WORK MACHINE AND COMPONENTS THEREOF
First Claim
1. A work machine controller comprising:
- detection means for detecting a behavior and a current position of a work machine that achieves a predetermined operation while moving a target area;
service path defining means for defining a contour service path and a plurality of straight service paths, the contour service path running along the periphery of the target area, the straight service paths being defined by dividing the target area enclosed by the contour service path into two or more blocks with straight lines;
turning behavior defining means for determining intersections between the contour service path and a pair of straight service paths, the pair of straight service paths being adjacent two of the straight service paths, the work machine being designed to travel along one of the pair of straight service paths in a first direction and travel along the other of the pair of straight service paths in a second direction that is opposite to the first direction, the turning behavior defining means defining a turning behavior including backward movement of the work machine along a path connecting the adjacent intersections; and
control means for producing a travel control signal to control a travel drive mechanism included in the work machine by using the travel control signal, the travel control signal being used to move the work machine along the contour service path and the straight service paths defined by the service path defining means on anywhere other than the intersections between the contour service path and the straight service paths, based on the behavior and current position of the work machine traveling in the target area and information about their changes, and to turn the work machine in accordance with the turning behavior defined by the turning behavior defining means when the work machine reaches one of the intersections.
2 Assignments
0 Petitions
Accused Products
Abstract
To provide a work machine that can make minimum passes over a target area without leaving any tasks with flexible steering operations. A controller 10 mounted on a motor-driven lawn mower 1 determines intersections between a contour service path and a pair of straight service paths that are adjacent to each other in which the motor-driven lawn mower 1 travels along the straight service paths in opposite directions, and sets (records) a turning behavior including backward movement of the motor-driven lawn mower connecting the adjacent intersections in a configuration file. The information recorded in the configuration file is read during the operation to move the motor-driven lawn mower along the contour service path 50 and the straight service paths on anywhere other than the aforementioned intersections and to turn in accordance with the turning behavior when the motor-driven lawn mower reaches one of the intersections.
34 Citations
11 Claims
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1. A work machine controller comprising:
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detection means for detecting a behavior and a current position of a work machine that achieves a predetermined operation while moving a target area; service path defining means for defining a contour service path and a plurality of straight service paths, the contour service path running along the periphery of the target area, the straight service paths being defined by dividing the target area enclosed by the contour service path into two or more blocks with straight lines; turning behavior defining means for determining intersections between the contour service path and a pair of straight service paths, the pair of straight service paths being adjacent two of the straight service paths, the work machine being designed to travel along one of the pair of straight service paths in a first direction and travel along the other of the pair of straight service paths in a second direction that is opposite to the first direction, the turning behavior defining means defining a turning behavior including backward movement of the work machine along a path connecting the adjacent intersections; and control means for producing a travel control signal to control a travel drive mechanism included in the work machine by using the travel control signal, the travel control signal being used to move the work machine along the contour service path and the straight service paths defined by the service path defining means on anywhere other than the intersections between the contour service path and the straight service paths, based on the behavior and current position of the work machine traveling in the target area and information about their changes, and to turn the work machine in accordance with the turning behavior defined by the turning behavior defining means when the work machine reaches one of the intersections. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A work machine that achieves a predetermined operation while moving a target area comprising a controller, the controller having:
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detection means for detecting a behavior and a current position of the work machine; service path defining means for defining a contour service path and a plurality of straight service paths, the contour service path running along the periphery of the target area, the straight service paths being defined by dividing the target area enclosed by the contour service path into two or more blocks with straight lines; turning behavior defining means for determining intersections between the contour service path and a pair of straight service paths, the pair of straight service paths being adjacent two of the straight service paths, the work machine being designed to travel along one of the pair of straight service paths in a first direction and travel along the other of the pair of straight service paths in a second direction that is opposite to the first direction, the turning behavior defining means defining a turning behavior including backward movement of the work machine along a path connecting the adjacent intersections; and control means for producing a travel control signal for traveling along the contour service path and the straight service paths defined by the service path defining means on anywhere other than the intersections between the contour service path and the straight service paths, based on the behavior and current position detected by the detection means and information about their changes, and turning in accordance with the turning behavior defined by the turning behavior defining means when the work machine reaches one of the intersections; the work machine further comprising a drive mechanism that is adapted to drive itself in response to the travel control signal produced from the controller. - View Dependent Claims (10)
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11. A computer program for use in operating, as a controller, a computer system mounted on a work machine that achieves a predetermined operation while moving a target area, the computer program being adapted to make the computer system function as:
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detection means for detecting a behavior and a current position of the work machine; service path defining means for defining a contour service path and a plurality of straight service paths, the contour service path running along the periphery of the target area, the straight service paths being defined by dividing the target area enclosed by the contour service path into two or more blocks with straight lines; turning behavior defining means for determining intersections between the contour service path and a pair of straight service paths, the pair of straight service paths being adjacent two of the straight service paths, the work machine being designed to travel along one of the pair of straight service paths in a first direction and travel along the other of the pair of straight service paths in a second direction that is opposite to the first direction, the turning behavior defining means defining a turning behavior including backward movement of the work machine along a path connecting the adjacent intersections; and control means for producing a travel control signal to control a travel drive mechanism included in the work machine by using the travel control signal, the travel control signal being used to move the work machine along the contour service path and the straight service paths defined by the service path defining means on anywhere other than the intersections between the contour service path and the straight service paths, based on the behavior and current position of the work machine traveling in the target area and information about their changes, and to turn the work machine in accordance with the turning behavior defined by the turning behavior defining means when the work machine reaches one of the intersections.
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Specification