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公开(公告)号：US10884429B2
公开(公告)日：2021-01-05
申请号：US16151704
申请日：2018-10-04
Applicant: KUBOTA CORPORATION
Inventor： Kenichi Iwami , Akisato Hori , Akira Chabata , Naohiro Ishikawa
Abstract: A positioning detection device includes a first obtaining circuit to obtain a satellite signal, a second obtaining circuit to obtain a detection signal of an inertial device, a third obtaining circuit to obtain a traveling state of the vehicle body including straight-traveling and turning of the vehicle body, a first calculator to calculate first positioning information in satellite navigation system to which the satellite signal is applied, a second calculator to calculate second positioning information in inertial navigation system to which the detection signal is applied, a third calculator to calculate third positioning information in Kalman filter to which the first positioning information and the second positioning information are applied, and an output circuit to output the third positioning information when the third obtaining circuit obtains the straight-traveling and to output the first positioning information and/or the second positioning information when the third obtaining circuit obtains the turning.
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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：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：US09821618B2
公开(公告)日：2017-11-21
申请号：US14684712
申请日：2015-04-13
Applicant: Kubota Corporation
Inventor： Kenichi Iwami , Shigeki Hayashi , Akihiro Matsuzaki , Toshimitsu Yazaki , Atsushi Hayashi , Kazuma Ishihara
IPC: B60G17/00 , B60G17/015 , B60G9/02 , B60G17/052 , B60G17/019 , B60G17/04 , B60G17/0165 , B60G17/018 , B60G17/016
CPC classification number: B60G17/0152 , B60G9/022 , B60G17/01933 , B60G17/04 , B60G17/0523 , B60G2200/32 , B60G2300/082 , B60G2400/252
Abstract: A suspension system for a traveling vehicle body is disclosed. The system includes a suspension reference position varying mechanism (18) for varying a reference position of a suspension stroke of the suspension mechanism (100), and a controller (35) configured to calculate an intermediate value from a maximal value corresponding to the maximal position of the suspension stroke and a minimal value corresponding to the minimal position of the suspension stroke, and to control the suspension reference position varying mechanism such that, when the calculated intermediate values deviates from a set target range, the intermediate value is displaced toward the target range. The controller (35) increases a control execution frequency for the suspension reference position varying mechanism (18) when the traveling speed of the vehicle body is low, and reduces the control execution frequency for the suspension reference position varying mechanism (18) when the traveling speed of the vehicle body is high.
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公开(公告)号：US20220210971A1
公开(公告)日：2022-07-07
申请号：US17605907
申请日：2020-04-24
Applicant: Kubota Corporation
Inventor： Shunsuke Edo , Kenichi Iwami , Shunsuke Miyashita , Takashi Nakabayashi
IPC: A01D41/127 , A01D41/14 , G06V20/58 , G06V10/82
Abstract: 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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Patent Agency Ranking
公开(公告)号：US09045016B2
公开(公告)日：2015-06-02
申请号：US13687335
申请日：2012-11-28
Applicant: Kubota Corporation
Inventor： Kenichi Iwami , Shigeki Hayashi , Atsushi Hayashi , Akihiro Matsuzaki , Toshimitsu Yazaki , Nobuyuki Okabe
IPC: G06F19/00 , B60G17/015 , B60G9/00 , B60G9/02 , B60G11/26
CPC classification number: B60G17/016 , B60G9/00 , B60G9/02 , B60G11/265 , B60G17/015 , B60G17/0152 , B60G2300/082 , B60G2400/252 , B60G2400/5122 , B60G2500/114 , B60G2500/30 , B60G2500/322 , B60G2800/16
Abstract: The hydraulic suspension system comprises a suspension mechanism (100) for a traveling vehicle body, a suspension reference position variation mechanism (18) for varying a reference position of a suspension stroke of the suspension mechanism, and a stopped state detector (58) for detecting a state in which operation of the suspension mechanism (100) has stopped. The control management unit (60) controls the suspension reference position variation mechanism (18) so that when operation of the suspension mechanism (100) is detected by the stopped state detector (58) to be in a stopped state, the operation of the suspension mechanism (100) moves toward a target range, in preference to control based on a suspension stroke position obtained from a suspension stroke position sensor (37).
Abstract translation: 液压悬挂系统包括用于行进车体的悬挂机构（100），用于改变悬架机构的悬架行程的基准位置的悬架基准位置变化机构（18）和用于检测悬架机构的停止状态检测器（58） 暂停机构（100）的动作停止的状态。 控制管理单元（60）控制悬架基准位置变更机构（18），使得当停止状态检测器（58）检测出悬架机构（100）的运转为停止状态时，暂停运转 机构（100）朝向目标范围移动，优先于基于从悬架行程位置传感器（37）获得的悬架行程位置的控制。
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公开(公告)号：US20130087421A1
公开(公告)日：2013-04-11
申请号：US13687335
申请日：2012-11-28
Applicant: Kubota Corporation
Inventor： Kenichi Iwami , Shigeki Hayashi , Atsushi Hayashi , Akihiro Matsuzaki , Toshimitsu Yazaki , Nobuyuki Okabe
IPC: B60G17/015
CPC classification number: B60G17/016 , B60G9/00 , B60G9/02 , B60G11/265 , B60G17/015 , B60G17/0152 , B60G2300/082 , B60G2400/252 , B60G2400/5122 , B60G2500/114 , B60G2500/30 , B60G2500/322 , B60G2800/16
Abstract: The hydraulic suspension system comprises a suspension mechanism (100) for a traveling vehicle body, a suspension reference position variation mechanism (18) for varying a reference position of a suspension stroke of the suspension mechanism, and a stopped state detector (58) for detecting a state in which operation of the suspension mechanism (100) has stopped. The control management unit (60) controls the suspension reference position variation mechanism (18) so that when operation of the suspension mechanism (100) is detected by the stopped state detector (58) to be in a stopped state, the operation of the suspension mechanism (100) moves toward a target range, in preference to control based on a suspension stroke position obtained from a suspension stroke position sensor (37).
Abstract translation: 液压悬挂系统包括用于行进车体的悬挂机构（100），用于改变悬架机构的悬架行程的基准位置的悬架基准位置变化机构（18）和用于检测悬架机构的停止状态检测器（58） 暂停机构（100）的动作停止的状态。 控制管理单元（60）控制悬架基准位置变更机构（18），使得当停止状态检测器（58）检测出悬架机构（100）的运转为停止状态时，暂停运转 机构（100）朝向目标范围移动，优先于基于从悬架行程位置传感器（37）获得的悬架行程位置的控制。
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公开(公告)号：US11650599B2
公开(公告)日：2023-05-16
申请号：US17106360
申请日：2020-11-30
Applicant: KUBOTA CORPORATION
Inventor： Kenichi Iwami , Akisato Hori , Akira Chabata , Naohiro Ishikawa
CPC classification number: G05D1/0278 , A01B69/00 , G01C21/165 , G01C21/26 , G01S19/14 , G01S19/49 , G05D1/02 , G05D2201/0201
Abstract: A positioning detection device includes a first obtaining circuit to obtain a satellite signal, a second obtaining circuit to obtain a detection signal of an inertial device, a third obtaining circuit to obtain a traveling state of the vehicle body including straight-traveling and turning of the vehicle body, a first calculator to calculate first positioning information in a satellite navigation system to which the satellite signal is applied, a second calculator to calculate second positioning information in an inertial navigation system to which the detection signal is applied, a third calculator to calculate third positioning information in a hybrid navigation system to which the first positioning information and the second positioning information are applied, and an output circuit to output the third positioning information upon obtaining the straight-traveling and to output the first positioning information and/or the second positioning information upon obtaining the turning.
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公开(公告)号：US20220207882A1
公开(公告)日：2022-06-30
申请号：US17603452
申请日：2020-05-20
Applicant: Kubota Corporation
Inventor： Takashi Nakabayashi , Toshiki Watanabe , Shunsuke Edo , Shunsuke Miyashita , Kenichi Iwami
Abstract: 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：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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