US 12,290,014 B2
Working vehicle
Yushi Matsuzaki, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on May 24, 2022, as Appl. No. 17/751,801.
Application 17/751,801 is a continuation of application No. PCT/JP2020/048212, filed on Dec. 23, 2020.
Claims priority of application No. 2019-239889 (JP), filed on Dec. 27, 2019.
Prior Publication US 2022/0287216 A1, Sep. 15, 2022
Int. Cl. A01B 59/06 (2006.01); A01B 63/111 (2006.01); A01B 69/04 (2006.01)
CPC A01B 59/067 (2013.01) [A01B 63/1112 (2013.01); A01B 69/008 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A working vehicle comprising:
a traveling vehicle body;
a linking device provided on the traveling vehicle body and capable of linking a working device;
a first sensor provided on the working device to monitor at least a surrounding area of the working device; and
a controller to perform control relating to automatic operation of the traveling vehicle body based on a planned travel route and based on monitored information obtained by the first sensor with the working device linked to the linking device; wherein
the controller is configured or programmed to define and function as an automatic operation controller to:
analyze the monitored information to recognize an object in a monitored area of the first sensor and determine whether or not the object is an obstacle;
start the automatic operation if the object is not an obstacle; and
not start the automatic operation if the object is an obstacle;
the controller is configured or programmed to define and function as a work manager to extract one or more worked conditions resulting from work done by the working device based on the monitored information obtained by the first sensor;
the automatic operation controller is configured or programmed to, after initiation of the automatic operation:
cause the working device to perform the work when causing the traveling vehicle body to travel along a straight route included in the planned travel route;
not cause the working device to perform the work and to determine whether or not the object in the monitored area is an obstacle based on the monitored information when causing the traveling vehicle body to travel along a turning route included in the planned travel route; and
the work manager is configured or programmed to:
when the traveling vehicle body is traveling along the straight route, extract the one or more worked conditions based on the monitored information; and
when the traveling vehicle body is traveling along the turning route, stop extracting the one or more worked conditions based on the monitored information.