Kubota Corporation

Kotaro Yamaguchi

Atsushi Shinkai

Takanori Morimoto

Fumiya Yoshimura

Kazuo Sakaguchi

Hiroki Suga

Ken Sakuta

Kenji Tamatani

Takafumi Morishita

Ryota Kikuchi

Kuya Kaihori

Yushi Matsuzaki

Megumi Suzukawa

Yasuhisa Uoya

Takuya Nishikubo

Kazunobu Sugano

Koichi Shintani

Ryo Kuboshima

Megumi Suzugawa

An agricultural assistance system includes a route creator to create, on a map representing an agricultural field, a travel route along which an agricultural machine travels, an input to receive input of a turn mode which is one of turn modes differing in terms of how a traveling device of the agricultural machine is driven, a position detector to detect a position of the agricultural machine, an automatic operation controller to perform automatic operation in which the automatic operation controller automatically causes the agricultural machine to travel and automatically steers the agricultural machine, and a turn mode changer to, during automatic operation of the agricultural machine, allow the input to receive input of another turn mode to change the turn mode, and output, to the automatic operation controller, a change command to cause the agricultural machine to turn in the other turn mode inputted via the input.

Agricultural assistance system, agricultural machine, and agricultural assistance apparatus

A cultivated land work vehicle includes a vehicle position computer, a travel controller to control travel of the body based on a vehicle position and target routes, and a replenishment mode executor to execute a replenishment travel mode to replenish the cultivated land work vehicle with agricultural material, during U-turn transition travel. In a first replenishment travel mode, reverse travel into the boundary area is performed after a starting point of the next travel route his reached, and forward travel to the starting point of the next travel route his performed after replenishment work is complete. In a second replenishment travel mode, reverse travel into the boundary area is performed before the starting point of the next travel route is reached, and forward travel to the starting point of the next travel route is performed after the replenishment work is complete.

Cultivated land work vehicle and agricultural material replenishment method

An automatic travel system includes a prohibition boundary line setter to set a prohibition boundary line beyond which the vehicle is prohibited from entering, a turning circle setter to set a virtual turning circle as a target route for entry turning travel to enter a subsequent travel route, a transition turning travel controller to control tangent following travel using a vehicle body reference point that is calculated during travel to the virtual turning circle as a target orientation, and the entry turning travel using the virtual turning circle as a turning target route, an interference boundary line detector to detect the prohibition boundary line that is present in a moving direction of the vehicle in the tangent following travel, as an interference boundary line, and an interference avoidance travel controller to control travel for avoiding interference with the interference boundary line.

Automatic travel system and automatic travel method

An agricultural machine includes a traveling vehicle body, a position detector to detect a position of the traveling vehicle body, a lifting device to link a working device to the traveling vehicle body, and an automatic operation controller to perform an automatic operation to cause the traveling vehicle body to travel and cause the working device to perform an agricultural job based on a travel route and the position of the traveling vehicle body. The lifting device is operable to, during the automatic operation, place the working device in a work position in which the working device performs the agricultural job, and the automatic operation controller is operable to cause the lifting device to keep the working device in the work position even after stopping the traveling vehicle body and/or the working device to end the automatic operation at a location short of an unworked area of the agricultural field.

Agricultural machine and agricultural assistance system

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 Wof a work deviceis larger than a lateral width Wof 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 Dbetween a front end position of a work vehicleand a reference position SP at which the work deviceis switched from a working state to a non-working state.

Travel control system

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.

Working machine

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.

A working vehicle includes a vehicle body, a linkage provided on the vehicle body to link a working device, a controller to cause the vehicle body to perform automatic travel, a rear obstacle detector to detect obstacles behind the vehicle body, and a setting changer to change rear setting information regarding obstacle detection performed by the rear obstacle detector.

Working vehicle

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.

There is a need for a work vehicle that allows accurate traveling time management in a work site traveling. A work vehicle includes a vehicle body mounting a traveling mechanism, an implement mounted on the vehicle body and configured to effect a ground work on a work site, a satellite positioning modulefor outputting positioning data, a traveling distance calculation sectionfor calculating a traveling distance of the vehicle body based on the positioning data, a traveling time calculation sectionfor calculating an actual distance traveling time from a time required for traveling of traveling distance calculated by the traveling distance calculation sectionand a work management sectionfor managing the ground work based on the actual distance traveling time.

Work vehicle and time-based management system applicable to the work vehicle

A controller for a work machine includes a steering control circuit, a memory, and a speed control circuit. The steering control circuit is configured to control a steering of the work machine to change a steering angle based on a travel route. The memory is to store a threshold angle. The speed control circuit is configured to control a speed of the work machine if the steering angle is equal to or larger than the threshold angle and if the steering control circuit does not control the steering.

Controller for work machine, control method for work machine, and work machine

A work vehicle coordination system includes a traveling work parameter setting section () included in each work vehicle for setting a traveling work parameter to define a traveling work of each work vehicle, a communication processing section () for effecting data communication between/among the plurality of work vehicles, a traveling work parameter acquisition section () for acquiring the traveling work parameter set in each work vehicle, a difference data generation section () for generating difference data indicative of a difference between/among the traveling work parameters set in the respective work vehicles, and an informing section () for informing the difference data.

Work vehicle coordination system and work vehicle

A field traveling route production system includes: a field information storage section that stores field information including position information each of a field and an entrance/exit area of the field; a work traveling route calculation section () that calculates a work traveling route for the field work vehicle based on the field information and specification of the field work vehicle, the work traveling route interconnecting a traveling work starting point and a traveling work ending point; a fore traveling route calculation section () that calculates a fore traveling route extending from the entrance/exit area to the traveling work starting point of the work traveling route; and a post traveling route calculation section () that calculates a post traveling route extending from the traveling work ending point to the entrance/exit area.

Field traveling route production system and field work vehicle

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.

Control apparatus for automatic traveling vehicle

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.

Automatic traveling work vehicle, steering controller for automatic traveling work vehicle, and steering control method for automatic traveling work vehicle

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Amagasaki, Japan

Kotaro Yamaguchi