公开(公告)号：US12274190B2

公开(公告)日：2025-04-15

申请号：US17837251

申请日：2022-06-10

Applicant: KUBOTA CORPORATION

Inventor： Fumiya Yoshimura ,  Kotaro Yamaguchi ,  Kenji Tamatani ,  Takanori Morimoto ,  Ken Sakuta

IPC: A01B69/00 ,  A01B63/10 ,  A01B63/111 ,  A01B69/04

Abstract: A working machine includes a machine body, a lifting device to link a working device to the machine body, the lifting device being capable of moving up and down with the working device between a grounding state in which the working device is in contact with a ground and an ungrounding state in which the working device is out of contact with the ground, and an automatic travel controller to cause the machine body to perform automatic travel according to a planned travel route. The automatic travel controller includes a lifting controller to control the lifting device to move up with the working device from the grounding state to the ungrounding state, and cause the machine body to turn or travel rearward after the lifting controller controls the lifting device to move up with the working device from the grounding state to the ungrounding state.

公开(公告)号：US11832548B2

公开(公告)日：2023-12-05

申请号：US17672740

申请日：2022-02-16

Applicant: KUBOTA CORPORATION

Inventor： Shinnosuke Ishikawa ,  Fumiya Yoshimura ,  Ken Sakuta

IPC: A01B69/00 ,  A01B79/00 ,  G05D1/02 ,  A01B69/04

CPC classification number: A01B69/008 ,  A01B79/005 ,  G05D1/0212 ,  G05D1/0276 ,  G05D2201/0201

Abstract: In an agricultural machine, a route creator creates a planned traveling route for a traveling vehicle body in a work area where a working device works using a material. An area setter sets, outside the work area, a replenishment area to replenish the material. A charge amount acquirer acquires a charge amount of the material. A remaining amount calculator calculates a remaining amount of the material based on the charge amount acquired and a material consumption of the material consumed by the work. A position setter sets a replenishment position to replenish the material in the replenishment area set by the area setter based on the remaining amount calculated by the remaining amount calculator. A position changer changes the replenishment position when a change reception switch receives change of the replenishment position. A display displays the changed replenishment position.

公开(公告)号：US12274191B2

公开(公告)日：2025-04-15

申请号：US17896255

申请日：2022-08-26

Applicant: Kubota Corporation

Inventor： Takanori Morimoto ,  Kotaro Yamaguchi ,  Ryota Kikuchi ,  Ken Sakuta ,  Fumiya Yoshimura

IPC: G05D1/00 ,  A01B69/04

Abstract: A travel control system includes a permission unit that permits outermost periphery automatic traveling if predetermined permission conditions are satisfied. The permission conditions include a first condition and a second condition. The first condition is that a reference value corresponding to a working width W1 of a work device 30 is larger than a lateral width W2 of the work device. The second condition is that the reference value is larger than a threshold value determined by a threshold value determination unit. The threshold value determination unit determines the threshold value based on a reference distance D1 between a front end position of a work vehicle 1 and a reference position SP at which the work device 30 is switched from a working state to a non-working state.

公开(公告)号：US20230069372A1

公开(公告)日：2023-03-02

申请号：US17896255

申请日：2022-08-26

Applicant: Kubota Corporation

Inventor： Takanori Morimoto ,  Kotaro Yamaguchi ,  Ryota Kikuchi ,  Ken Sakuta ,  Fumiya Yoshimura

IPC: A01B69/04 ,  G05D1/02

Abstract: A travel control system includes a permission unit that permits outermost periphery automatic traveling if predetermined permission conditions are satisfied. The permission conditions include a first condition and a second condition. The first condition is that a reference value corresponding to a working width W1 of a work device 30 is larger than a lateral width W2 of the work device. The second condition is that the reference value is larger than a threshold value determined by a threshold value determination unit. The threshold value determination unit determines the threshold value based on a reference distance D1 between a front end position of a work vehicle 1 and a reference position SP at which the work device 30 is switched from a working state to a non-working state.

公开(公告)号：US12127493B2

公开(公告)日：2024-10-29

申请号：US17746118

申请日：2022-05-17

Applicant: KUBOTA CORPORATION

Inventor： Fumiya Yoshimura ,  Kotaro Yamaguchi ,  Kenji Tamatani ,  Takanori Morimoto ,  Ken Sakuta

IPC: A01B69/00 ,  B62D49/06 ,  G05D1/00

CPC classification number: A01B69/004 ,  G05D1/0219 ,  B62D49/06

Abstract: A working machine includes a machine body capable of traveling, a position detector to detect a position of the machine body, and a controller to control the machine body based on the position of the machine body detected by the position detector and a planned travel route. The planned travel route includes a straight section on which the machine body travels straight, and the controller includes a threshold setter to set a threshold according to work, and causes the machine body to perform a recovery movement to make a deviation between the position of the machine body detected by the position detector and the planned travel route less than the threshold when the machine body is at a start point of the straight section or is about to enter the start point of the straight section.

公开(公告)号：US12262655B2

公开(公告)日：2025-04-01

申请号：US17952368

申请日：2022-09-26

Applicant: KUBOTA CORPORATION

Inventor： Koichi Shintani ,  Takanori Morimoto ,  Tomohiro Kinoshita ,  Ken Sakuta ,  Fumiya Yoshimura ,  Tsuyoshi Harada ,  Sho Watanabe

IPC: A01B69/00 ,  A01B69/04 ,  G05D1/00

Abstract: An agricultural machine includes a vehicle body, an obstacle detector to detect obstacles, an autonomous travel controller to perform autonomous travel of the vehicle body, the autonomous travel controller being configured or programmed to, when performing the autonomous travel, stop the vehicle body based on detection information about an obstacle detected by the obstacle detector, and a mode switch to switch a mode during the autonomous travel in an agricultural field between an effective mode in which the stopping of the vehicle body based on the detection information is allowed and an ineffective mode in which the stopping of the vehicle body based on the detection information is not allowed.