Oki Electric Industry Co., Ltd.

Yanmar Co., Ltd.

Kosuke Sekiyama

Yuki Kubo

Masaaki Date

Toshio Fukuda

Keiji Matsumoto

Toshihiko Matsunaga

Toshifumi Hiramatsu

Jun Terashima

Yasuhisa Hasegawa

Tomoya Fukukawa

Katsuhiro Suzuki

A mowing vehicle provided with a traveling machine and a mowing device includes a first image-capturing device and a controlling unit configured to control the traveling machine to travel autonomously along a boundary line of grass before and after mowing formed by the mowing device. The controlling unit includes a boundary-detecting unit configured to detect the boundary line and a traveling-controlling unit configured to control traveling directions of the traveling machine. The boundary-detecting unit is configured to generate intensity distribution information regarding texture information in a predetermined direction by filtering with a Gabor filter on a captured image. The boundary-detecting unit is configured to carry out statistical processing on the intensity distribution information per inspection area divided in plural in a vertical direction so as to detect boundary points and to detect the boundary line from the boundary points per the inspection area.

Work vehicle

An autonomous travel work system works, regarding a garden LD as a canvas and applying an arbitrary design to the garden LD, according the design. The autonomous travel work system includes an information terminal configured to be input means and transmit input information, a computer configured to receive the input information, and at least one electric lawn mower configured to work autonomously traveling in the garden LD. The information terminal includes a display, a work ground input, a design allocation input, and a work request device. The information terminal or the computer includes a work ground designation device, a design allocation device, a mapping route generator, and a work pattern generator.

Autonomous travel work system

A transmission timing control apparatus included in a network node constituting a telecommunications system is configured to use the reception timing of a timing signal from another node to determine the transmission timing of a timing signal of the own node and determine a time slot for transmission of a data signal in accordance with the transmission timing and the reception timing of a timing signal from the other node. A response timing signal transmitter transmits a response timing signal when received the timing signal from the other node. A transmission timing control circuit uses the reception timing of the timing signal and that of the response timing signal to determine the timing at which the own node transmits the timing signal.

Communication timing control for allotting a time slot by a distributed coordination through interaction with neighboring nodes

A telecommunications control apparatus is included in each of a plurality of nodes constituting a telecommunications system and includes a reception power decider for determining the reception power value of a control signal received from another node. A control signal decider decides, in accordance with the reception power value of the control signal thus determined, whether or not the own node should communicate with the other node in relation to interference at the own node. A communication controller controls communication between the own node and the other node in accordance with the result of decision made by the control signal decider.

Telecommunications control apparatus and a method for determining a communicating node with electric power interference taken into account

A communication control apparatus, mounted on each node of a telecommunications system, receives node type information selected by a neighboring node, and transmits node type information selected by the own node and node type information of another node. The apparatus receives the state variable signal of the neighboring node reflecting a phase representing another node's data transmission timing, and transmits a state variable signal representing the own node's data transmission timing. Subsequently, the apparatus selects the own node's node type in accordance with another node's type information received. The apparatus then varies, based on the own node's node type information selected, another node's node type information and the neighboring node's state variable signal, the state of the own node's phase in accordance with a time evolution rule based on a phase response function and a synchronization alliance function for thereby determining the own node's data transmission timing.

Communication control apparatus for determining data transmission timing with a node type and a state variable

Each node in a communication system operates on a repetitive internal timing cycle, at certain phases in which the node transmits data and state variable signals. The state variable signals indicate the node's data transmission timing. Each node has a virtual node calculator that simulates the timing cycles of neighboring nodes according to the state variable signals received from those nodes, and a phase calculator that varies the phase state of the node according to the simulated phase states of the neighboring nodes. Neighboring nodes can therefore interact continuously, even though they transmit state variable signals only intermittently. Consequently, a group of neighboring nodes can autonomously establish and maintain transmission time slots of equal length.

Communication system with timing cycle simulation

Communication control apparatus provided in nodes forming a telecommunications network includes a transmission timing calculator responsive to the state of the phase of the own node to determine a timing at which the node transmits data. The calculator is responsive to a state variable signal transmitted by a neighboring node and reflecting the phase of the neighboring node to change the state of the phase of the own node in accordance with a time development rule. The calculator monitors a phase difference of the own node against the neighboring node to calculate, based on the difference, the ratio of collision on data transmission timing between the own and neighboring nodes. The stress value corresponding to the collision ratio is stored time-serially. A stress response function value is generated such that the stored stress value causes the time development rule to shift the phase with its value made at random.

Apparatus for controlling data transmission timing responsively to a calculated collision ratio

In a communication system including nodes laid out in a grid, each node operates on a repetitive internal timing cycle, at certain phases in which the node transmits data and state variable signals. The state variable signals transmitted by a node indicate its internal phase and its position in the grid. The advance of the phase at each node is governed by a phase response function, which drives neighboring nodes whose data transmissions could collide out of phase with each other, and a synchronization alliance function, which brings certain nodes having positional relationships that preclude data collisions into phase with each other. A highly efficient data transmission timing pattern can thereby be established autonomously.

Growing community of inventors

Fukui, Japan

Kosuke Sekiyama