Yanmar Co., Ltd.

Yanmar Power Technology Co., Inc.

Toshifumi Hiramatsu

Hideaki Aoki

Toshio Fukuda

Kouhei Ogura

Kosuke Sekiyama

Yasuhisa Hasegawa

Wataru Nakagawa

Tomoya Fukukawa

In a route generating system a work vehicle setting unit sets a vehicle information on a tractor. An altitude information obtaining unit obtains altitude information on a field where an autonomous travel route is to be generated. A traveling direction setting unit sets a traveling direction of the tractor in the field. A region setting unit sets, in the field, a plurality of regions including a work region where autonomous work paths in parallel with the traveling direction are generated and headlands where connection paths each connecting corresponding ones of the autonomous work paths are generated. The region setting unit sets the widths of the headlands (headland widths) based on the vehicle information, the altitude information, and the traveling direction, the widths of the headlands extending in parallel with the traveling direction.

Route generation system, and autonomous travel system causing work vehicle to travel along route generated thereby

A route generating system in which a work vehicle setting unit sets a vehicle information on a tractor. An altitude information obtaining unit of the route generating system obtains an altitude information on a field where an autonomous travel route is to be generated, and a traveling direction setting unit thereof sets a traveling direction of the tractor in the field. A region setting unit of the route generating system sets, in the field, a plurality of regions including a work region where autonomous work paths in parallel with the traveling direction are generated and headlands where connection paths each connecting corresponding ones of the autonomous work paths are generated. The region setting unit sets the widths of the headlands (headland widths) based on the vehicle information, the altitude information, and the traveling direction, the widths of the headlands extending in parallel with the traveling direction.

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

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

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

Toshifumi Hiramatsu