US 12,228,935 B2
Agricultural vehicle, control device, and control method
Takahiro Naruse, Shizuoka (JP); Hirosato Maruyama, Shizuoka (JP); Taisuke Yamazaki, Shizuoka (JP); and Shuhei Kiyokawa, Shizuoka (JP)
Assigned to LEGMIN INC., Fukaya (JP)
Filed by Legmin inc., Fukaya (JP)
Filed on Sep. 8, 2022, as Appl. No. 17/940,850.
Application 17/940,850 is a continuation of application No. PCT/JP2021/003714, filed on Feb. 2, 2021.
Claims priority of application No. 2020-056603 (JP), filed on Mar. 26, 2020.
Prior Publication US 2023/0004162 A1, Jan. 5, 2023
Int. Cl. G05D 1/00 (2024.01); A01B 69/04 (2006.01); G05D 1/246 (2024.01)
CPC G05D 1/0214 (2013.01) [A01B 69/008 (2013.01); G05D 1/0223 (2013.01); G05D 1/0231 (2013.01); G05D 1/2462 (2024.01)] 14 Claims
OG exemplary drawing
 
1. A control device for controlling an agricultural vehicle, the control device comprising:
a direction identifying data generator that generates direction identifying data including point group data for a predetermined range of a region including a ridge;
a direction identification part that identifies a direction of the ridge on the basis of the direction identifying data; and
a travel control part that controls the agricultural vehicle on the basis of the direction of the ridge identified by the direction identification part, wherein
the travel control part stops the agricultural vehicle when the direction identification part is unable to identify the direction of the ridge.