Kubota Corporation

Kazuo Sakaguchi

Atsushi Shinkai

Megumi Suzukawa

Kenji Tamatani

Izuru Shimamoto

Tomohiko Sano

Osamu Yoshida

Tetsuya Nakajima

Sakura Tomita

Takashi Nakabayashi

Kotaro Yamaguchi

Takafumi Morishita

Yuji Okuyama

Satoshi Maruo

Kenichi Iwami

Yasuhisa Uoya

Hiroki Suga

Yusuke Takahashi

Makoto Oshitani

Keisuke Miura

Isao Tanaka

Yoshito Hayakawa

Shigeki Hayashi

Yushi Matsuzaki

Kazuhiro Takahara

Keishiro Nishi

Tomofumi Fukunaga

Mitsuhiro Seki

Takahiro Nakatsuka

Yuki Kubota

Sotaro Hayashi

Akisato Hori

Masayuki Horiuchi

Kyosuke Yamaoka

Chiaki Komaru

Megumi Suzugawa

Shinkai Atsushi

An agricultural support system includes a terminal to hail a self-driving agricultural machine to a hailing point, and a processor to generate, in an area excluding an already-worked area of the agricultural machine, a travel route for the agricultural machine to head toward the hailing point.

Agricultural support system, and device and method to generate travel route for hailed agricultural machine

A harvester configured to harvest crops while traveling in a field includes a self-machine position detection module included in a machine body and operable to detect a self-machine position, a detection unit included in the machine body and including detection modules capable of detecting conditions of surrounding of the machine body, a map creation section operable to create, based on the self-machine position, a map indicative of a position of a reaped land in the field where the crops have been reaped and a position of an un-reaped land in the field where the crops have not yet been reaped and an operational mode setting section setting operational modes of the detection modules respectively, based on the map and the self-machine position.

Harvester, surrounding condition detection system, surrounding condition detection program, recording medium recording the surrounding condition detection program and surrounding condition detection method

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.

System to adjust object detection direction for agricultural machine

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.

Agricultural support system including transport vehicle capable of transporting agricultural machine

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.

Working vehicle

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.

Harvesting machine having a travel distance limit calculation program

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.

Slip determination system, travel path generation system, and field work vehicle

This autonomous work vehicle travel system is provided with: a satellite positioning modulethat outputs positioning data indicating a vehicle position of a work vehicle; 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 vehicleto travel autonomously on the basis of the next travel route element and the vehicle position.

Autonomous work vehicle travel system, travel route managing device, travel route generating device, and travel route determining device

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.

Work vehicle

An automatic steering system for a work vehicle includes: a steering travel apparatus for performing leftward turning based on a leftward steering amount with respect to a straight-forward direction and performing rightward turning based on a rightward steering amount with respect to a neutral position; a subject vehicle location calculator for calculating a location of a subject vehicle; a locational shifting calculator for calculating locational shifting from the travel route and the location of the subject vehicle; a vehicle body direction calculator for calculating a vehicle body direction that indicates a direction of a vehicle body; a directional shifting calculator for calculating directional shifting from the travel route and the vehicle body direction; a steering amount calculator for calculating a first steering amount, which is a steering amount for correcting the locational shifting and the directional shifting, based on the locational shifting and the directional shifting; and a steering amount limiter for limiting the first steering amount based on a second steering amount, which is the steering amount at present.

Automatic steering system and automatic steering method

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.

Travel route management system and travel route determination device

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. Also described is selecting the next travel route element based on the independent route element selection rule.

Work vehicle automatic traveling system

The present disclosure includes a travel operation unit that is configured to be manually operated and includes a mode operation tool for switching between automatic driving and manual driving, a manual travel control unit that includes a manual travel mode in which manual driving is performed based an operation signal received from the travel operation unit, and an automatic travel control unit that includes an automatic travel mode in which automatic driving is performed, a temporary stop mode in which a vehicle body is temporarily stopped during automatic driving for transitioning from the automatic travel mode to the manual travel mode, and a check mode in which whether a state of the travel operation unit satisfies a manual driving transition condition required for starting manual driving is checked in transition from the temporary stop mode to the manual travel mode.

Harvesting machine and travel mode switching method

A travel route generation device for a field work vehicle includes a memory and circuitry. The circuitry is configured to generate, based on field data stored in the memory, a travel route. The circuitry is configured to determine a getting-off point in the travel route at which a driver gets off the field work vehicle. The circuitry is configured to determine a getting-on point in the travel route at which the driver gets on the field work vehicle. The circuitry is configured to define a first partial route in the travel route between the entrance and the getting-off point and a second partial travel route in the travel route between the getting-on point and the entrance as a manual travel route. The circuitry is configured to define a third partial travel route in the travel route between the getting-off point and the getting-on point as an automatic travel route.

Travel route generation device and method for generating travel route for field work vehicle

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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Amagasaki, Japan

Kazuo Sakaguchi