle through each of the cells.
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公开(公告)号：US10753747B2
公开(公告)日：2020-08-25
申请号：US15629755
申请日：2017-06-22
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Izuru Shimamoto , Kenji Tamatani , Megumi Suzukawa , Atsushi Shinkai
Abstract: A work vehicle includes a memory, a sensor, circuitry, and a display. The memory is to store a target travel route in a work field. The sensor is to detect an actual travel track of the work vehicle to find a traveled portion of the target travel route, along which the work vehicle has traveled. The circuitry is configured to calculate an index value indicating a degree of a deviation of the actual travel track from the target travel route. The display is to display the traveled portion such that a display pattern to display the traveled portion is changed according to the index value.
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3.发明授权公开(公告)号：US12213394B2
公开(公告)日：2025-02-04
申请号：US17839534
申请日：2022-06-14
Applicant: KUBOTA CORPORATION
Inventor： Kenji Tamatani , Yuji Okuyama , Kazuo Sakaguchi , Yusuke Takahashi
Abstract: An agricultural support system includes a first communication device located in or on a tractor to transmit information, and a second communication device located in or on a transport vehicle to acquire the information transmitted from the first communication device. The transport vehicle is capable of transporting the tractor. The agricultural support system further includes a position sensor in or on the working machine to detect a position of the working machine. The first communication device is operable to transmit the position detected by the position sensor to the second communication device as the information. The second communication device is operable to receive the position transmitted from the first communication device.
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公开(公告)号：US11895937B2
公开(公告)日：2024-02-13
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: A01B76/00 , A01B69/04 , A01D75/00 , B60W30/045 , B60W40/064 , G05D1/02
CPC classification number: A01B69/008 , A01B76/00 , A01D75/00 , B60W30/045 , B60W40/064 , G05D1/0214 , B60W2552/00 , B60W2720/12
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：US10598505B2
公开(公告)日：2020-03-24
申请号：US15620838
申请日：2017-06-13
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Megumi Suzukawa , Sakura Tomita , Yuji Okuyama
IPC: G01C21/36 , B60K35/00 , G06K9/00 , G06F3/0488 , G05D1/02 , A01B69/04 , G06Q50/02 , G06F3/0482
Abstract: A travel route generation apparatus includes a work field data input interface, a handwriting input interface, a memory, and circuitry. Work field data are to be input via the work field data input interface. The work field data includes data regarding a shape of a work field in which a work vehicle is to work. A handwriting locus is to be input via the handwriting input interface. The memory is to store travel route patterns. The circuitry is configured to select a designated travel route pattern from travel route patterns based on the handwriting locus and to generate, based on the designated travel route pattern and the work field data, a travel route along which the work vehicle is to travel in the work field.
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Patent Agency Ranking
公开(公告)号：US20200064863A1
公开(公告)日：2020-02-27
申请号：US16466056
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 work vehicle automatic traveling system includes a route element selecting unit that, on the basis of state information, sequentially selects a next travel route element on which a work vehicle is to travel next, from a travel route element set and a circling route element set. The route element selecting unit includes a cooperative route element selection rule, which is employed when a plurality of work vehicles carry out work travel cooperatively in an area CA to be worked, and an independent route element selection rule, which is employed when a single independent work vehicle among the work vehicles carries out work travel independently in the area CA to be worked. When the independent work vehicle is carrying out independent work travel in the area CA to be worked, and a work vehicle aside from the host vehicle is carrying out circling travel based on the circling route element or is stopped, the next travel route element is selected on the basis of the independent route element selection rule.
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公开(公告)号：US10407097B2
公开(公告)日：2019-09-10
申请号：US15841296
申请日：2017-12-14
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Kotaro Yamaguchi , Hiroki Suga , Atsushi Shinkai
Abstract: An automatic traveling work vehicle includes a memory to store work traveling information including information on work which a work device is configured to perform and on a state of a work field in which the automatic traveling work vehicle is configured to automatically travel along a target travel route. Circuitry is configured to calculate a vehicle position of the automatic traveling work vehicle, to calculate a track deviation of a vehicle body from the target travel route based on the target travel route and the vehicle position, to calculate a steering sensitivity based on at least one of the information on the work and the information on the state of the work field, and to calculate, based on the track deviation and the steering sensitivity, a steering control amount according to which the steering is controlled.
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公开(公告)号：US20190146513A1
公开(公告)日：2019-05-16
申请号：US16306948
申请日：2017-06-28
Applicant: Kubota Corporation
Inventor： Sakura Tomita , Tomohiko Sano , Kazuo Sakaguchi , Tetsuya Nakajima , Makoto Oshitani , Kenichi Iwami , Osamu Yoshida
Abstract: This autonomous work vehicle travel system is provided with: a satellite positioning module 80 that outputs positioning data indicating a vehicle position of a work vehicle 1; an area setting unit that sets an area CA to be worked in a work site; a route managing unit that calculates a travel route element set, which is an aggregate of multiple travel route elements constituting a travel route that covers the area CA to be worked, and storing the travel route element set so as to be readable; a route element selecting unit that selects a next travel route element to be traveled in sequence from the travel route element set; and an autonomous travel controlling unit that causes the work vehicle 1 to travel autonomously on the basis of the next travel route element and the vehicle position.
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公开(公告)号：US10194473B2
公开(公告)日：2019-01-29
申请号：US15193108
申请日：2016-06-27
Applicant: KUBOTA CORPORATION
Inventor： Keisuke Miura , Isao Tanaka , Izuru Shimamoto , Kazuo Sakaguchi , Yoshito Hayakawa
Abstract: An access point device for a work machine is configured to connect a work machine and a mobile terminal via wireless communication. The access point includes a memory, a controller, and a communicator. The memory is to store data of the work machine. The controller is to set a request as a communication identifier to be received by a mobile terminal. The mobile terminal is configured to obtain the data stored in the memory in accordance with the request. The communicator is to transmit the communication identifier to the mobile terminal and to transmit the data stored in the memory to the mobile terminal.
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公开(公告)号：US11994870B2
公开(公告)日：2024-05-28
申请号：US17338759
申请日：2021-06-04
Applicant: KUBOTA CORPORATION
Inventor： Atsushi Shinkai , Kotaro Yamaguchi , Kazuo Sakaguchi
CPC classification number: G05D1/0246 , A01B69/001 , A01B79/005 , G05D1/0088 , G05D1/0219 , G06F18/2413 , G06V20/10 , G05D2201/0201
Abstract: A working vehicle includes a vehicle body capable of traveling, a ground working device attached to the vehicle body to perform ground working, an imaging device located on the vehicle body to image a ground working result after the ground working by the ground working device, and a storage to store a ground working image representing the ground working result taken by the imaging device.
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