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Work vehicle

  • US 10,274,963 B2
  • Filed: 12/10/2015
  • Issued: 04/30/2019
  • Est. Priority Date: 12/11/2014
  • Status: Expired due to Fees
First Claim
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1. A work vehicle configured to work while traveling, provided with a traveling machine and a working machine, comprising:

  • a first image-capturing device configured to capture peripheries of the traveling machine; and

    a controlling unit configured to control the traveling machine to travel autonomously along a boundary line showing traces of work consecutively formed by the working machine,wherein the controlling unit includes;

    a boundary-detecting unit configured to detect the boundary line by processing an image captured by the first image-capturing device, anda traveling-controlling unit configured to control traveling directions of the traveling machine so as to be along the boundary line detected by the boundary-detecting unit, andwherein 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 the image captured by the first image-capturing device,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, anddetect the boundary line from the boundary points per the inspection area.

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