JPH02107911A - Inclination monitoring system - Google Patents

Inclination monitoring system

Info

Publication number
JPH02107911A
JPH02107911A JP26031388A JP26031388A JPH02107911A JP H02107911 A JPH02107911 A JP H02107911A JP 26031388 A JP26031388 A JP 26031388A JP 26031388 A JP26031388 A JP 26031388A JP H02107911 A JPH02107911 A JP H02107911A
Authority
JP
Japan
Prior art keywords
inclination
circuit
sensor
signal
transmitter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP26031388A
Other languages
Japanese (ja)
Other versions
JP2706676B2 (en
Inventor
Toru Shinmen
新免 徹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujikura Ltd
Original Assignee
Fujikura Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujikura Ltd filed Critical Fujikura Ltd
Priority to JP63260313A priority Critical patent/JP2706676B2/en
Publication of JPH02107911A publication Critical patent/JPH02107911A/en
Application granted granted Critical
Publication of JP2706676B2 publication Critical patent/JP2706676B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PURPOSE:To enable monitoring of an inclination of an erected body at a low cost by detecting the inclination thereof with an inclination transmitter to be transmitted through a stringing. CONSTITUTION:A silicon substrate 101 is hollowed at the center thereof leaving a weight part 103 and a strain gauge circuit 104 is provided on the top of a beam section 102 to build a semiconductor acceleration sensor as inclination sensor 1. Then, an inclination transmitter 304 is made up of the sensor 1 and a processing circuit 2 and is placed on an electric post 301. Then, a drive current is supplied through a constant current circuit 4 from an external power source 3 to detect an inclination of the electric post 301. An inclination detection signal of the sensor 1 is inputted into an operational amplifier 12 of an offset circuit 11 through an amplification circuit 8 and then, an output of the amplifier 12 is inputted into a current modulation circuit 14. Thus, the inclination signal is transmitted to a telephone line 302 through a signal line l3 and can be monitored with a telephone station 303.

Description

【発明の詳細な説明】 〈産業上の利用分野〉 本発明は、電柱や鉄塔等の立設体で、架線が布設された
ものの傾きを検出して、事故や危険の防止、各種の管理
を行うための、傾斜監視システムに関するものである。
[Detailed Description of the Invention] <Industrial Application Field> The present invention detects the inclination of an erected structure such as a utility pole or a steel tower, on which overhead wires are installed, to prevent accidents and dangers, and to perform various types of management. The present invention relates to a tilt monitoring system for carrying out.

〈従来の技術〉 従来、電柱や鉄塔等のような立設体(立設物)の場合、
老巧化や災害、あるいは地盤性下等により、経時的にあ
るいは突然大きく傾き、危険な状態になることがある。
<Conventional technology> Conventionally, in the case of erected objects such as telephone poles and steel towers,
Over time or suddenly due to aging, disasters, or poor soil conditions, the structure may tilt significantly and become dangerous.

従って、このような現象を、的確に把握し、保守するこ
とは、災害等の防止上、是非とも必要とされることであ
る。
Therefore, it is absolutely necessary to accurately understand and maintain such phenomena in order to prevent disasters and the like.

〈発明が解決しようとする課題〉 ところが、現在までのところ、上述したような立設体に
あっては、傾きの検出管理は殆ど行われていない。
<Problems to be Solved by the Invention> However, up to now, for the above-mentioned upright structures, detection and management of inclination has hardly been performed.

と言うのは、航空機やロケット等のような高級な制御シ
ステムの場合、現在、姿勢制御が実施されているが、こ
れらの場合、コストを度外視しても必要不可欠のもので
あるのに対して、上記した電柱や鉄塔等の立設体の場合
には、今のところ、導入に適した傾斜角発信器が提供さ
れていないこと、信号線の布設が必要とされこと等の理
由が、考えられる。
This is because attitude control is currently implemented in high-grade control systems such as aircraft and rockets, but in these cases it is indispensable even without considering the cost. In the case of the above-mentioned utility poles, steel towers, and other erected structures, there are currently no suitable slope angle transmitters available for installation, and the installation of signal lines is required, among other reasons. It will be done.

本発明は、このような従来の実情の鑑みてなされたもの
であり、その目的とすることろは、簡便な傾斜角発信器
の提供と、立設体の架線自体の利用とにより、低コスト
での傾斜監視システムを提供せんとするにある。
The present invention has been made in view of the above-mentioned conventional circumstances, and its purpose is to provide a simple inclination angle transmitter and to reduce costs by using the overhead wire itself of the erected structure. We do not intend to provide a slope monitoring system for this purpose.

〈課題を解決するための手段〉 か\る目的を達成する本発明の傾斜監視システムは、架
線が布設された立設体に傾斜角発信器を設置し、その検
出信号を前記立設体の架線を通じて、管理局に伝送して
モニタするものである。そして、上記傾斜角発信器には
、半導体製造技術により製造された、小型で低コスト、
さらに取り扱い易い簡便な、1次元または多次元の加速
度センサを用いたものである。
<Means for Solving the Problems> The inclination monitoring system of the present invention achieves the above object by installing an inclination angle transmitter on an erected structure on which an overhead wire is installed, and transmits the detection signal to the erected structure. It is transmitted to the management station via overhead wires for monitoring. The tilt angle oscillator is a small, low-cost device manufactured using semiconductor manufacturing technology.
Furthermore, it uses a simple one-dimensional or multidimensional acceleration sensor that is easy to handle.

〈作用〉 本領斜監視システムでは、立設体の傾きが傾斜角発信器
により、的確に検出され、この検出信号が立設体の架線
を通して伝送される。このため、低コストで、立設体の
傾斜監視を行うことができる。
<Operation> In this tilt monitoring system, the tilt angle transmitter accurately detects the inclination of the erected structure, and this detection signal is transmitted through the overhead wire of the erected structure. Therefore, the inclination of the erected structure can be monitored at low cost.

〈実施例〉 第1図は本発明に係る傾斜監視システムの一実施例を示
したものである。
<Embodiment> FIG. 1 shows an embodiment of the tilt monitoring system according to the present invention.

図中、301は立設体としての電話用電柱で、この電柱
301.301間には電話線302が架線として布設さ
れている。この電話線302は、適宜箇所で電話局30
3に引き込まれる。本発明では、例えば、この電話局3
03を管理局として利用する。
In the figure, 301 is a telephone pole as an upright structure, and a telephone line 302 is laid as an overhead wire between the poles 301 and 301. This telephone line 302 is connected to a telephone office 30 at an appropriate location.
Drawn to 3. In the present invention, for example, this telephone station 3
03 will be used as the management station.

上記電柱301には、例えば第2図に示したように、傾
斜角発信器304が設置される。
A tilt angle transmitter 304 is installed on the utility pole 301, as shown in FIG. 2, for example.

この傾斜角発信器304の内部構成は、第3図に示した
如くで、電柱301に設置される傾斜角検出センサと、
この検出センサ1からの検出信号を処理する処理回路2
とからなる。
The internal configuration of this tilt angle transmitter 304 is as shown in FIG. 3, and includes a tilt angle detection sensor installed on the utility pole 301,
Processing circuit 2 that processes the detection signal from this detection sensor 1
It consists of

本領斜角検出センサ1は、重力の作用により電柱301
の傾きを検出できるものであれば、原則的に使用可能で
あるが、例えば第4図に示した如きシリコンを素材とし
た半導体加速度センサの使用が好ましい。この加速度セ
ンサ1は、例えば、シリコン基板101等の中央部を、
梁部102を介して延びた重り部103を残してくりぬ
き、この重り部103の動きをフリーにすると共に、梁
部102の上面等に歪みゲージ回路104を設けてなり
、電柱301が傾いたときの重り部103の動きにより
、傾きを検出するものである。これを、最近の半導体製
造技術等により製造すれば、極めて小型の簡単な半導体
素子得られる。
The main oblique angle detection sensor 1 detects the electric pole 301 due to the action of gravity.
In principle, any device that can detect the inclination of the sensor can be used, but it is preferable to use a semiconductor acceleration sensor made of silicon as shown in FIG. 4, for example. This acceleration sensor 1, for example,
A weight section 103 extending through the beam section 102 is hollowed out to allow free movement of the weight section 103, and a strain gauge circuit 104 is provided on the top surface of the beam section 102, etc., so that when the utility pole 301 is tilted, The inclination is detected by the movement of the weight section 103. If this is manufactured using recent semiconductor manufacturing techniques, an extremely small and simple semiconductor element can be obtained.

この傾斜角検出センサ1には、第3図において明らかよ
うに、外部の電源3、例えば電話の駆動用電力を使用し
、電話線302.302から、給電線I!、I〜2、お
よびダイオード5、定電圧ダイオード6、オペアンプ7
等からなる定電流回路4を通じて、駆動電流が供給され
る。なお、この外部電源3は、センサチップと略直結し
た太陽電池(日中給電と蓄電用)と蓄電池(夜間給電用
)とを組合せた装置系で代用させること等もできる。
As is clear from FIG. 3, this tilt angle detection sensor 1 uses an external power source 3, for example, power for driving a telephone, and connects a power supply line I! from telephone lines 302 and 302. , I~2, and diode 5, voltage regulator diode 6, operational amplifier 7
A drive current is supplied through a constant current circuit 4 consisting of the following. Note that this external power source 3 may be replaced by a device system that combines a solar cell (for daytime power supply and power storage) and a storage battery (for nighttime power supply) that are substantially directly connected to the sensor chip.

この傾斜角検出センサ1からの傾斜角検出信号は、オペ
アンプ9、オペアンプ10からなる増幅回路8により増
幅され、この増幅信号はオフセット回路11のオペアン
プ12に入力される。このオフセット回路11では、例
えば可変抵抗13により、電柱301の正常時(非傾斜
時)の出力を適宜値に調整する。このオフセット回路1
1のオペアンプ12からの出力は、電柱301の傾きに
対応した比例値として出力され、電流変調回路14のト
ランジスタ15のベースに入力されるため、電柱301
の傾きに対応した傾斜角信号(例えば危険信号等)が、
信号線!3を通じて、例えば−方の電話線302に伝送
される。この電話線302により伝送された傾斜角信号
は、電話局303でモニタされる。なお、上記検出セン
サ1を多数の電柱301に設置した場合には、適宜弁別
手段を傾斜角発信器304および電話局側装置に組み込
むようにするとよい。
The tilt angle detection signal from the tilt angle detection sensor 1 is amplified by an amplifier circuit 8 consisting of an operational amplifier 9 and an operational amplifier 10, and this amplified signal is input to an operational amplifier 12 of an offset circuit 11. In this offset circuit 11, for example, the variable resistor 13 adjusts the output of the utility pole 301 when it is normal (when it is not tilted) to an appropriate value. This offset circuit 1
The output from the operational amplifier 12 of No. 1 is output as a proportional value corresponding to the inclination of the utility pole 301, and is input to the base of the transistor 15 of the current modulation circuit 14.
An inclination angle signal (such as a danger signal) corresponding to the inclination of
Signal line! 3 to the negative telephone line 302, for example. The tilt angle signal transmitted by this telephone line 302 is monitored at a telephone office 303. In addition, when the detection sensor 1 is installed on a large number of utility poles 301, it is preferable to incorporate appropriate discrimination means into the inclination angle transmitter 304 and the central office side device.

上記傾斜角検出センサ1が1個の傾斜角発信器304で
は、電柱301の一方向の傾きしか分からないので、よ
り好ましくは、傾斜角検出センサ1を複数偏異なる方向
に設置するか、あるいは多次元の歪みを検出できる多次
元歪み検出センサを用いるとよい。
Since the inclination angle transmitter 304 having one inclination angle detection sensor 1 can only detect the inclination of the utility pole 301 in one direction, it is more preferable to install a plurality of inclination angle detection sensors 1 in different directions or to install multiple inclination angle detection sensors 1 in different directions. It is preferable to use a multidimensional distortion detection sensor that can detect dimensional distortion.

そこで、傾斜角検出センサが2個内蔵された傾斜角発信
器304の一例を示すと、第5図の如くである。この場
合は、基本的には、上記第3図の場合と同様であるが、
2個の傾斜角検出センサIA、IBに対応して、2系統
の回路が設けてあり、雨検出センサIA、IBからの傾
斜角信号は演算回路16により演算され、例えば電柱3
01の傾きの大きさと、その方向成分が求められる。そ
して、これらの両成分は電流変調回路14.14、信号
線!8、!3 ′を通じて、電話線302.302に伝
送され、電話局303でモニタされる。
An example of the tilt angle transmitter 304 having two built-in tilt angle detection sensors is shown in FIG. This case is basically the same as the case in Figure 3 above, but
Two circuits are provided corresponding to the two inclination angle detection sensors IA and IB, and the inclination angle signals from the rain detection sensors IA and IB are calculated by the calculation circuit 16.
The magnitude of the slope of 01 and its directional component are determined. And these two components are connected to the current modulation circuit 14.14 and the signal line! 8,! 3' to telephone lines 302 and 302, and is monitored at the telephone office 303.

また、多次元歪み検出センサ、例えば2次元のものが傾
斜角検出センサとして、用いられた傾斜角発信器304
の一例を示すと、第6図の如くである。この場合は、基
本的には、上記第5図の場合と同様であるが、用いる2
次元歪み検出センサICとしては、例えば第7図に示し
た如き構造からなる半導体2次元加速度センサが好まし
い。
In addition, the tilt angle transmitter 304 uses a multidimensional strain detection sensor, for example, a two-dimensional one, as a tilt angle detection sensor.
An example of this is shown in FIG. In this case, the procedure is basically the same as the case shown in Fig. 5 above, but the two
As the dimensional distortion detection sensor IC, a semiconductor two-dimensional acceleration sensor having a structure as shown in FIG. 7, for example, is preferable.

この検出センサICは、例えば、シリコン基板201等
の中央部に、底面側に凹みを設ける等して、ダイヤフラ
ム盤202を形成し、このダイヤフラム盤202の底面
から重り部203を垂下させ、この重り部203の動き
をフリーにすると共に、ダイヤフラム盤202の上面等
の複数箇所には歪みゲージ回路204.204.205
.205が設けてなる。この歪みゲージ回路は互いに対
向する一対の回路204.204または205.205
を互いに直行するように配置するとよい。
This detection sensor IC has a diaphragm disk 202 formed by, for example, providing a recess on the bottom side of the center of a silicon substrate 201, etc., and a weight portion 203 is suspended from the bottom surface of this diaphragm disk 202. In addition to freeing the movement of the section 203, strain gauge circuits 204, 204, and 205 are installed at multiple locations such as on the top surface of the diaphragm board 202.
.. 205 is provided. This strain gauge circuit consists of a pair of circuits 204.204 or 205.205 facing each other.
It is best to arrange them so that they are perpendicular to each other.

これを、最近の半導体製造技術等により製造すれば、極
めて小型の簡単な半導体素子得られる。
If this is manufactured using recent semiconductor manufacturing techniques, an extremely small and simple semiconductor element can be obtained.

このセンサICでは、重り部103が垂下する形で電柱
301に取り付け、電柱301が傾いたときの重り部1
03の動きによる、ダイヤフラム盤202の2次元的な
歪みにより、電柱301の2次元的な傾きを検出するこ
とができる。
In this sensor IC, the weight part 103 is attached to the utility pole 301 in a hanging manner, and when the utility pole 301 is tilted, the weight part 1
The two-dimensional inclination of the utility pole 301 can be detected by the two-dimensional distortion of the diaphragm board 202 due to the movement of the electric pole 301.

この2次元的な傾きは、上記各一対の歪みゲージ回路1
04.104および105.105に対応した2系統の
回路系により処理され、第5図の場合と同様、演算回路
16、電流変調回路14.14、信号線p3、zff 
 ′を通じて、電話線302.302に伝送され、電話
局303でモニタされる。
This two-dimensional inclination is determined by each pair of strain gauge circuits 1
It is processed by two circuit systems corresponding to 04.104 and 105.105, and as in the case of FIG.
' to the telephone lines 302, 302 and monitored at the telephone office 303.

なお、上記実施例では、立設体が電柱301の場合であ
ったが、本発明はこれに限定されるものではない。また
、本発明の信号の処理回路2は上記各実施例のものに限
定されず、センサからの検出信号に対応して、何らかの
信号を外部に伝送するものであれば、他の回路であって
もかまわない。
Note that in the above embodiment, the erected body is the utility pole 301, but the present invention is not limited to this. Further, the signal processing circuit 2 of the present invention is not limited to those of the above-mentioned embodiments, and may be any other circuit as long as it transmits some kind of signal to the outside in response to a detection signal from a sensor. I don't mind.

〈発明の効果〉 以上の説明から明らかなように本発明によれば、架線の
布設された電柱や鉄塔等の立設体の傾きを、採用し易い
、小型で低コストな傾斜角発信器と、架線自体を利用し
て、簡単にモニタできる低コストの傾斜監視システムを
提供することができる。
<Effects of the Invention> As is clear from the above description, according to the present invention, the inclination of an erected structure such as a utility pole or a steel tower on which overhead wires are installed can be detected using a small and low-cost inclination angle transmitter that is easy to employ. , the overhead lines themselves can be used to provide a low-cost slope monitoring system that can be easily monitored.

この傾斜監視システムによって、立設体の倒壊を未然に
察知することができ、重大な損害発生の防止、あるいは
重大な危険の防止、さらには効果的な対応策の迅速化を
図ることができる。また、モニタの自動化により、従来
保守員に顧っていた人件費の軽減、到達類難地点(積雪
下の山岳や丘陵地帯等)の解消等、様々な利点が得られ
る。
With this tilt monitoring system, it is possible to detect the collapse of an erected structure, prevent serious damage or danger, and speed up effective countermeasures. In addition, the automation of the monitor provides various benefits, such as reducing the labor costs traditionally required by maintenance personnel and eliminating difficult-to-reach locations (mountains and hilly areas under snow cover, etc.).

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本発明に係る傾斜監視システムの一実施例を示
した概略説明図、第2図は立設体への傾斜角発信器の設
置状態を示した斜視図、第3図は上記傾斜角発信器の一
例を示した結線図、第4図は傾斜角検出センサの一例を
示した部分欠截斜視図、第5図〜第6図は上記傾斜角発
信器の他の例を示した各結線図、第7図は2次元歪み検
出センサの一例を示した部分欠截概略斜視図である。 図中、 301・・・・立設体、 302・・・・架線、 303・・・・管理局、 304・・・・傾斜角発信器、 1、LA−C・・・センサ、 特許出願人    藤倉電線株式会社
Fig. 1 is a schematic explanatory diagram showing one embodiment of the inclination monitoring system according to the present invention, Fig. 2 is a perspective view showing the installation state of the inclination angle transmitter on an upright structure, and Fig. 3 is the above-mentioned inclination. A wiring diagram showing an example of an angle transmitter, Fig. 4 is a partially cutaway perspective view showing an example of an inclination angle detection sensor, and Figs. 5 and 6 show other examples of the above-mentioned inclination angle transmitter. Each connection diagram and FIG. 7 are partially cutaway schematic perspective views showing an example of a two-dimensional strain detection sensor. In the figure, 301... Erected body, 302... Overhead line, 303... Management station, 304... Tilt angle transmitter, 1, LA-C... Sensor, Patent applicant Fujikura Electric Wire Co., Ltd.

Claims (2)

【特許請求の範囲】[Claims] (1) 架線が布設された立設体に傾斜角発信器を設置
し、その検出信号を前記立設体の架線を通じて、管理局
に伝送してモニタする傾斜監視システム。
(1) A tilt monitoring system in which a tilt angle transmitter is installed on an erected body on which an overhead wire is laid, and the detection signal is transmitted to a management station through the overhead wire of the erected body for monitoring.
(2) 前記傾斜角発信器が半導体加速度センサである
請求項1記載の傾斜監視システム。
(2) The tilt monitoring system according to claim 1, wherein the tilt angle transmitter is a semiconductor acceleration sensor.
JP63260313A 1988-10-15 1988-10-15 Tilt monitoring system Expired - Fee Related JP2706676B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP63260313A JP2706676B2 (en) 1988-10-15 1988-10-15 Tilt monitoring system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP63260313A JP2706676B2 (en) 1988-10-15 1988-10-15 Tilt monitoring system

Publications (2)

Publication Number Publication Date
JPH02107911A true JPH02107911A (en) 1990-04-19
JP2706676B2 JP2706676B2 (en) 1998-01-28

Family

ID=17346290

Family Applications (1)

Application Number Title Priority Date Filing Date
JP63260313A Expired - Fee Related JP2706676B2 (en) 1988-10-15 1988-10-15 Tilt monitoring system

Country Status (1)

Country Link
JP (1) JP2706676B2 (en)

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KR20200096497A (en) 2017-12-18 2020-08-12 가부시끼 가이샤 구보다 Automatic driving system, automatic driving management program, recording medium recording the automatic driving management program, automatic driving management method, area determining system, area determining program, recording medium recording area determining program, area determining method, combine control system, combine control program , A recording medium recording the combine control program, and a combine control method
KR20200096489A (en) 2017-12-20 2020-08-12 가부시끼 가이샤 구보다 Work vehicle, travel path selection system for work vehicle, and travel path calculation system
KR20210067925A (en) 2019-11-29 2021-06-08 가부시끼 가이샤 구보다 Automatic traveling system and harvester
KR20210067926A (en) 2019-11-29 2021-06-08 가부시끼 가이샤 구보다 Auto cruising system
KR20210093240A (en) 2018-11-29 2021-07-27 가부시끼 가이샤 구보다 An automatic driving control system, an automatic driving control program, a recording medium recording an automatic driving control program, an automatic driving control method, a control device, a control program, a recording medium recording a control program, a control method
KR20210093873A (en) 2018-11-26 2021-07-28 가부시끼 가이샤 구보다 Agricultural equipment, agricultural equipment control program, recording medium recording agricultural equipment control program, agricultural equipment control method, harvester, harvester control program, recording medium recording harvester control program, harvester control method

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JPS5786711A (en) * 1980-11-19 1982-05-29 Fujikura Ltd Device for detecting inclination of pillar-shaped body
JPS6172678U (en) * 1984-10-19 1986-05-17
JPS63101705A (en) * 1986-10-18 1988-05-06 Shigeki Yamazaki Attitude sensor

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Publication number Priority date Publication date Assignee Title
JPS5786711A (en) * 1980-11-19 1982-05-29 Fujikura Ltd Device for detecting inclination of pillar-shaped body
JPS6172678U (en) * 1984-10-19 1986-05-17
JPS63101705A (en) * 1986-10-18 1988-05-06 Shigeki Yamazaki Attitude sensor

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010147670A (en) * 2008-12-17 2010-07-01 Nippon Telegr & Teleph Corp <Ntt> Radio communication system
CN103925906A (en) * 2014-03-12 2014-07-16 哈尔滨工大云帆智慧信息技术有限公司 Low-power portable on-line inclination monitoring equipment
KR20200096496A (en) 2017-12-18 2020-08-12 가부시끼 가이샤 구보다 Combine control system, combine control program, recording medium recording the combine control program, combine control method, harvester control system, harvester control program, recording medium recording harvester control program, harvester control method
KR20200096497A (en) 2017-12-18 2020-08-12 가부시끼 가이샤 구보다 Automatic driving system, automatic driving management program, recording medium recording the automatic driving management program, automatic driving management method, area determining system, area determining program, recording medium recording area determining program, area determining method, combine control system, combine control program , A recording medium recording the combine control program, and a combine control method
KR20200096489A (en) 2017-12-20 2020-08-12 가부시끼 가이샤 구보다 Work vehicle, travel path selection system for work vehicle, and travel path calculation system
KR20210093873A (en) 2018-11-26 2021-07-28 가부시끼 가이샤 구보다 Agricultural equipment, agricultural equipment control program, recording medium recording agricultural equipment control program, agricultural equipment control method, harvester, harvester control program, recording medium recording harvester control program, harvester control method
KR20210093240A (en) 2018-11-29 2021-07-27 가부시끼 가이샤 구보다 An automatic driving control system, an automatic driving control program, a recording medium recording an automatic driving control program, an automatic driving control method, a control device, a control program, a recording medium recording a control program, a control method
KR20210067925A (en) 2019-11-29 2021-06-08 가부시끼 가이샤 구보다 Automatic traveling system and harvester
KR20210067926A (en) 2019-11-29 2021-06-08 가부시끼 가이샤 구보다 Auto cruising system

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