| CPC G05D 1/0246 (2013.01) [A01B 69/001 (2013.01); A01B 79/005 (2013.01); G05D 1/0088 (2013.01); G05D 1/0219 (2013.01); G06F 18/2413 (2023.01); G06V 20/10 (2022.01); G05D 2201/0201 (2013.01)] | 11 Claims |
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1. A working vehicle comprising:
a vehicle body configured to travel;
a ground working device, among a plurality of types of ground working devices, attached to the vehicle body to perform ground working;
an imaging device located on the vehicle body to image, as a ground working result, a ground surface condition after the ground working by the ground working device;
a storage to store a ground working image representing the ground working result taken by the imaging device; and
a controller configured or programmed to function as a working grader to grade the ground working result based on the ground working image; wherein
the storage is configured or programmed to store a plurality of reference ground surface conditions respectively corresponding to the plurality of types of ground working devices; and
the working grader is operable to:
calculate a first ground surface condition from the ground working image;
refer to a second ground surface condition which is one of the reference ground surface conditions stored in the storage that corresponds to the ground working device among the plurality of types of ground working devices; and
grade the ground working result based on a comparison between the first ground surface condition and the second ground surface condition.
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