Kubota Corporation

Shunsuke Edo

Shunsuke Miyashita

Kenichi Iwami

Ryo Kurata

Junichi Yuasa

Takuya Tamai

Takashi Nakabayashi

Kunihiko Nishino

Yasuaki Morioka

Manabu Togo

Kumiko Kobayashi

Misako Kawai

Toshiki Watanabe

Miyashita Shunsuke

A mobile machine movable between multiple rows of trees includes at least two LiDAR sensors to output two-dimensional or three-dimensional point clouds data indicating a distribution of objects in a surrounding environment of the mobile machine, a storage to store environment map data indicating a distribution of trunks of the multiple rows of trees, a localization processor, and a controller to control movement of the mobile machine in accordance with a position of the mobile machine as estimated by the localization processor. The localization processor is configured or programmed to detect the trunks of the rows of trees in the surrounding environment of the mobile machine based on the point clouds data that is repeatedly output from the at least two LiDAR sensors while the mobile machine is moving, and to perform matching between the detected trunks of the rows of trees and the environment map data to estimate a position of the mobile machine.

Mobile machine, control unit, data generation unit, method of controlling operation of a mobile machine, and method of generating data

A mobile machine movable between multiple rows of trees includes one or more sensors to output sensor data indicating a distribution of objects in a surrounding environment of the mobile machine, and a data generator. While performing localization, the data generator is configured or programmed to detect trunks of the rows of trees in the surrounding environment of the mobile machine based on the sensor data that is repeatedly output from the one or more sensors, and generate local map data from which to generate environment map data indicating a distribution of the detected trunks of the rows of trees and record the local map data to a storage.

Mobile machine, data generation unit, and method of generating data

A mobile machine movable between multiple rows of trees includes one or more sensors to output sensor data indicating a distribution of objects in a surrounding environment of the mobile machine, a storage to store environment map data indicating a distribution of trunks of the multiple rows of trees, a localization processor, and a controller to control movement of the mobile machine in accordance with a position of the mobile machine estimated by the localization processor. The localization processor is configured or programmed detect the trunks of the rows of trees in the surrounding environment of the mobile machine based on the sensor data that is repeatedly output from the one or more sensors while the mobile machine is moving, and perform matching between the detected trunks of the rows of trees and the environment map data to estimate a position of the mobile machine.

Mobile machine, control unit, and method of controlling operation of a mobile machine

A harvesting machine includes: a machine main body; a harvesting unit provided forward of the machine main body and capable of swinging upward and downward relative to the machine main body; a height detection unit capable of detecting a height position at which the harvesting unit is located; and an obstacle detection unit capable of detecting an obstacle located forward thereof in a travel direction. The obstacle detection unit includes: a first sensor and a second sensor provided at different positions in a vertical direction, and output detection information regarding a detection area located forward thereof in the travel direction; a selection unit that selects at least either the detection information from the first sensor or the detection information from the second sensor based on the height position of the harvesting unit and a determination unit that determines the obstacle based on the detection information selected by the selection unit.

Harvesting machine, obstacle determination program, recording medium on which obstacle determination program is recorded, obstacle determination method, agricultural work machine, control program, recording medium on which control program is recorded, and control method

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.

Agricultural work machine such as harvester

An obstacle detection system for an agricultural work vehicle includes: an obstacle estimation unit that estimates a region in a field based on a detection signal from an obstacle sensor in which region an obstacle is present, and outputs obstacle present region information; an image capturing unit that outputs a captured image of the field; an obstacle detection unit that detects the obstacle from an input image and outputs obstacle detection information; and an image preprocessing unit that generates, as an image to be input to the obstacle detection unit, a trimmed image obtained by trimming the captured image so as to include the region in which the obstacle is present, based on the obstacle present region information and shooting-angle-of-view information regarding the image capturing unit.

Obstacle detection system, agricultural work vehicle, obstacle detection program, recording medium on which obstacle detection program is recorded, and obstacle detection method

Provided is a working vehicle capable of operation and driving that includes a plurality of image capture devicesthat capture an image of surroundings of a vehicle body; a direction detection unitthat detects an advancement direction of the operation and driving; an image selection unitthat acquires, as a detection image, a surrounding area image captured by one image capture deviceof the plurality of image capture devicescapturing a front advancement direction detected by the direction detection unit; and a detection unitthat analyzes the detection image acquired by the image selection unitand detects an obstacle.

Working vehicle, obstacle detection method, and obstacle detection program

A working vehicle includes a steering handle, a vehicle body to travel by manual steering via the steering handle or automatic steering for the steering handle based on a scheduled traveling line, a setting switch to switch between valid and invalid, a setting mode to set at least the automatic steering before the automatic steering is started, and a display including a driving display portion to display driving information of the vehicle body during traveling. When the setting mode is switched to be valid, the display changes a displaying state of the driving display portion to another different displaying state different from the displaying state where the setting mode is invalid.

Growing community of inventors

Sakai, Japan

Shunsuke Edo