Yanmar Co., Ltd.

Yanmar Power Technology Co., Inc.

Hideaki Aoki

Kouhei Ogura

Keiji Matsumoto

Akifumi Kuroda

Toshifumi Hiramatsu

Takeshi Ouchida

Kazuma Moriguchi

Hidekazu Niu

Wataru Nakagawa

A parallel travel work system for an autonomous travel work vehicle, an accompanying travel work vehicle accompanying the autonomous travel work vehicle, and a remote controller for communicating with the autonomous travel work vehicle. The remote controller creates a first preset travel path for the autonomous travel work vehicle and a second preset travel path for the accompanying travel work vehicle travels. The autonomous travel work vehicle is equipped with: a position calculator for calculating a position of the autonomous travel work vehicle using a satellite positioning system, a steering actuator for operating a steering device of the autonomous travel work vehicle, a transceiver for communicating with the remote controller, and a control device for controlling the position calculator, the steering actuator and the transceiver. With the control device, the autonomous travelling of the autonomous travel work vehicle is carried out along the first preset travel path.

Parallel travel work system

An underwater propulsive device of a watercraft including a flotation unit on which a user rides. The propulsion device includes: a hollow body coupled to the flotation unit through a strut and extending in a propulsive direction of the watercraft, the inside of the hollow body being divided into a first compartment and a second compartment; a motor in the first compartment; a propeller in the second compartment; and a power transfer shaft extending in the propulsive direction and connecting the motor and the propeller to each other. The first compartment has a waterproof structure. The second compartment has a water inlet disposed closer to the bow than the propeller is and extending along a circumference of the power transfer shaft and a water jet outlet disposed at a stern-side end of the second compartment. The propeller is smaller than the first compartment in diameter.

Underwater propulsive device of watercraft

An underwater propulsion unit including a propeller, a motor, and a housing. The motor is disposed further forward in a propulsion direction than the propeller and drives the propeller into rotation. The housing that accommodates the motor and the propeller includes a first portion and a second portion. In the second portion disposed further rearward in the propulsion direction than the first portion, an introduction inlet and a spout outlet are provided. The introduction inlet introduces water into the housing, and water introduced from the introduction inlet and delivered by the propeller is spouted out of the housing. When viewed in a direction parallel to the propulsion direction, the introduction inlet is disposed further outward than the first portion and introduces water into the housing in a direction parallel to the axis of the propeller.

Underwater propulsion unit

A passenger vehicle provided with a steering handle and configured such that an attitude angle of the driver seat surface relative to a horizontal reference plane is changeable, so that a first attitude changing operation switch and a second attitude changing operation switch for changing the attitude angle are disposed in such positions as to be operable with a thumb of the driver of the vehicle from a steering handle grip of the steering handle.

Passenger vehicle

If turning motion of an auxiliary moving work vehicle is complete, a control device () for an autonomous moving work vehicle () can communicate with a remote control device () provided in an auxiliary moving work vehicle () so that the autonomous moving work vehicle can restart work. Pivot turning, running for a set distance, and pausing are carried out. If a restart signal for a turning completion confirmation switch () provided in the auxiliary moving work vehicle () is received via the remote control device () or if a detected value for a steering sensor () provided in the auxiliary moving work vehicle () is sent to the control device () in the autonomous moving work vehicle () via the remote control device () and the auxiliary moving work vehicle () turning and pivot turning is confirmed to be completed, work restarts.

Control device for work vehicle

An autonomous travel work vehicle (), which is provided with a position calculation means that measures the device body position by means of a satellite positioning system, a steering actuator () that operates a steering device, an engine rotation control means, a transmission means (), and a control device () that controls each of same, is caused to autonomously travel, along a set travel path stored in the control device (), by an accompanying travel work vehicle () that works while accompanying the travel of the autonomous travel work vehicle () by means of attended operation and that is mounted with a remote operation device () that can operate the autonomous travel work vehicle, and the control device () halts autonomous travel when a signal disruption from the satellites, a large deviation from the set travel path, an abnormal sensor value, fuel exhaustion, or the like is detected.

For easy setting of a path of an autonomously-traveling autonomous travel work vehicle, provided is a method for setting a path for an autonomous travel work vehicle to run and operate by determining positions with the use of a satellite positioning system so as to drive and carry out an agricultural field operation. The method includes inputting a front-to-back length of a vehicle body, a width of an implement and an overlapping amount of implements () in a width direction, positioning a work vehicle at inflection points successively along an outer circumference of the agricultural field and determining positions with the use of the satellite positioning system, setting a work area, an operation start position and an operation end position, a direction for starting reference traveling, headlands (HB) on both ends of the work area (HA), and a travel path (R) within the agricultural field.

Method for setting travel path of work vehicle

A traveling vehicle includes: a vehicle body frame, a pair of right and left front crawler traveling devices, a pair of right and left rear crawler traveling devices, a front suspension device that suspends the pair of right and left front crawler traveling devices on the vehicle body frame, and a rear suspension device that suspends the pair of right and left rear crawler traveling devices on the vehicle body frame. The front suspension device integrally suspends the pair of right and left front crawler traveling devices on the vehicle body frame and allows the pair of right and left front crawler traveling devices to be swingable in the vertical direction with respect to the vehicle body frame.

Traveling vehicle

In the prior art, detection sensitivity was fixed for an obstacle detection means provided to an autonomous travelling service vehicle; therefore, in the present invention an autonomous travelling service vehicle is provided with a position calculation means that determines the position of the chassis using a satellite positioning system, and with a control device that automatically drives the vehicle along a set travel route and causes the vehicle to execute the service, wherein an obstacle sensor that acts as an obstacle detection means for detecting whether or not an obstacle is present around the autonomous travelling service vehicle and a sensitivity adjustment means for adjusting the sensitivity of the obstacle sensor are provided, and the sensitivity of the obstacle sensor is adjusted by the sensitivity adjustment means so as to be high within a set work area and low outside the set work area.

Autonomous travelling service vehicle

In order to adjust the sensitivity of an obstacle detection means and improve detection accuracy when an obstacle is actually present although the obstacle detection means detects no obstacle or when no obstacle is actually present although the obstacle detection means detects an obstacle, an autonomous travel working vehicle is provided with a position calculation means for measuring the position of a vehicle body using a satellite positioning system, and a control device for automatic travel and work along a set travel path. The autonomous travel working vehicle is provided with an obstacle sensor, an alarm means, and a false report switch, and if, although an obstacle has been detected and an alarm has been issued, an operator does not recognize the obstacle and activates the erroneous report switch, the control device cancels the alarm.

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Osaka, Japan

Hideaki Aoki