JP2019103436A - 作業車両 - Google Patents
作業車両 Download PDFInfo
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- JP2019103436A JP2019103436A JP2017237637A JP2017237637A JP2019103436A JP 2019103436 A JP2019103436 A JP 2019103436A JP 2017237637 A JP2017237637 A JP 2017237637A JP 2017237637 A JP2017237637 A JP 2017237637A JP 2019103436 A JP2019103436 A JP 2019103436A
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- 238000001514 detection method Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims 1
- 244000025254 Cannabis sativa Species 0.000 description 20
- 238000005520 cutting process Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
Description
上記実施形態では、作業車両1は、接触センサ22及び撮像画像取得部23を備えているとして説明したが、作業車両1は、接触センサ22及び撮像画像取得部23の一方のみを備えるように構成しても良いし、接触センサ22及び撮像画像取得部23の双方を備えずに構成することも可能である。
21:作業対象情報取得部
22:接触センサ
23:撮像画像取得部
24:負荷算定部
25:記憶部
26:駆動部
27:作業地撮像画像取得部
28:判定部
53:芝刈装置(作業ユニット)
Claims (4)
- 自律走行しながら作業を行う作業車両であって、
車体に搭載され、前記作業を行う作業ユニットと、
前記車体に搭載され、作業対象の情報を示す作業対象情報を取得する作業対象情報取得部と、
前記作業対象情報に基づいて、前記作業の負荷を算定する負荷算定部と、
前記作業の負荷毎に、前記作業ユニットの駆動条件を予め記憶しておく記憶部と、
前記負荷算定部により算定された負荷に応じて前記記憶部に記憶された駆動条件を抽出し、抽出した当該駆動条件に基づいて前記作業ユニットを駆動する駆動部と、
を備える作業車両。 - 前記車体に搭載され、前記作業対象の状況を撮像した撮像画像を取得する撮像画像取得部を更に備え、
前記作業対象情報取得部は、前記撮像画像に基づいて前記作業対象情報を取得する請求項1に記載の作業車両。 - 前記車体に搭載され、前記作業対象に接触して前記作業対象の状況を検出する接触センサを更に備え、
前記作業対象情報取得部は、前記接触センサの検出結果に基づいて前記作業対象情報を取得する請求項1又は2に記載の作業車両。 - 前記車体に搭載され、前記作業を行う作業地の状況を撮像した撮像画像を取得する作業地撮像画像取得部と、
前記作業地撮像画像取得部により取得された撮像画像に基づいて、前記作業が行われた領域か否かを判定する判定部と、を更に備え、
前記駆動部は、前記判定部の判定結果も用いて前記作業ユニットを駆動する請求項1から3のいずれか一項に記載の作業車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017237637A JP7038536B2 (ja) | 2017-12-12 | 2017-12-12 | 作業車両 |
US16/154,761 US11194336B2 (en) | 2017-12-12 | 2018-10-09 | Work vehicle |
EP18199644.8A EP3498070B1 (en) | 2017-12-12 | 2018-10-10 | Work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017237637A JP7038536B2 (ja) | 2017-12-12 | 2017-12-12 | 作業車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019103436A true JP2019103436A (ja) | 2019-06-27 |
JP7038536B2 JP7038536B2 (ja) | 2022-03-18 |
Family
ID=64023927
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017237637A Active JP7038536B2 (ja) | 2017-12-12 | 2017-12-12 | 作業車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11194336B2 (ja) |
EP (1) | EP3498070B1 (ja) |
JP (1) | JP7038536B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023181189A1 (ja) * | 2022-03-23 | 2023-09-28 | 本田技研工業株式会社 | 自律芝刈り機 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6917471B2 (ja) * | 2017-11-17 | 2021-08-11 | 本田技研工業株式会社 | 作業機 |
JP7038536B2 (ja) * | 2017-12-12 | 2022-03-18 | 株式会社クボタ | 作業車両 |
US11464161B1 (en) * | 2019-03-29 | 2022-10-11 | Hydro-Gear Limited Partnership | Automatic sensitivity adjustment for an autonomous mower |
WO2020243219A1 (en) * | 2019-05-28 | 2020-12-03 | Mtd Products Inc | Device and method for calibrating outdoor power equipment and quality of cut |
JP2021101619A (ja) * | 2019-12-24 | 2021-07-15 | 本田技研工業株式会社 | 自律走行作業機 |
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JP2012187026A (ja) * | 2011-03-09 | 2012-10-04 | Kubota Corp | 乗用作業車 |
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2018
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- 2018-10-10 EP EP18199644.8A patent/EP3498070B1/en active Active
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JPH07222507A (ja) * | 1994-02-09 | 1995-08-22 | Fuji Heavy Ind Ltd | 自律走行作業車の走行制御方法 |
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WO2023181189A1 (ja) * | 2022-03-23 | 2023-09-28 | 本田技研工業株式会社 | 自律芝刈り機 |
Also Published As
Publication number | Publication date |
---|---|
EP3498070A1 (en) | 2019-06-19 |
EP3498070B1 (en) | 2020-11-04 |
US20190179326A1 (en) | 2019-06-13 |
US11194336B2 (en) | 2021-12-07 |
JP7038536B2 (ja) | 2022-03-18 |
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