US 12,290,021 B2
Control device and work machine
Yuki Matsui, Wako (JP); Hideaki Shimamura, Wako (JP); and Satoshi Onodera, Tokyo (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jul. 1, 2022, as Appl. No. 17/856,195.
Application 17/856,195 is a continuation of application No. PCT/JP2020/000508, filed on Jan. 9, 2020.
Prior Publication US 2022/0330477 A1, Oct. 20, 2022
Int. Cl. A01D 34/00 (2006.01); A01D 101/00 (2006.01); G05D 1/00 (2006.01)
CPC A01D 34/008 (2013.01) [G05D 1/0088 (2013.01); A01D 2101/00 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A control device for executing travel control of a self-propelled work machine, the control device comprising:
at least one processor circuit with a memory comprising instructions, that when executed by the processor circuit, cause the at least one processor circuit to at least:
turn the work machine such that the work machine travels inside a boundary of a work region;
evaluate complexity of a shape of the boundary in the work region;
change a turning mode of the work machine when the work machine is turned based on a result of the evaluation of the complexity of the shape of the boundary in the work region; and
select one of two or more turning modes as a travel control mode based on a predetermined criterion, where the work machine is turned with different turning radii in the respective two or more turning modes such that the work machine travels inside the boundary,
wherein the work machine is turned based on the one of the two or more turning modes selected,
wherein the criterion of the selection is changed based on the evaluation of the complexity of the shape of the boundary in the work region,
wherein the two or more turning modes include:
a first turning mode in which the work machine is turned with a first turning radius; and
a second turning mode in which the work machine is turned with a second turning radius larger than the first turning radius,
wherein in the selection of the one of the two or more turning modes, the first turning radius is selected at a first frequency and the second turning radius is selected at a second frequency, and
wherein the evaluating evaluates a degree of complexity of the shape of the boundary, and wherein a first degree of complexity that is the result of the evaluation is defined as a first evaluation value, and a second degree of complexity is defined as a second evaluation value, the second degree of complexity being larger than the first degree of complexity, and
the first frequency is set when the result of the evaluation is the first evaluation value, and the second frequency is set when the result of the evaluation is the second evaluation value, where the second frequency is higher than the first frequency.