US 12,152,373 B2
Control apparatus, work machine, control method, and computer readable storage medium
Hideaki Shimamura, Saitama (JP); Naoki Kameyama, Saitama (JP); and Keiji Muro, Saitama (JP)
Assigned to HONDA MOTOR CO.,LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jul. 21, 2020, as Appl. No. 16/934,013.
Application 16/934,013 is a continuation of application No. PCT/JP2018/007659, filed on Feb. 28, 2018.
Prior Publication US 2020/0347581 A1, Nov. 5, 2020
Int. Cl. A01D 34/00 (2006.01); E02F 9/20 (2006.01); E02F 9/26 (2006.01); G06N 7/01 (2023.01)
CPC E02F 9/265 (2013.01) [E02F 9/2045 (2013.01); E02F 9/205 (2013.01); E02F 9/262 (2013.01); G06N 7/01 (2023.01)] 14 Claims
OG exemplary drawing
 
1. A control apparatus to control a work machine with an autonomous movement function, comprising:
at least one processor;
an illuminance information obtaining section to obtain illuminance information indicating at least one of (i) an illuminance of the work machine in motion and (ii) an illuminance of a region located on an advancing direction of the work machine in motion, using the at least one processor; and
a control section to control at least one of an advancing direction, an advancing speed, a travel mode, and a work mode of the work machine according to the illuminance information obtained by the illuminance information obtaining section, using the at least one processor, wherein the control section includes:
a change determination section which determines whether to change at least one of the advancing direction, the advancing speed, the travel mode, and the work mode of the work machine if the illuminance information obtained by the illuminance information obtaining section satisfies a predetermined condition, using the at least one processor; and
an instruction output section to output an instruction to change the at least one of the advancing direction, the advancing speed, the travel mode, and the work mode of the work machine if the change determination section determines to change the at least one of the advancing direction, the advancing speed, the travel mode, and the work mode of the work machine, using the at least one processor.