In the prior art, detection sensitivity was fixed for an obstacle detection means provided to an autonomous travelling service vehicle; therefore, in the present invention an autonomous travelling service vehicle is provided with a position calculation means that determines the position of the chassis using a satellite positioning system, and with a control device that automatically drives the vehicle along a set travel route and causes the vehicle to execute the service, wherein an obstacle sensor that acts as an obstacle detection means for detecting whether or not an obstacle is present around the autonomous travelling service vehicle and a sensitivity adjustment means for adjusting the sensitivity of the obstacle sensor are provided, and the sensitivity of the obstacle sensor is adjusted by the sensitivity adjustment means so as to be high within a set work area and low outside the set work area.

A rotary vegetation cutting unit having: a frame having a drive shaft; at least one cutting element that moves with the frame; and a debris blocking assembly on the frame with a unitary part that moves relative to the frame in opposite directions around an operating axis. The unitary part is configured to deflect away from the at least one cutting element objects approaching the at least one cutting element in a radial direction. The rotary vegetation cutting unit further has a bearing assembly including: a) a bearing that guides movement between the unitary part and the shaft; and b) a holder for the bearing. The rotary vegetation cutting unit is configured so that any debris spaced radially from the rotary vegetation cutting unit is required to traverse a non-straight path to contact the bearing.

An obstacle detection system for an agricultural work vehicle includes: an obstacle estimation unit that estimates a region in a field based on a detection signal from an obstacle sensor in which region an obstacle is present, and outputs obstacle present region information; an image capturing unit that outputs a captured image of the field; an obstacle detection unit that detects the obstacle from an input image and outputs obstacle detection information; and an image preprocessing unit that generates, as an image to be input to the obstacle detection unit, a trimmed image obtained by trimming the captured image so as to include the region in which the obstacle is present, based on the obstacle present region information and shooting-angle-of-view information regarding the image capturing unit.

In the prior art, detection sensitivity was fixed for an obstacle detection means provided to an autonomous travelling service vehicle; therefore, in the present invention an autonomous travelling service vehicle is provided with a position calculation means that determines the position of the chassis using a satellite positioning system, and with a control device that automatically drives the vehicle along a set travel route and causes the vehicle to execute the service, wherein an obstacle sensor that acts as an obstacle detection means for detecting whether or not an obstacle is present around the autonomous travelling service vehicle and a sensitivity adjustment means for adjusting the sensitivity of the obstacle sensor are provided, and the sensitivity of the obstacle sensor is adjusted by the sensitivity adjustment means so as to be high within a set work area and low outside the set work area.

A three headed cutter is comprised of a cover assembly under which are located the three cutting head assemblies. The cover assembly, along with the cutting head assemblies, are designed so as to rotate around impediments, the cover assembly pivots around a central axis. The three headed cutter has a connecting member which connects it to the tractor by way of an articulated boom arm. The boom arm connects with the connecting member at a pivot point, from which a biasing means is also connected. The biasing means and pivot point allow for the cover assembly to take in the shock of hitting an impediment by having the boom arm move at its pivot point so as to move the cover without damage just before the start of its rotation around the impediment. Each of the three cutting head assemblies consists of a twin blade member and a caster. The caster rotates with the cutting head assemblies. The cover assembly is further supported by a support wheel which takes on the load from the connecting member and the articulated boom arm. The central axis has a motor from which extends downwardly a shaft member, which itself connects to a multiple track pulley which has three belts, one for each cutting head pulley, which themselves connect directly to the cutting head by way of a short shaft member. Tension pulley assemblies, which consist in a pulley and biasing means assembly, keep tension on the belts.

An agricultural harvester including a sensor for measuring a position of an object in surroundings of the harvester. The sensor is connected to a processor for defining at least two different danger zones respectively corresponding to at least two different sets of harvester driving parameter values. The processor can determine actual harvester driving parameter values, and the processor can compare the actual harvester driving parameter values with the different sets to select a matching set and to select a corresponding one of the danger zones. The processor outputs a warning signal if the position is in the corresponding danger zone.

A self-propelled agricultural working machine has at least one working unit such as a ground drive, a driver assistance system for generating control actions within the working machine, and a sensor system for generating pieces of environmental information. The driver assistance system generates the control actions on the basis of the pieces of environmental information. The driver assistance system assigns an urgency level to each of the pieces of environmental information and generates the control actions on the basis of the pieces of environmental information and the particular assigned urgency levels.

In a riding mower having a frame, a mower deck supported beneath the frame by a pair of turnbuckles with resilient polyurethane bushings and a source of motive power also supported on the frame. The frame is supported on forward and rear wheel assemblies with a supporting wheel. The turnbuckles are pivotally secured to the frame by downwardly depending tabs captivating a forward end with the trailing end secured to the deck with links with holes that slide on bolts extending from lift actuator arms.

Provided is a harvester configured to effect a work-performing traveling for harvesting agricultural products in a field while traveling in the field autonomously. This harvester includes a traveling device effecting the work-performing traveling, a machine body supported to the traveling device, a harvesting section supported to a front portion of the machine body and harvesting the products in the field, an imaging device provided at a front portion of the machine body and at a position higher than the harvesting section so as to view down a product present in an un-worked area located forwardly of the harvesting section, a detecting section detecting abnormality in the field from an image imaged by the imaging device, and a controlling section executing an abnormality situation control as a control in accordance with the abnormality detected in the field.

A robotic work tool system (200) comprising a robotic work tool (100) and a beacon marker (280), said robotic work tool (100) comprising a beacon sensor (175) configured to sense a signal being transmitted by the beacon marker (280), said beacon marker (280) marking an area (270) around an obstacle (260) in a work area (205) in which said robotic work tool (100) is arranged to operate, wherein said robotic work tool is configured to determine a proximity to a beacon marker (280) and to adapt its operation accordingly.