Kubota Patente

A quality measurement system includes a first camera (162), a second camera (163), a display device (500), and a controller. The controller is configured or programmed to control the first camera (162) to acquire a first image that includes agricultural items and to determine, from the first image, one of the agricultural items that is suitable for measuring quality. The controller is configured or programmed to control the second camera (163) to acquire measurement data of the one of the agricultural items. The controller is configured or programmed to store estimation models for calculating at least one quality score based upon the measurement data acquired by the second camera (163) and to select one of the estimation models according to the one of the agricultural items. The controller is configured or programmed to calculate the at least one quality score of the one of the agricultural items based upon the selected one of the estimation models.

A quality measurement system includes a first camera (162), a second camera (163), a display device (500), and a controller. The controller is configured or programmed to control the first camera (162) to acquire a first image that includes a plurality of agricultural items. The controller is configured or programmed to determine, from the first image, one of the plurality of agricultural items that is suitable for measuring quality. The controller is configured or programmed to control the second camera (163) to acquire measurement data of the one of the plurality of agricultural items. The controller is configured or programmed to determine a set of the plurality of agricultural items to be sampled in a sample area.

ABSTRACT OF THE DISCLOSURE A quality measurement system includes a first camera (162), a second camera (163), a display device (500), and a controller (355). The controller (355) is configured or programmed to control the first camera (162) to acquire a first image that includes a plurality of agricultural items. The controller (355) is configured or programmed to determine, from the first image, one of the plurality of agricultural items that is suitable for measuring quality. The controller (355) is configured or programmed to control the second camera (163) to acquire measurement data of the one of the plurality of agricultural items. The controller (355) is configured or programmed to calculate at least one quality score of the one of the plurality of agricultural items based upon the measurement data. The display device (500) is configured or programmed to display the at least one quality score.

Provided is a work vehicle capable of improving operability. A work vehicle (10) includes an operation panel (33) facing a driver (H), a steering post provided to extend from the operation panel (33) toward the driver (H), a display device (50) provided on the operation panel (33), and a rotation operation unit (41) provided on the operation panel (33) and operated by the driver (H).

A travel control system for a work vehicle includes a positioning device to output position data concerning a position of the work vehicle, and a controller configured or programmed to control operation of the work vehicle, to operate in a recording mode to record the position data as acquired while the work vehicle travels to a storage device, to operate in a reproducing mode to cause the work vehicle to travel via self-driving by controlling speed and steering of the work vehicle based on the position data recorded in the storage device, and, when a manipulation for beginning recording of the position data to the storage device is performed, to determine whether a start condition for beginning recording of the position data is satisfied or not, and to cause a notifier to output a notification as to whether the start condition is satisfied or not.

A controller configured or programmed to control steering of a vehicle includes one or more processors, and one or more memories storing a computer program to be executed by the one or more processors to perform operations including obtaining sensor data from one or more sensors provided on the vehicle for use in determining a curvature of a route along which the vehicle is traveling, determining the curvature based on the sensor data, and correcting a steering angle of a steered wheel of the vehicle based on the curvature.

A travel control system for a work vehicle (100) with an implement (300) includes a positioning device (110) to output position data of the work vehicle, and a controller (180) configured or programmed to control operation of the work vehicle, operate in a recording mode to record the position data while the work vehicle travels and information concerning a work vehicle type and/or information concerning a type of the implement, operate in a reproducing mode to cause the work vehicle to travel via self-driving by controlling speed and steering of the work vehicle based on the recorded position data, and prior to the reproducing mode, determine a method of controlling self-driving in the reproducing mode through a comparison between a type of the work vehicle and/or a type of the implement linked to the work vehicle to which the reproducing mode is to be applied and the recorded work vehicle information and/or implement information.

A mower unit (1) includes: a mower deck (2) having an internal space (IS) and including: a top plate (21); and a front side wall (22f) and a rear side wall (22b) each extending downward from an edge of the top plate (21); a plurality of blades (30) arranged laterally in the internal space (IS) and each rotatable about a vertical axis to cut grass and generate a conveyance wind; a cut grass discharge opening (10) disposed at a lateral end of the internal space (IS); an inclined face (5) at a corner defined by the cut grass discharge opening (10), the top plate (21), and the front side wall (22f), the inclined face (5) being connected to the top plate (21) and the front side wall (22f), extending laterally from the cut grass discharge opening (10), and being narrower as farther away from the cut grass discharge opening (10).

A power transmission device (10) for a work vehicle (100) includes a transmission (11) including an input shaft (20) rotationally driven by a prime mover (103), a continuously variable transmission (30), a planetary gear mechanism (40), and a plurality of transmission gears (50). The first planetary gear mechanism (41) includes a first ring gear (41R), a first sun gear (41S), and a first planetary gear (41P). The second planetary gear mechanism (42) includes a second ring gear (42R), a second sun gear (42S), and a second planetary gear (42P). The first planetary gear (41P) further includes a third planetary gear (43P) that meshes with the second planetary gear (42P). An outer diameter dimension (RS1) of the first sun gear (41S) is larger than an outer diameter dimension (RS2) of the second sun gear (42S), and an inner diameter dimension (RR2) of the second ring gear (42R) is larger than an inner diameter dimension (RR1) of the first ring gear (41R).

A rear-discharge mower (1) includes a vehicle body (2), a front wheel (4), a rear wheel (5), and a mower deck (10). The mower deck (10) includes a deck frame (13) and a first cutting blade (50b). The deck frame (13) is coupled to the vehicle body (2). The first cutting blade (50b) is coupled to the deck frame (13) rotatably about a first rotational axis (AX2). A first rear distance (L11) is defined between the first rotational axis (AX2) and the rear wheel (5) in a front-rear direction (DFB) of the rear-discharge mower (1) when viewed in an axial direction (DAX) defined along the first rotational axis (AX2). The front-rear direction (DFB) is defined perpendicularly to a rear-wheel rotational axis (AW2) when viewed in the axial direction (DAX). The first cutting blade (50b) defines a first cutting diameter (CD2) having the first rotational axis (AX2) as a rotational center. The first rear distance (L11) is greater than or equal to the first cutting diameter (CD2).

A mower deck comprises a cutting blade (50), a top wall (12), a peripheral baffle (20), and a guard baffle (28). The cutting blade (50) is configured to rotate in a direction of rotation (DRT) around a rotational axis (AX) to clip grass. The cutting blade (50) is rotatably mounted on the top wall (12). The peripheral baffle (20) protrudes from the top wall (12). The top wall (12) and the peripheral baffle (20) define a cutting chamber (22) configured such that clippings of the grass flow in the cutting chamber (22). The peripheral baffle (20) defines a discharge opening (23) configured such that the clippings are discharged through the discharge opening (23). The guard baffle (28) protrudes from the top wall (12) in the cutting chamber (22) to guide the clippings toward the discharge opening (23).

A travel control system is a system that controls travel of a work vehicle having an implement linked thereto, and includes one or more LiDAR sensors attached to the work vehicle to output point cloud data representing a surrounding environment of the work vehicle including at least a portion of the implement, and a controller configured or programmed to control travel of the work vehicle. The implement is linked to the work vehicle in a manner that permits turning relative to the work vehicle. The controller is configured or programmed to determine a position of a characteristic point of the implement based on the point cloud data acquired from the LiDAR sensor, and calculate an angle between an orientation of the work vehicle and an orientation of the implement based on the position of the characteristic point.

A travel control system includes a positioning device to output position data of a work vehicle, and a controller configured or programmed to control operation of the work vehicle, operate in a recording mode to store path data concerning a path traveled by the work vehicle including waypoint data acquired based on the position data while the work vehicle is traveling, operate in a reproducing mode to control the operation of the work vehicle while causing the work vehicle to travel via self-driving based on the path data, classify, based on the path data, the path into a first section having a curvature equal to or less than a threshold and a second section having a curvature greater than the threshold, and vary a control method for operation of the work vehicle in the reproducing mode between the first and second sections.

A mower unit (1) includes: a mower deck (2); and a wheel unit (4), the wheel unit (4) including: a wheel body (40); and a wheel holding mechanism (5) configured to move the wheel body (40) heightwise relative to the mower deck (2) and hold the wheel body (40), the wheel holding mechanism (5) including: a holding rod (7) coupled to the wheel body (40); a boss bracket (50) including a boss section (51) through which the holding rod (7) extends in such a manner as to be movable heightwise; an operation rod (6) having an axis, slidable along the axis, and including: a locking section (62) configured to lock the holding rod (7) at any of a plurality of positions; and an unlocking section (63) adjacent to the locking section along the axis and configured to permit the holding rod (7) to move heightwise; and an elastic member (65) configured to urge the operation rod (6) into the locking state and hold the operation rod (6) in the locking state.

A working vehicle includes a roof unit having an internal space partitioned by an inner roof and an outer roof, an air conditioning unit that is housed in the internal space and air-conditions the interior of a cabin, a filter device capable of removing a removal target contained in introduced external air, a filter device capable of removing a removal target contained in introduced external air and being different from the first filter device, and a switching mechanism capable of switching among a first introduction state in which the air purified by the filter device is introduced into the air conditioning unit, a second introduction state in which the air purified by the filter device is introduced into the air conditioning unit, and an inside air circulation state in which air from the interior of the cabin is introduced into the air conditioning unit.

A work vehicle includes a driving force transmission shaft that is disposed with an axis oriented in a front-rear direction and to which driving force of an engine is transmitted, a transmission shaft that is disposed with an axis oriented in a left-right direction and that transmits driving force from the driving force transmission shaft to left and right front wheels, a front axle case that houses the transmission shaft, and a steering cylinder that is capable of changing a turning angle of the front wheels and is provided on the front axle case so as to be positioned above the transmission shaft. (Fig. 1)

A work machine (10) includes an openable/closable door (40) that includes a door body (41) and a hinge (42) that includes a first shaft (43), and a lock mechanism (50) that is capable of holding the openable/closable door (40) in an opened state, in which the lock mechanism (50) includes a second shaft (52), an engaging member (51) that is swingably supported by the second shaft (52), and a pin (45), in which the engaging member (51) includes a body portion (55) that has a plate shape, a shaft hole (58) that is defined in the body portion (55) and through which the second shaft (52) is inserted, and a hook portion (56) that is formed at a position separated from the shaft hole (58) in the body portion (55), the second shaft (52) revolves about the first shaft (43) according to pivot of the door body (41) around the first shaft (43), the engaging member (51) swings around the second shaft (52) according to the revolution of the second shaft (52) about the first shaft (43), and the hook portion (56) engages with the pin (45) in a state in which the door body (41) is disposed at a predetermined opened position.

A working vehicle includes a roof unit having an internal space partitioned by an inner roof and an outer roof, a filter device that is housed in the internal space and is capable of removing a removal target contained in introduced external air, a first seal member that seals at least a space in which the filter device is disposed, and a second seal member that seals at least a space in which a second guide member connected to the filter device is disposed.

A method to be executed by one or more computers generates a path for a work vehicle having an implement linked thereto to travel within a field. The path includes a temporary stop position in a peripheral region which is not a work area within the field but is an area provided along at least a portion of an outer periphery of the field. The method includes calculating a space that is defined by a trajectory of the work vehicle and the implement when the work vehicle has performed a predetermined turn, based on a size of the work vehicle, a size of the implement, and a position relationship between the work vehicle and the implement, and determining the temporary stop position based on the space.

An agricultural pruning system includes a storage to store a plurality of trained artificial intelligence (AI) models, and a processor configured or programmed to select a trained AI model from among the plurality of trained AI models. Each of the plurality of trained AI models determines whether to remove or retain each of one or more canes of a fruit tree (200).

A cut-point generation method for agricultural pruning includes using a trained artificial intelligence (AI) model (25-1) to determine whether to remove or retain (25-4) each of one or more canes of a fruit tree (200), determining whether or not each of the one or more canes of the fruit tree includes a cut-point, and determining a cut-point location for each of the one or more canes of the fruit tree that is determined to include the cut-point.

A method and a system for training an artificial intelligence (AI) model for agricultural pruning includes generating a training group (S26-1) that corresponds to a portion of a fruit tree, generating a training data point based on the training group (S26-3), and training the AI model using the training data point (S26-4). The training data point includes a pruning decision for each of one or more canes included in the training group, and a measurement value concerning one or more attributes for each of the one or more canes included in the training group.

A working machine (1) includes a machine body (2), a traveling device (3) to support the machine body (2) such that the machine body (2) is allowed to travel, an operator's seat (4), a protector (8) provided on the machine body (2) to protect the operator's seat (4), and a position detector (40) to acquire position information from one or more positioning satellites. The protector (8) includes a roof (17) provided above the operator's seat (4). The position detector (40) is housed in the roof (17). (Fig. 2)

A working vehicle includes a radiator that cools cooling water of an engine and a plurality of first cooling devices disposed on a front side of the radiator and slidably provided with respect to a vehicle body, in which the first cooling devices include an oil cooler that cools oil and a condenser that cools a refrigerant of an air-conditioning unit.

A rotational structure (40) includes a base (29), a detected body (49) fixed to the base (29), a pivot (41) supported on the base (29) such that the pivot (41) is rotatable about an axis (Y), a swing bracket (42) attached to the base (29) via the pivot (41) and configured to rotate relative to the base (29) by rotating together with the pivot (41), a sensor (47) to detect the detected body (49), and a sensor bracket (44) fastened to the swing bracket (42) to support the sensor (47).

A swinging body pivot mechanism (P) includes a pivot shaft (2), a first member (31) and a second member (32) coupled to each other via the pivot shaft (2) swingably relative to each other and a rotation stopper (3) attached to the pivot shaft (2). The rotation stopper (3) includes an insertion portion (3e) into which a rotation stopper pin portion (31b) of the first member (31) is inserted. The insertion portion (3e) includes a first width (Wr) in a direction along a first straight line (Dr) that is an imaginary line which extends in a direction matching a radial direction of the pivot shaft (2) and a second width (Wt) in a direction along a second straight line (Dt) that is an imaginary line which is perpendicular to an axis (2a) of the pivot shaft (2) and the first straight line (Dr). The first width (Wr) is defined such as to allow the rotation stopper pin portion (3 1b) inserted in the insertion portion (3e) to change a position thereof in the direction along the first straight line (Dr). The second width (Wt) is defined such that the rotation stopper (3) and the rotation stopper pin portion (31b) are restricted from moving relative to each other in the direction along the second straight line (Dt), the rotation stopper pin portion (31b) being inserted in the insertion portion (3e) and abutting the rotation stopper (3) at at least one of the opposite ends (3e1, 3e2) of the insertion portion (3e) in the direction along the second straight line (Dt).

A working machine (1) includes a machine body, an operator's seat provided on the machine body, an operator's seat protector to protect the operator's seat, a support body (41) to support the operator's seat protector, the support body (41) including a placement portion (42) for placement of the operator's seat protector thereon and a front leg portion (43L,43R) extending diagonally forward and downward from the placement portion (42) and attached to the machine body), a weight (46) provided at a rear portion of the machine body (2), and a connector member (47) to connect an upper portion of the weight (46) and the support body (41). The weight (46) is configured to support a portion of the support body (41).

An attachment assembly (5) for attachment of a drawbar (7) to a work vehicle (1), the attachment assembly (5) comprising: - a mounting plate (11) configured to be fixed to a bottom side (6) of the work vehicle (1), - a spacing part (12), - a support plate (13), the spacing part (12) joining the mounting plate (11) and the support plate (13) so as to define a receiving space (22) between the mounting plate (11) and the support plate (13) for receiving a front end (9) of the drawbar (7), - a pin (37) arranged in the receiving space (22), said pin (37) being configured to pass through an anchoring hole (10, 27) of the front end (9) of the drawbar (7) so as to attach said front end (9) of the drawbar (7) to the attachment assembly (5) in the receiving space (22), wherein the support plate (13) is configured to extend, along a longitudinal direction and forwardly from the pin, further than a distance (26) between the anchoring hole (10, 27) and a front face (23) of the drawbar (7).

A work vehicle includes an exhaust gas purification device that purifies exhaust gas discharged from an engine, and a fulcrum portion that is disposed on an upper side of the exhaust gas purification device and is a rotation fulcrum of a hood. The exhaust gas purification device includes a DPF case that collects particulate matter in exhaust gas discharged from the engine, and an SCR case that purifies nitrogen oxides in the exhaust gas, in which the DPF case and the SCR case are disposed such that a longitudinal direction of the DPF case and the SCR case faces a front-rear direction, and are disposed side by side in a left-right direction.

A remote device (30) includes a remote manipulator (35) to remotely manipulate a remote working machine (1) configured to attach a working device (2) thereto, and a display (34) to display a captured image of an area in a direction of travel of the remote working machine (1) and a path object (90) indicating an expected travel path of the remote working machine (1) such that the path object (90) is superimposed on the captured image. The display (34) is configured to display the path object (90) in a manner that corresponds to a state of the working device (2).

A remote device (30) includes a remote manipulator (35) to remotely manipulate a remote working machine (1), and a display (34) to display a captured image of an area in a direction of travel of the remote working machine (1) and a path object (90) indicating an expected travel path of the remote working machine (1) such that the path object (90) is superimposed on the captured image. The display (34) is configured to display the path object (90) in a manner that corresponds to a manner in which a ground surface slopes.

A technique capable of obtaining an output higher than a normal output as necessary is provided. A hydraulic system S according to the present disclosure includes a hydraulic pump 32, a supply oil passage 58 that supplies hydraulic oil from the hydraulic pump 32 to a front loader 4 operated by hydraulic pressure, a pump motor 30 that drives the hydraulic pump 32, and a processing device 18 that performs selection processing of selecting a control mode of the pump motor 30 from a first mode and a second mode. The first mode is a mode in which an upper limit value of a torque command value indicating torque to be output by the pump motor 30 is a first command value. The second mode is a mode in which the upper limit value is a second command value larger than the first command value.

An automatic travel assistance system (100) includes an input interface (13a to 13d, 32) to receive input of vehicle information relating to a working vehicle (1), goal information relating to a goal point in a predetermined area, and area information relating to at least one obstacle in the area, the working vehicle (1) including a traveling device (5) to cause a vehicle body (3) to travel and having attached thereto a working device (2) to perform work, an information processor (11) configured or programmed to create a costmap of the area showing a cost distribution by assigning a cost of a first predetermined value to a location where the at least one obstacle is present and assigning costs each of which is less than the first predetermined value to locations where no obstacles are present such that the costs decrease with increasing distance from the at least one obstacle, each of the cost and the costs being a degree of difficulty for the vehicle body, the traveling device, and the working device to pass through the corresponding location, and a vehicle controller (12) configured or programmed to control travel of the working vehicle such that the vehicle body, the traveling device, and the working device pass through locations at each of which the corresponding assigned cost is equal to or less than a second predetermined value less than the first predetermined value, to cause the working vehicle to perform automatic travel toward the goal point.

A method carried out by a computer or computers to generate cut-point data containing information indicating a three-dimensional position of a point on a cane of a fruit tree (200) where the cane is to be cut off includes acquiring information (S050) on a pruning mode that is selected by a user from among a plurality of pruning modes having respectively different methods of determining a point(s) on a cane(s) of the fruit tree (200) where cutting is to be performed, based on sensor data of a cane(s) of the fruit tree acquired by a sensor or sensors and based on the selected pruning mode, determining (S200) one or more points where cutting is to be performed for the cane(s) of the fruit tree (200), and generating (S300) the cut-point data for each of the one or more points where cutting is to be performed. An enabled/disabled setting(s) (S310) as to one or more setting parameters capable of being enabled or disabled in the determination of the point or points where cutting is to be performed is made to differ depending on the pruning mode.

A method carried out by a computer or computers to generate cut-point data containing information indicating a three-dimensional position of a point on a cane (58) of a fruit tree (200) where the cane (58) is to be cut off includes acquiring information (S050) on a pruning mode that is selected by a user from among a plurality of pruning modes having respectively different methods of determining a point(s) on a cane(s) of the fruit tree (200) where cutting is to be performed, each of the plurality of pruning modes having a cultivation method of the fruit tree (200) allocated thereto, based on sensor data of the cane(s) of the fruit tree (200) acquired by a sensor or sensors and based on the selected pruning mode, determining (S200) one or more points where cutting is to be performed for the cane(s) of the fruit tree (200), and generating (S300) the cut-point data for each of the one or more points where cutting is to be performed. The method of determining (S200) the point(s) where cutting is to be performed is made to differ depending on the cultivation method of the fruit tree (200).

A method carried out by a computer(s) to generate cut-point data containing information indicating a three-dimensional position of a point on a cane of a fruit tree where the cane is to be cut off includes acquiring (S050) information on a pruning mode selected by a user from among pruning modes having respectively different methods of determining a point(s) on a cane(s) where cutting is to be performed, based on sensor data of the cane(s) acquired (S100) by a sensor or sensors and based on the selected pruning mode, determining (S200) one or more points where cutting is to be performed for the cane(s), and generating (S300) the cut-point data. A second pruning mode includes settings of priority levels of two or more attributes of the cane(s) in the determination of the point or points where cutting is to be performed are identical to a first pruning mode.

A method carried out by a computer or computers to generate cut-point data containing information indicating a three-dimensional position of a point on a cane of a fruit tree where the cane is to be cut off, includes acquiring (S050) information on a pruning mode that is selected by a user from among a plurality of pruning modes having respectively different methods of determining a point(s) on a cane(s) of the fruit tree where cutting is to be performed, based on sensor data of the cane(s) of the fruit tree acquired (S100) by a sensor or sensors and based on the selected pruning mode, determining (S200) one or more points where cutting is to be performed for the cane(s) of the fruit tree, and generating (S300) the cut-point data for each of the one or more points where cutting is to be performed.

A sharing system to share a charging station to charge electric vehicles, includes a charging plan calculator configured or programmed to, based on an amount of electricity that the charging station has, based on a work plan including work done by a subject vehicle which is an electric vehicle, and based on a remaining battery level of the subject vehicle, calculate a charging plan to ensure charging of the subject vehicle by the charging station, and a shared charging determiner configured or programmed to, based on the amount of electricity that the charging station has and based on the charging plan, determine whether shared charging is available or not, the shared charging including using the charging station to charge an external vehicle other than the subject vehicle.

An electric work vehicle (10) includes a vehicle body (11), a driving unit (13) mounted on the vehicle body (11), a battery (26) disposed in front of the driving unit (13), and a battery frame (56) that supports the battery (26) and is mounted on the vehicle body (11), in which the driving unit (13) includes a steering wheel (37) and a power steering device (38) that is connected to the steering wheel (37) and assists an operation of the steering wheel (37), and the battery frame (56) includes an attachment portion (80) for mounting the power steering device (38).

An electric work vehicle (10) includes a vehicle body (11), a driver's seat (31) mounted on the vehicle body (11), a traveling wheel (12B) adjacent to the driver's seat (31) in a left-right direction in a top view, the traveling wheel (12B) supporting the vehicle body (11) in a travelable manner, a battery (26) mounted on the vehicle body (11), and an electric motor (42) to which electric power is supplied from the battery (26), in which the electric motor (42) is disposed above the traveling wheel (12B).