公开(公告)号：US20210084825A1

公开(公告)日：2021-03-25

申请号：US17020867

申请日：2020-09-15

Applicant: KUBOTA CORPORATION

Inventor： Ryo KURATA ,  Susumu UMEMOTO ,  Shinnosuke ISHIKAWA ,  Zerbino FULVIO

IPC: A01F15/08

Abstract: An agricultural machine includes a baler controller configured or programmed to obtain an ejector inclination value from a positional relation between a tractor inclination sensor and a bale ejector of a baler, the ejector inclination value being a sensor value of the inclination sensor corresponding to the bale ejector, and to allow ejection of the bale when a size of the bale in the baler is larger than a first threshold value and the ejector inclination value is less than a second threshold value.

公开(公告)号：US20230288942A1

公开(公告)日：2023-09-14

申请号：US18198756

申请日：2023-05-17

Applicant: KUBOTA CORPORATION

Inventor： Junichi YUASA ,  Shunsuke MIYASHITA ,  Takuya TAMAI ,  Shunsuke EDO ,  Ryo KURATA

IPC: G05D1/02 ,  G01S17/89 ,  G01S17/08

CPC classification number: G05D1/0274 ,  G05D1/024 ,  G05D1/0214 ,  G05D1/027 ,  G01S17/89 ,  G01S17/08

Abstract: 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.

公开(公告)号：US20210079622A1

公开(公告)日：2021-03-18

申请号：US17016681

申请日：2020-09-10

Applicant: KUBOTA CORPORATION

Inventor： Shinnosuke ISHIKAWA ,  Susumu UMEMOTO ,  Ryo KURATA

IPC: E02F9/20 ,  G06F21/30 ,  G06F21/44

Abstract: A control system to control a work machine and a traveling vehicle traveling with the work machine, includes a first communication device and a second communication device each of which controls operation of the traveling vehicle and at least one of which includes an authenticator to authenticate the work machine by communicating with a third communication device to control operation of the work machine, and a notifier to notify the other one of the first communication device and the second communication device that the authenticator succeeded in authentication, the first communication device and the second communication device each being prohibited, unless the authenticator succeeds in authentication, from at least controlling operation of the traveling vehicle in accordance with information sent from the third communication device.

公开(公告)号：US20230288936A1

公开(公告)日：2023-09-14

申请号：US18198730

申请日：2023-05-17

Applicant: KUBOTA CORPORATION

Inventor： Junichi YUASA ,  Shunsuke MIYASHITA ,  Takuya TAMAI ,  Shunsuke EDO ,  Ryo KURATA

IPC: G05D1/02 ,  G01C21/30

CPC classification number: G05D1/0214 ,  G05D1/0274 ,  G01C21/30 ,  G05D1/024 ,  G05D1/027 ,  G05D2201/0201 ,  A01B69/008

Abstract: 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.

公开(公告)号：US20230284550A1

公开(公告)日：2023-09-14

申请号：US18198758

申请日：2023-05-17

Applicant: KUBOTA CORPORATION

Inventor： Junichi YUASA ,  Shunsuke MIYASHITA ,  Takuya TAMAI ,  Shunsuke EDO ,  Ryo KURATA

IPC: A01B69/04 ,  G01S17/89 ,  G01S17/931 ,  G01S17/42 ,  G01S7/484 ,  G01S7/4861

CPC classification number: A01B69/008 ,  G01S17/89 ,  G01S17/931 ,  G01S17/42 ,  G01S7/484 ,  G01S7/4861

Abstract: 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.

公开(公告)号：US20220192075A1

公开(公告)日：2022-06-23

申请号：US17558028

申请日：2021-12-21

Applicant: KUBOTA CORPORATION

Inventor： Ryo KURATA ,  Junichi YUASA

IPC: A01B69/04 ,  B60W50/14 ,  B60W50/02 ,  B60W50/029 ,  A01B69/08

Abstract: An agricultural machine includes one or more tires, a detector to detect a low pressure state in which a pressure of one of the tires is lower than a reference range or a high pressure state in which the tire pressure is higher than the reference range, and a controller to control an operation of at least one of the agricultural machine and an additional agricultural machine to be linked to the agricultural machine. One of the agricultural machine and the additional agricultural machine is a work vehicle that is capable of self-driving, and the other one is an implement to be linked to the work vehicle. The controller causes, in response to detection of the low or high pressure state, at least one of the agricultural machines to perform a specific operation that is different from an operation to be performed when the pressure is in the reference range.

公开(公告)号：US20210084884A1

公开(公告)日：2021-03-25

申请号：US16904623

申请日：2020-06-18

Applicant: KUBOTA CORPORATION

Inventor： Shinnosuke ISHIKAWA ,  Komei YAMAWAKI ,  Ryo KURATA

IPC: A01M7/00 ,  A01C23/00

Abstract: A traveling vehicle includes a controller to control a posture of a work machine via a connector. The controller observes whether a farm field surface on which the traveling vehicle travels and the work machine maintain a predetermined positional relationship therebetween, and controls the posture of the work machine when a positional relationship between the farm field surface and the work machine changes from the predetermined positional relationship, so that the positional relationship thus changed is reset to the predetermined positional relationship.

公开(公告)号：US20210031624A1

公开(公告)日：2021-02-04

申请号：US16911626

申请日：2020-06-25

Applicant: KUBOTA CORPORATION

Inventor： Shinnosuke ISHIKAWA ,  Susumu UMEMOTO ,  Ryo KURATA

IPC: B60K31/00 ,  A01F15/08

Abstract: A tractor includes a controller configured to make a determination as to whether stopping control is necessary and to start the stopping control, based on a relation between a target bale size and a current bale size and a stopping distance corresponding to a vehicle speed and a surrounding environment.

公开(公告)号：US20180368331A1

公开(公告)日：2018-12-27

申请号：US15989178

申请日：2018-05-25

Applicant: Kubota Corporation

Inventor： Ryo KURATA ,  Susumu UMEMOTO ,  Yoshitomo FUJIMOTO ,  Shinnosuke ISHIKAWA

IPC: A01F15/08 ,  A01F15/07 ,  A01D34/00 ,  A01D34/66 ,  A01D78/00 ,  A01D75/28

CPC classification number: A01F15/0883 ,  A01B79/005 ,  A01D34/006 ,  A01D34/66 ,  A01D75/28 ,  A01D78/007 ,  A01D78/008 ,  A01F15/07 ,  A01F2015/0808 ,  B60K37/02

Abstract: A grass management system includes a prohibition determination circuit and a baler. The prohibition determination circuit is configured to determine a prohibition position. The baler is configured to acquire the prohibition position from the prohibition determination circuit, and eject a bale of grass at a position except for the prohibition position.

公开(公告)号：US20240217578A1

公开(公告)日：2024-07-04

申请号：US18544508

申请日：2023-12-19

Applicant: KUBOTA CORPORATION

Inventor： Kohei OKURA ,  Ryo KURATA ,  Kenta HANAJIMA

IPC: B62D6/00 ,  A01B69/04 ,  B60K35/28 ,  G01S19/43

CPC classification number: B62D6/001 ,  A01B69/008 ,  B60K35/28 ,  G01S19/43 ,  B60K2360/178

Abstract: A work vehicle that performs auto-steer driving in forward travel and backward travel includes a position sensor to output chronological position data of the work vehicle, a controller configured or programmed to, in an automatic steering mode, perform steering control for the work vehicle based on the chronological position data and a target path that is previously set, and a toggling switch to switch between forward travel and backward travel of the work vehicle. In the automatic steering mode, when a moving speed of the work vehicle is lower than a first speed, the controller is configured or programmed to determine a traveling direction of the work vehicle based on the chronological position data and a state of the toggling switch.