MOBILE MACHINE, CONTROL UNIT, DATA GENERATION UNIT, METHOD OF CONTROLLING OPERATION OF A MOBILE MACHINE, AND METHOD OF GENERATING DATA

A mobile machine movable between multiple rows of trees includes at least two LiDAR sensors to output two-dimensional or three-dimensional point clouds data indicating a distribution of objects in a surrounding environment of the mobile machine, a storage to store environment map data indicating a d...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	TAMAI, Takuya, EDO, Shunsuke, KURATA, Ryo, MIYASHITA, Shunsuke, YUASA, Junichi
Format:	Patent
Sprache:	eng
Schlagworte:	AGRICULTURE ANALOGOUS ARRANGEMENTS USING OTHER WAVES ANIMAL HUSBANDRY DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES FISHING FORESTRY HUMAN NECESSITIES HUNTING LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES ORIMPLEMENTS, IN GENERAL PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SOIL WORKING IN AGRICULTURE OR FORESTRY TESTING TRAPPING
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Beschreibung
Zusammenfassung:	A mobile machine movable between multiple rows of trees includes at least two LiDAR sensors to output two-dimensional or three-dimensional point clouds data indicating a distribution of objects in a surrounding environment of the mobile machine, a storage to store environment map data indicating a distribution of trunks of the multiple rows of trees, a localization processor, and a controller to control movement of the mobile machine in accordance with a position of the mobile machine as estimated by the localization processor. The localization processor is configured or programmed to detect the trunks of the rows of trees in the surrounding environment of the mobile machine based on the point clouds data that is repeatedly output from the at least two LiDAR sensors while the mobile machine is moving, and to perform matching between the detected trunks of the rows of trees and the environment map data to estimate a position of the mobile machine.