公开(公告)号：US20250098563A1

公开(公告)日：2025-03-27

申请号：US18976400

申请日：2024-12-11

Applicant: Kubota Corporation

Inventor： Takuya TAMAI ,  Tomohiro KINOSHITA ,  Koichi KURODA

IPC: A01B69/04

Abstract: A work vehicle includes an exterior sensor to output sensor data indicating a distribution of geographic features around the work vehicle, and a controller configured or programmed to control self-traveling of the work vehicle, detect two crop rows existing on opposite sides of the work vehicle based on the sensor data, and cause the work vehicle to travel along a path between the two crop rows. During travel, if an end of at least a crop row that corresponds to a turning direction between the two crop rows is detected based on the sensor data, the controller is configured or programmed to set a coordinate system for turning travel that is fixed to a ground surface and a target point for the turning travel. The controller is configured or programmed to control the turning travel toward the target point based on the coordinate system.

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：US20230078003A1

公开(公告)日：2023-03-16

申请号：US17990825

申请日：2022-11-21

Applicant: KUBOTA CORPORATION

Inventor： Shunsuke EDO ,  Takuya TAMAI ,  Jumpei MIYAMOTO ,  Tomoyoshi SAKANO

IPC: A01D46/30 ,  G01N33/00

Abstract: An agricultural robot includes a traveling body, a working unit on the traveling body to do work relating to a crop, an optical sensor on the traveling body, and a crop estimator to perform estimation of the crop based on sensor data obtained by the optical sensor. The crop estimator includes a data extractor to designate the crop to be subjected to the estimation based on the sensor data and extract, as partial data, a portion of the sensor data that corresponds to the designated crop, and an estimator to perform the estimation of the crop based on a surface condition of the crop obtained from the partial data extracted by the data extractor.

公开(公告)号：US20250143197A1

公开(公告)日：2025-05-08

申请号：US19001702

申请日：2024-12-26

Applicant: Kubota Corporation

Inventor： Tomohiro KINOSHITA ,  Koichi KURODA ,  Takuya TAMAI

IPC: A01B69/00 ,  A01B69/04

Abstract: A work vehicle includes wheels for steering, a steering device to change a steering angle of the wheels for steering, a sensor to output data indicating features around the work vehicle, and a controller to control self-traveling of the work vehicle, set a maximum steering angle for the wheels for steering based on a state of the work vehicle or its surrounding environment, detect two crop rows on opposite sides of the work vehicle based on the data, set a target path for the work vehicle in between the two crop rows, compute a target steering angle for the wheels for steering, limit the target steering angle to be equal to or smaller than a maximum steering angle when the computed target steering angle is greater than the maximum steering angle, and control the steering device so that the steering angle of the wheels for steering equals the target steering angle.

公开(公告)号：US20250113759A1

公开(公告)日：2025-04-10

申请号：US18979713

申请日：2024-12-13

Applicant: Kubota Corporation

Inventor： Koichi KURODA ,  Tomohiro KINOSHITA ,  Takuya TAMAI

IPC: A01B69/04 ,  G01S17/931

Abstract: A work vehicle includes an exterior sensor to output sensor data indicating geographic features around the work vehicle, and a controller configured or programmed to control self-traveling of the work vehicle in an inter-row travel mode of travel along a target path between adjacent crop rows detected based on the sensor data, and in a turning travel mode of turning in a headland before and after the inter-row travel mode. In the turning travel mode, the controller calculates amounts of positional and directional deviations with respect to a target path in a next instance of the inter-row travel mode based on the sensor data, and switches from the turning travel mode to the inter-row travel mode upon satisfying a first condition that the amount of positional deviation is smaller than a first threshold and a second condition that the amount of directional deviation is smaller than a second threshold.

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：US20220272900A1

公开(公告)日：2022-09-01

申请号：US17746115

申请日：2022-05-17

Applicant: KUBOTA CORPORATION

Inventor： Minoru HIRAOKA ,  Tomoyoshi SAKANO ,  Jumpei MIYAMOTO ,  Junichi ISHIKAWA ,  Takuya TAMAI ,  Shunsuke EDO

IPC: A01D46/30 ,  B60G17/0165 ,  G06T7/70 ,  G06V20/10 ,  G06V20/56

Abstract: An agricultural robot includes a machine body, a wheeled traveling device to support the machine body such that the machine body is capable of traveling, the traveling device including at least three wheels, a manipulator including an arm and a robot hand, the arm being attached to the machine body, the robot hand being attached to the arm and capable of holding an object, and a balance controller to control positions of the at least three wheels, respectively, to achieve a balance between the machine body and the manipulator.