US 11,926,440 B2
Sampling method and sampling system
Fuminobu Sakamoto, Kakamigahara (JP); and Toyotoshi Kurose, Seki (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed on Nov. 9, 2020, as Appl. No. 17/092,422.
Application 17/092,422 is a continuation of application No. PCT/JP2019/018356, filed on May 8, 2019.
Claims priority of provisional application 62/668,989, filed on May 9, 2018.
Prior Publication US 2021/0122500 A1, Apr. 29, 2021
Int. Cl. B64G 1/10 (2006.01); B64G 1/16 (2006.01); B64G 1/22 (2006.01); B64G 1/24 (2006.01); B64G 1/36 (2006.01); G06T 7/73 (2017.01); G06V 10/22 (2022.01); G06V 10/24 (2022.01); G06V 20/10 (2022.01); G06V 20/64 (2022.01)
CPC B64G 1/105 (2013.01) [B64G 1/16 (2013.01); B64G 1/222 (2013.01); B64G 1/2427 (2023.08); B64G 1/36 (2013.01); G06T 7/74 (2017.01); G06V 10/22 (2022.01); G06V 10/245 (2022.01); G06V 20/10 (2022.01); G06V 20/64 (2022.01); B64G 1/1071 (2023.08); G06T 2207/30204 (2013.01); G06T 2207/30248 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A sampling method comprising:
obtaining topographical information about a predetermined wide area by using a first sensor provided on a work machine;
selecting a candidate area within the wide area based on the topographical information about the wide area, the candidate area having an area less than an area of the wide area, and setting a movement route based on the topographical information about the wide area, the movement route being a route that allows a distal end portion of an arm provided on the work machine to reach a preparation position without coming into contact with an obstacle, the preparation position facing the candidate area;
moving the distal end portion of the arm along the movement route to the preparation position, and thereafter obtaining topographical information about the candidate area by using a second sensor provided on the distal end portion of the arm; and
specifying a sampling point based on the topographical information about the candidate area and performing sampling at the specified sampling point.