The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 30, 2019
Filed:
Dec. 10, 2015
Yanmar Co., Ltd., Osaka-shi, Osaka, JP;
Toshio Fukuda, Nagoya, JP;
Kosuke Sekiyama, Nagoya, JP;
Yasuhisa Hasegawa, Nagoya, JP;
Tomoya Fukukawa, Nagoya, JP;
Toshifumi Hiramatsu, Osaka, JP;
YANMAR CO., LTD., Osaka, JP;
Abstract
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.