US 12,443,198 B2
Mobile machine, data generation unit, and method of generating data
Junichi Yuasa, Sakai (JP); Shunsuke Miyashita, Sakai (JP); Takuya Tamai, Sakai (JP); Shunsuke Edo, Sakai (JP); and Ryo Kurata, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on May 17, 2023, as Appl. No. 18/198,756.
Application 18/198,756 is a continuation of application No. PCT/JP2021/040299, filed on Nov. 1, 2021.
Claims priority of application No. 2020-192014 (JP), filed on Nov. 18, 2020.
Prior Publication US 2023/0288942 A1, Sep. 14, 2023
Int. Cl. G05D 1/00 (2024.01); G01S 17/08 (2006.01); G01S 17/89 (2020.01)
CPC G05D 1/0274 (2013.01) [G01S 17/08 (2013.01); G01S 17/89 (2013.01); G05D 1/0214 (2013.01); G05D 1/024 (2013.01); G05D 1/027 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A mobile machine movable between multiple rows of trees, the mobile machine comprising:
one or more sensors to output sensor data indicating a distribution of objects in a surrounding environment of the mobile machine;
a data generator to, while performing localization, 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 to 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; and
a controller configured or programmed to control movement of the mobile machine based on the distribution of the detected trunks of the rows of trees; wherein
when fewer trunks are detected in one of two adjacent rows of trees among the multiple rows of trees than in another one of the two rows of trees, the controller is configured or programmed to estimate a distribution of undetected trunks in the one of the two rows of trees based on the distribution of the detected trunks, and perform steering control of the mobile machine based on the estimated distribution.