US 12,455,577 B2
Work vehicle and method for generating agricultural field external shape
Yasuto Nishii, Osaka (JP); Yuji Yamaguchi, Osaka (JP); Hidetaka Suzuki, Osaka (JP); and Masaaki Murayama, Okayama (JP)
Assigned to YANMAR HOLDINGS CO., LTD., Osaka (JP)
Appl. No. 18/039,952
Filed by Yanmar Holdings Co., Ltd., Osaka (JP)
PCT Filed Oct. 27, 2021, PCT No. PCT/JP2021/039598
§ 371(c)(1), (2) Date Jun. 1, 2023,
PCT Pub. No. WO2022/118568, PCT Pub. Date Jun. 9, 2022.
Claims priority of application No. 2020-200121 (JP), filed on Dec. 2, 2020.
Prior Publication US 2024/0016074 A1, Jan. 18, 2024
Int. Cl. G05D 1/648 (2024.01); A01B 69/00 (2006.01); A01D 41/127 (2006.01); G05D 1/00 (2024.01); G05D 1/229 (2024.01); G05D 1/617 (2024.01); G05D 1/622 (2024.01); G05D 105/15 (2024.01); G05D 107/20 (2024.01)
CPC G05D 1/6484 (2024.01) [A01B 69/004 (2013.01); A01D 41/1278 (2013.01); G05D 1/0214 (2013.01); G05D 1/2295 (2024.01); G05D 1/2297 (2024.01); G05D 1/617 (2024.01); G05D 1/622 (2024.01); G05D 1/637 (2024.01); G05D 2105/15 (2024.01); G05D 2107/21 (2024.01)] 15 Claims
OG exemplary drawing
 
1. A work vehicle comprising:
a positioning unit configured to obtain a measurement point indicating a position of a vehicle body;
an initial external shape generation unit configured to generate an initial external shape of an agricultural field based on a swept path of the vehicle body, the swept path including a plurality of measurement points that are obtained when the vehicle body travels manually along an outer edge of the agricultural field, the plurality of measurement points including the measurement point, and wherein the initial external shape is defined by a plurality of straight lines connected to one another;
an obstacle identification unit configured to:
identify an obstacle associated with traveling of the vehicle body based on the swept path; and
generate an obstacle area including the identified obstacle, wherein the obstacle area is defined by a first straight line of the plurality of straight lines, a second straight line of the plurality of straight lines, the swept path, a line connecting the swept path and the first straight line, and a line connecting the swept path and the second straight line; and
an automated driving control unit configured to control automated traveling of the work vehicle based on the initial external shape, the swept path, and the obstacle area.