公开(公告)号：EP3165985A1

公开(公告)日：2017-05-10

申请号：EP15814660.5

申请日：2015-02-13

Applicant: Mamiya-op Co., Ltd.

Inventor： ISHIJIMA, Seiichiro ,  OSHIMI, Tadashi ,  YAMAMOTO, Kazutaka ,  YAZAKI, Noboru ,  SUGAWARA, Hiroshi

IPC: G05D1/02

CPC classification number: G05D1/0219 ,  A01B69/008 ,  A01D34/008 ,  A01D2101/00 ,  G05D1/0088 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0208

Abstract: A travel route automatic selection system for a work machine includes a travel route search unit that searches a travel route satisfying a condition that the work machine can enter from a current position for preparing entry only by forward movement along an entry route formed so that the work machine enters at an entry position in a same direction as a traveling direction when the work machine travels the travel route, at an entry position positioned between a travel route start position and a work start position, from a predetermined travel route corresponding to each of the one or a plurality of work target zones, by determining whether the condition is satisfied based on at least the travel route part of the predetermined distance from the travel route start position at least between the travel route start position and the work start position of the predetermined travel route.

Abstract translation: 用于作业机械的行驶路线自动选择系统，包括旅游路线搜索部做搜索满足条件所做的工作机器可以从当前位置输入只能通过向前移动而形成的入口路线准备条目，以便所做的工作的行驶路线 进机在一个相同的方向上的行进方向的入口位置当所述工作机行进的行进路线，在行进路线的起始位置和一个工作开始位置之间定位的入口位置，从预定的行进路线对应于各的 一个或工作目标区的复数，由确定性采矿无论条件是基于纳至少从所述行进路线的规定距离的移动路径部分开始至少行进路线开始位置和预定的工作开始位置之间的位置 出行路线。

公开(公告)号：EP3162179A1

公开(公告)日：2017-05-03

申请号：EP15815751

申请日：2015-06-25

Applicant: YANMAR CO LTD

Inventor： NAKAGAWA WATARU ,  YOKOYAMA KAZUHISA

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

CPC classification number: G05D1/0293 ,  A01B69/00 ,  A01B69/008 ,  B60Q5/005 ,  G05D1/00 ,  G05D1/02 ,  G05D1/0278 ,  G05D2201/0201

Abstract: The purpose of the present invention is to enable a parallel work by a first work vehicle and a second work vehicle to be achieved while measuring the locations of the work vehicles utilizing cheaper satellite location measurement systems. A first satellite location measurement system is mounted on one of a first work vehicle and a second work vehicle, a second satellite location measurement system, which has lower accuracy than that of the first satellite location measurement system, is mounted on a remote control device to be carried on the other of the work vehicles, the actual locations of the first work vehicle and the second work vehicle are measured by the first satellite location measurement system and the second satellite location measurement system, and the locations of the first work vehicle and the second work vehicle are displayed on a display device in the remote control device.

Abstract translation: 本发明的目的是通过利用便宜的卫星定位测量系统测量工作车辆的位置，实现第一作业车辆和第二工作车辆的平行作业。 第一卫星定位测量系统安装在第一作业车辆和第二作业车辆之一上，具有比第一卫星定位测量系统的精度低的第二卫星定位测量系统安装在遥控设备上 在第一工作车辆和第二工作车辆的实际位置由第一卫星定位测量系统和第二卫星定位测量系统测量，并且第一作业车辆和第二工作车辆的位置 第二作业车辆显示在遥控装置的显示装置上。

公开(公告)号：EP2387849A4

公开(公告)日：2017-03-15

申请号：EP10732203

申请日：2010-01-19

Applicant: AGJUNCTION LLC ,  MCCLURE JOHN A ,  COLLINS DENNIS M

Inventor： MCCLURE JOHN A ,  COLLINS DENNIS M

IPC: H04N7/00 ,  A01B69/00 ,  A01B69/04 ,  A01B79/00 ,  G05D1/02

CPC classification number: A01B69/008 ,  A01B79/005 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A raster-based system for GNSS guidance includes a vehicle-mounted GNSS antenna and receiver. A processor provides guidance and/or autosteering commands based on GNSS-defined pixels forming a grid representing an area to be treated, such as a field. Specific guidance and chemical application methods are provided based on the pixel-defined treatment areas and preprogrammed chemical application prescription maps, which can include variable chemical application rates and dynamic control of the individual nozzles of a sprayer.

公开(公告)号：EP3125061A1

公开(公告)日：2017-02-01

申请号：EP15770394.3

申请日：2015-03-26

Applicant: Yanmar Co., Ltd.

Inventor： HIRAMATSU Toshifumi ,  AOKI Hideaki ,  OGURA Kouhei

IPC: G05D1/02

CPC classification number: G05D1/0278 ,  A01B69/008 ,  A01D75/185 ,  B62D49/06 ,  G01S13/931 ,  G01S15/931 ,  G01S17/936 ,  G05D1/0234 ,  G05D1/0238 ,  G05D2201/0201

Abstract: In the prior art, detection sensitivity was fixed for an obstacle detection means provided to an autonomous travelling service vehicle; therefore, in the present invention an autonomous travelling service vehicle is provided with a position calculation means that determines the position of the chassis using a satellite positioning system, and with a control device that automatically drives the vehicle along a set travel route and causes the vehicle to execute the service, wherein an obstacle sensor that acts as an obstacle detection means for detecting whether or not an obstacle is present around the autonomous travelling service vehicle and a sensitivity adjustment means for adjusting the sensitivity of the obstacle sensor are provided, and the sensitivity of the obstacle sensor is adjusted by the sensitivity adjustment means so as to be high within a set work area and low outside the set work area.

Abstract translation: 在现有技术中，对设置在自主旅行用车辆上的障碍物检测机构固定检测灵敏度， 因此，在本发明中，自主行驶车辆设置有：位置计算装置，其使用卫星定位系统确定底盘的位置;以及控制装置，其沿着设定的行驶路线自动驾驶车辆，并使车辆 为了执行该服务，提供了作为障碍物检测装置的障碍物传感器，用于检测自主旅行车辆周围是否存在障碍物，以及用于调节障碍物传感器的灵敏度的灵敏度调节装置，并且灵敏度 的障碍物传感器由灵敏度调节装置调整为在设定的工作区域内高，并且在设定的工作区域外部较低。

公开(公告)号：EP3123848A1

公开(公告)日：2017-02-01

申请号：EP15768752.6

申请日：2015-03-19

Applicant: Kubota Corporation

Inventor： FUJIMOTO Yoshitomo ,  ARAKI Hiroyuki ,  UOYA Yasuhisa

IPC: A01B69/00 ,  G05D1/02

CPC classification number: A01B69/008 ,  G05D1/0219 ,  G05D1/0295 ,  G05D2201/0201

Abstract: A work vehicle cooperation system includes: a master traveling track calculation unit that calculates a traveling track of a master work vehicle (1P) based on a detection position at which the master work vehicle (1P) was detected; a slave traveling target calculation unit that calculates a target traveling position of the slave work vehicle (1C) based on the traveling track of the master work vehicle (1P); a master parameter generation unit that generates a master work/driving parameter relating to work/driving executed by the master work vehicle (1P), the master work/driving parameter being linked with the detection position; a slave parameter generation unit that generates a slave work/driving parameter for the slave work vehicle (1C) based on the master work/driving parameter, the slave work/driving parameter being linked with the target traveling position for the slave work vehicle (1C); and a navigation control unit that navigates the slave work vehicle in an unmanned manner based on a detection position of the slave work vehicle (1C), the target traveling position, and the slave work/driving parameter.

Abstract translation: 工作车辆协作系统包括：主行驶轨道计算单元，其基于检测到主作业车辆（1P）的检测位置来计算主作业车辆（1P）的行驶轨迹; 从动行驶目标计算单元，其基于主作业车辆（1P）的行驶轨迹计算从属作业车辆（1C）的目标行驶位置; 主参数生成单元，其生成与主作业车辆（1P）执行的作业/驾驶有关的主作业/驾驶参数，主作业/驾驶参数与检测位置相关联; 从参数生成单元，基于主作业/驾驶参数生成从属作业车辆（1C）的从动作业/驾驶参数，从动工作/驾驶参数与从动车辆的目标行驶位置（1C ）; 以及导航控制单元，其基于从属作业车辆（1C）的检测位置，目标行驶位置和从属作业/驾驶参数以无人方式导航从动作车辆。

公开(公告)号：EP2499546B1

公开(公告)日：2017-01-11

申请号：EP10830572.3

申请日：2010-11-09

Applicant: Deere & Company

Inventor： REKOW, Andrew Karl, Wilhelm

IPC: G05D1/02

CPC classification number: G05D1/0295 ,  A01B69/008 ,  A01D41/127 ,  G05D1/0219 ,  G05D1/0297 ,  G05D2201/0201

公开(公告)号：EP3104244A1

公开(公告)日：2016-12-14

申请号：EP15746411.6

申请日：2015-02-06

Applicant: Yanmar Co., Ltd.

Inventor： OGURA Kouhei ,  KURODA Akifumi ,  MATSUMOTO Keiji ,  AOKI Hideaki

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

CPC classification number: G05D1/0278 ,  A01B69/008 ,  G05D1/0295 ,  G05D2201/0201

Abstract: [Problem] To enable high-precision work by causing the halting of travel before an autonomous travel work vehicle deviates from a set travel path.
[Solution] An autonomous travel work vehicle (1), which is provided with a position calculation means that measures the device body position by means of a satellite positioning system, a steering actuator (40) that operates a steering device, an engine rotation control means, a transmission means (44), and a control device (30) that controls each of same, is caused to autonomously travel, along a set travel path stored in the control device (30), by an accompanying travel work vehicle (100) that works while accompanying the travel of the autonomous travel work vehicle (1) by means of attended operation and that is mounted with a remote operation device (112) that can operate the autonomous travel work vehicle, and the control device (30) halts autonomous travel when a signal disruption from the satellites, a large deviation from the set travel path, an abnormal sensor value, fuel exhaustion, or the like is detected.

Abstract translation: [问题]通过在自动行驶车辆偏离设定的行驶路径之前停止行驶来实现高精度的作业。 [解决方案]一种自主旅行作业车辆（1），其具有通过卫星定位系统测量装置主体位置的位置计算装置，操作转向装置的转向致动器（40），发动机旋转控制 通过伴随的行驶工作车辆（100），沿着存储在控制装置（30）中的设定行驶路径自主地行驶的装置，传动装置（44）和控制装置（30） ），其通过参加操作伴随自动旅行作业车辆（1）的行驶而工作，并且安装有能够操作自主旅行作业车辆的远程操作装置（112），并且控制装置（30）停止 当从卫星发出信号中断，与设定的行进路径大偏差，异常传感器值，燃料耗尽等的情况下，进行自主旅行。

公开(公告)号：EP2169505B1

公开(公告)日：2016-03-23

申请号：EP09168302.9

申请日：2009-08-20

Applicant: Deere & Company

Inventor： Anderson, Noel Wayne

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0221 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0261 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0204 ,  G05D2201/0213

公开(公告)号：EP2169498B1

公开(公告)日：2015-11-25

申请号：EP09168303.7

申请日：2009-08-20

Applicant: DEERE & COMPANY

Inventor： Anderson, Noel Wayne

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0077 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0278 ,  G05D2201/0201

公开(公告)号：EP2847643A1

公开(公告)日：2015-03-18

申请号：EP13787579.5

申请日：2013-05-08

Applicant: Trimble Navigation Limited

Inventor： PEAKE, John W. ,  PLEINES, Stephan

IPC: G05D1/02

CPC classification number: G05D1/0257 ,  A01B69/008 ,  B62D6/00 ,  B62D15/025 ,  G05D1/0217 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A path planning autopilot guides vehicles even when they are far from a desired path.