JP7458826B2 - 制御装置、作業システム、作業機および制御方法 - Google Patents
制御装置、作業システム、作業機および制御方法 Download PDFInfo
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- JP7458826B2 JP7458826B2 JP2020039111A JP2020039111A JP7458826B2 JP 7458826 B2 JP7458826 B2 JP 7458826B2 JP 2020039111 A JP2020039111 A JP 2020039111A JP 2020039111 A JP2020039111 A JP 2020039111A JP 7458826 B2 JP7458826 B2 JP 7458826B2
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- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/74—Cutting-height adjustment
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
- G07C5/04—Registering or indicating driving, working, idle, or waiting time only using counting means or digital clocks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
Claims (8)
- 所定の部材を用いて作業を実行する作業機の前記部材の状態を示す個体情報を取得し、
前記部材の前記状態を調整する状態調整機構に前記部材の前記状態の調整を指示する制御部、を備え、
前記制御部は、他の作業機から該他の作業機の他の部材の他の状態を示す他の個体情報を受信し、
受信した前記他の個体情報が示す前記他の部材の前記他の状態を基準値として採用し、
前記個体情報が示す前記部材の前記状態と、前記基準値との差分を低減するように前記状態調整機構に前記部材の前記状態の調整を指示する
制御装置。 - 前記制御部は、前記基準値を与える所定の標識の状態の測定情報を取得し、
前記測定情報が示す状態と前記基準値との差分を低減するように、前記状態調整機構に前記個体情報が示す状態の調整を指示する
請求項1に記載の制御装置。 - 前記制御部は、
前記個体情報と前記作業後の作業対象物の状態である対象物状態を示す評価情報との関係を示す評価関連情報を解析し、
前記評価関連情報に基づいて、前記他の作業機と共通の所定の対象物状態に対応する前記個体情報が示す状態を前記基準値として定める
請求項1または請求項2に記載の制御装置。 - 前記制御部は、
前記状態が最後に調整された日時から現時点までの経過時間を少なくとも取得し、
前記部材の状態の時間変化を示す特性データを参照して、取得した前記経過時間に対応する前記状態の変化量を定め、定めた前記変化量が所定の変化量の限界値を超えるとき、
前記状態調整機構に前記状態の調整を指示する
請求項1から請求項3のいずれか一項に記載の制御装置。 - 前記作業機は、
地表面を走行する車輪と前記状態調整機構を設置した車体と、
前記状態調整機構が接続されるカッターブレードと、
前記状態として前記カッターブレードの高さを検出する高さ検出部と、を備え、
前記状態調整機構は、前記高さを調整する高さ調整機構である
請求項1から請求項4のいずれか一項に記載の制御装置。 - 複数の前記作業機と、
請求項1から請求項5のいずれか一項に記載の制御装置と、
を備える作業システム。 - 所定の部材を用いて作業を実行する作業機の前記部材の状態を示す個体情報を取得する制御部と、
前記部材の前記状態を調整する状態調整機構と、
を備え、
前記制御部は、他の作業機から該他の作業機の他の部材の他の状態を示す他の個体情報を受信し、
受信した前記他の個体情報が示す前記他の部材の前記他の状態を基準値として採用し、
前記個体情報が示す前記部材の前記状態と、前記基準値との差分を低減するように前記状態調整機構に前記部材の前記状態の調整を指示する
作業機。 - 制御装置における制御方法であって、
所定の部材を用いて作業を実行する作業機の前記部材の状態を示す個体情報を取得するステップと、
他の作業機から該他の作業機の他の部材の他の状態を示す他の個体情報を受信するステップと、
受信した前記他の個体情報が示す前記他の部材の前記他の状態を基準値として採用し、
前記個体情報が示す前記部材の前記状態と、前記基準値との差分を低減するように前記部材の前記状態を調整する状態調整機構に前記部材の前記状態の調整を指示するステップと、
を有する制御方法。
Priority Applications (3)
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---|---|---|---|
JP2020039111A JP7458826B2 (ja) | 2020-03-06 | 2020-03-06 | 制御装置、作業システム、作業機および制御方法 |
US17/179,445 US11864490B2 (en) | 2020-03-06 | 2021-02-19 | Control device, work system, work machine, and control method |
EP21158568.2A EP3874932B1 (en) | 2020-03-06 | 2021-02-23 | Work system and control method |
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JP2020039111A JP7458826B2 (ja) | 2020-03-06 | 2020-03-06 | 制御装置、作業システム、作業機および制御方法 |
Publications (2)
Publication Number | Publication Date |
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JP2021136960A JP2021136960A (ja) | 2021-09-16 |
JP7458826B2 true JP7458826B2 (ja) | 2024-04-01 |
Family
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JP2020039111A Active JP7458826B2 (ja) | 2020-03-06 | 2020-03-06 | 制御装置、作業システム、作業機および制御方法 |
Country Status (3)
Country | Link |
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US (1) | US11864490B2 (ja) |
EP (1) | EP3874932B1 (ja) |
JP (1) | JP7458826B2 (ja) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180353040A1 (en) | 2017-06-09 | 2018-12-13 | Viking Gmbh | Ground working system with multiple charging stations |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1189373A (ja) * | 1997-09-22 | 1999-04-06 | Kubota Corp | コンバインの刈取部昇降装置 |
JP2005148873A (ja) | 2003-11-12 | 2005-06-09 | Nachi Fujikoshi Corp | ロボット劣化診断装置 |
KR100815570B1 (ko) * | 2006-12-06 | 2008-03-20 | 삼성광주전자 주식회사 | 로봇청소기시스템 및 그 제어방법 |
US8295979B2 (en) * | 2010-01-06 | 2012-10-23 | Deere & Company | Adaptive scheduling of a service robot |
EP3295781B1 (en) | 2012-07-04 | 2022-08-31 | Husqvarna AB | Robotic mower |
SE538441C2 (sv) * | 2013-02-19 | 2016-06-28 | Husqvarna Ab | Förbättrat robotiserat arbetsredskap |
EP3412130B1 (de) * | 2017-06-09 | 2020-08-12 | Andreas Stihl AG & Co. KG | Verfahren zum betreiben eines autonomen mobilen rasenmähroboters und rasenmähsystem |
JP2019079171A (ja) | 2017-10-23 | 2019-05-23 | 日本電産シンポ株式会社 | 移動体 |
US11197414B2 (en) | 2018-01-26 | 2021-12-14 | Briggs & Stratton, Llc | Systems and devices for autonomous lawn care |
US11452255B2 (en) * | 2018-06-21 | 2022-09-27 | Kubota Corporation | Work vehicle |
-
2020
- 2020-03-06 JP JP2020039111A patent/JP7458826B2/ja active Active
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2021
- 2021-02-19 US US17/179,445 patent/US11864490B2/en active Active
- 2021-02-23 EP EP21158568.2A patent/EP3874932B1/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US20180353040A1 (en) | 2017-06-09 | 2018-12-13 | Viking Gmbh | Ground working system with multiple charging stations |
Also Published As
Publication number | Publication date |
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JP2021136960A (ja) | 2021-09-16 |
EP3874932A1 (en) | 2021-09-08 |
EP3874932B1 (en) | 2024-03-27 |
US20210274704A1 (en) | 2021-09-09 |
US11864490B2 (en) | 2024-01-09 |
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