Granted Patent B2

US 12,369,508 · App. 18/121,636 · Granted Jul 29, 2025

Inventors: Takanori Morimoto (Sakai, JP); Ryota Kikuchi (Sakai, JP); Kenji Tamatani (Sakai, JP); Fumiya Yoshimura (Sakai, JP)

Assignee: KUBOTA CORPORATION

A01B69/008G05D1/0219

Abstract

Claims (26)

1. A travel line creation system for an agricultural machine, the travel line creation system comprising:

a position acquirer to acquire position measurement points obtained when the agricultural machine to which a working device is attachable makes a round in an agricultural field;

a display to display a field that represents the agricultural field;

a first generator to:

associate the position measurement points with the field displayed by the display; and

generate creation points on the field by shifting the position measurement points inward in the agricultural field;

a second generator to:

create a travel line including a loop which passes through the creation points generated by the first generator; and

calculate each of virtual lines by connecting together adjacent ones of the creation points on the travel line; and

a setter to:

extract, from the virtual lines generated by the second generator, a pair of virtual lines adjacent to each other and extending in different directions; and

set one of the creation points that is shared by the extracted pair of virtual lines as a work point regarding a breakpoint in work when the agricultural machine moves from the travel line including a loop to an outside of the agricultural field or to another travel line including a loop.

2. The travel line creation system according to claim 1 , wherein

the setter is operable to, when there are a plurality of the pairs of virtual lines, extract a particular pair of virtual lines defining an angle not less than a criterion value from the plurality of pairs of virtual lines, and set, as the work point, one of the creation points that is shared by the extracted particular pair of virtual lines.

3. The travel line creation system according to claim 2 , wherein

the setter is operable to, when there are candidates for the work point, extract a particular pair of virtual lines defining an internal angle less than 180° from a plurality of the extracted pairs of virtual lines, and set, as the work point, one of the creation points that is shared by the extracted particular pair of virtual lines.

4. The travel line creation system according to claim 1 , wherein

the setter is operable to, when there are candidates for the work point, set, as the work point, one of the candidates that is nearest to an entrance-and-exit of the agricultural field.

5. The travel line creation system according to claim 1 , wherein the second generator is operable to set, as the travel line, a headland work line to perform work on a headland of the agricultural field.

6. The travel line creation system according to claim 1 , wherein the setter is operable to set a work start point, a work end point, a pause point, or a work preparation point of the working device as the work point.

7. The travel line creation system according to claim 1 , wherein

the second generator is operable to generate, as a plurality of the travel lines, paths adjacent to each other in a direction from a central portion of the field outward; and

the setter is operable to set, respectively for the paths adjacent to each other, a plurality of the work points at different positions in a direction in which the paths extend.

8. An agricultural machine, comprising:

the travel line creation system according to claim 1 .

9. The travel line creation system according to claim 1 , wherein the travel line including a loop is a continuous loop path.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (17)