Work machine control system and work instruction device

Abstract

To provide a work machine control system and a work instruction device for preventing a power failure state of an automatic work machine, even when a power supply device that charges the automatic work machine uses a secondary battery that is charged by a natural energy power generation device in which generated power depends on weather.SOLUTION: A work machine control system (1) includes: an automatic work machine (2) that has a first secondary battery (9); a power supply device (3) that charges the first secondary battery from a second secondary battery (12) supplied with power by a natural energy generation device (11); and a work instruction device (4) that transmits a work instruction to the automatic work machine, wherein the work instruction device includes a work planning unit (75) that creates a work instruction including an operation time zone during a work scheduled period, and the work planning unit determines the operation time zone based on a power consumption forecast which is the time transition of the power consumption of the automatic work machine, and an energy generation forecast which is the time transition of an amount of natural energy generated during the work scheduled period, so that a charge remaining amount of the second secondary battery transits within a range equal to or greater than a first predetermined value.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work machine control system and a work instruction device. [Background technology]

[0002] As one type of automatic working machine that performs a predetermined task, a lawnmower is known that autonomously travels on a lawn area to perform a lawn mowing task. For example, Patent Document 1 discloses an autonomous lawnmower that is powered by a built-in battery. This lawnmower travels autonomously and connects to a charging station, where the charging station charges the built-in battery. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 194383 Summary of the Invention [Problem to be solved by the invention]

[0004] When an automated work machine is used in an area without a power grid capable of supplying power to a charging station, it is possible to configure the charging station using a battery that is charged with power generated by a natural energy power generation device (e.g., a solar panel). However, depending on the weather conditions, the amount of power generated by the natural energy power generation device may fall below the power consumption of the automated work machine, causing the automated work machine to stop operating because it is no longer able to receive charge from the charging station.

[0005] An object of the present invention is to provide a work machine control system and a work instruction device that can prevent an automatic work machine from losing power even when the power supply device that charges the automatic work machine uses a secondary battery that is charged by power supplied from a natural energy power generation device whose generated power fluctuates depending on the weather. [Means for solving the problem]

[0006] One aspect of the present invention is a work machine control system for controlling an automatic work machine performing a specified task, the work machine control system comprising: an automatic work machine having a first secondary battery; a power supply device having a second secondary battery, which charges the second secondary battery with power from a natural energy power generation device and charges the first secondary battery of the automatic work machine from the second secondary battery; and a work instruction device that transmits work instructions to the automatic work machine, the work instruction device having a work planning unit that creates the work instructions including a specification of an operating time period of the automatic work machine during a planned work period of the automatic work machine, and the work planning unit determines the operating time period during the planned work period based on at least information on the power consumption of the automatic work machine in the past tasks and an energy generation prediction that is a prediction of the time trend of the generation of natural energy used by the natural energy power generation device during the planned work period so that the remaining charge of the second secondary battery changes within a range equal to or greater than a predetermined first specified value. Another aspect of the present invention is a work instructing device in a work machine control system including an automatic work machine equipped with a first secondary battery and performing a specified task, and a power supply device equipped with a second secondary battery, charging the second secondary battery with power from a natural energy power generation device and charging the first secondary battery of the automatic work machine from the second secondary battery, the work instructing device transmitting work instructions to the automatic work machine, the work instructing device further including a work planning unit creating the work instructions including a specification of an operation time period of the automatic work machine during a planned work period of the automatic work machine, the work planning unit determining the operation time period during the planned work period based at least on information about the power consumption of the automatic work machine in the past tasks and an energy generation prediction, which is a prediction of the time trend of the generation of natural energy used by the natural energy power generation device during the planned work period, so that the remaining charge of the second secondary battery changes within a range equal to or greater than a predetermined first specified value. Effect of the Invention

[0007] According to the present invention, it is possible to provide a work machine control system and a work instruction device that can prevent the automatic work machine from losing power even when the power supply device that charges the automatic work machine uses a secondary battery that is charged by power supplied from a natural energy power generation device whose generated power fluctuates depending on the weather. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the configuration of a work machine control system according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing the configuration of a robotic lawnmower, which is an automatic working machine. [Diagram 3] FIG. 3 is a diagram showing a state in which the charging station and the robotic lawnmower are connected. [Figure 4] FIG. 4 is a diagram showing the configuration of a work control device for a robotic lawnmower. [Diagram 5] FIG. 5 is a diagram illustrating a configuration of a power supply device. [Figure 6] FIG. 6 is a diagram showing the configuration of a work instructing device. [Figure 7] FIG. 7 is a flow diagram showing the procedure of the operation of the work machine control system. [Figure 8] FIG. 8 is a flow diagram showing the procedure of the plan creation process in the flow diagram shown in FIG. [Figure 9] FIG. 9 is a diagram showing an example of a basic instruction. [Figure 10] FIG. 10 is a diagram showing an example of a work record transmitted by the robotic lawnmower. [Figure 11] FIG. 11 is a diagram illustrating an example of a power supply record transmitted by the power supply device. [Figure 12] FIG. 12 is a diagram showing an example of natural energy information that the work instructing device acquires from the weather information server. [Figure 13] FIG. 13 is a diagram showing an example of predicted power consumption GP of a robotic lawnmower calculated by a work instructing device. [Figure 14]FIG. 14 is a diagram showing an example of a power generation amount forecast GG of a solar panel calculated from an amount of sunlight forecast, which is natural energy information. [Figure 15] FIG. 15 is a diagram showing an example of a hypothetical remaining charge SV, which is a prediction of the remaining charge of the second battery when it is assumed that the first battery is not charged. [Figure 16] FIG. 16 is a diagram illustrating an example of the power consumption prediction GW calculated from the power consumption prediction GP. [Figure 17] FIG. 17 is a diagram showing an example of a remaining charge prediction GC for the second battery when the first battery is charged. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [1. Configuration of work equipment control system] [1.1 Overall configuration of the work equipment control system] FIG. 1 is a diagram showing the configuration of a work machine control system 1 according to one embodiment of the present invention. The work machine control system 1 controls an automatic work machine that performs a predetermined task. In this embodiment, the automatic work machine is a robotic lawnmower 2 that performs lawn mowing work by autonomous traveling as the predetermined task. Note that the automatic work machine is not limited to the robotic lawnmower 2, and may be an automatic work machine that does not travel (such as a floodlight at a construction site, for example).

[0010] The work machine control system 1 includes a robotic lawnmower 2, a power supply device 3, and a work instruction device 4. The robotic lawnmower 2 is equipped with a first battery 9 which is a first secondary battery. The robotic lawnmower 2 is an autonomous working machine that uses power from the first battery 9 to mow the grass while autonomously traveling unmanned within a mowing area AR. A boundary wire 8 is laid along the boundary (or outer edge) of the mowing area AR. In this embodiment, the boundary wire 8 is a magnetic wire. The robotic lawnmower 2 detects the boundary of the mowing area AR using the magnetism of the boundary wire 8.

[0011] The power supply device 3 charges the first battery 9 of the robotic lawnmower 2 via a charging station 10. The charging station 10 is installed within the mowing area AR. The power supply device 3 includes a second battery 12, which is a second secondary battery. In this embodiment, the power supply device 3 receives power from a solar panel 11, which is an example of a natural energy power generation device, and charges the second battery 12. Here, a natural energy power generation device refers to a device that generates power using energy (natural energy) obtained from natural phenomena such as sunlight, geothermal energy, wind power, or tidal currents. The solar panel 11 is an example of a photovoltaic power generation device. The installation location of the solar panel 11 may be provided with a sunlight amount sensor 13 that detects the amount of sunlight at the installation location.

[0012] When the robotic lawnmower 2 is connected to the charging station 10, the power supply device 3 charges the first battery 9 of the robotic lawnmower 2 from the second battery 12. The charging station 10 also serves as a waiting area for the robotic lawnmower 2 when it is not working. Following work instructions sent from a work instructing device 4 (described below), the robotic lawnmower 2 repeats mowing work and returning to the charging station 10 by autonomous travel, and is charged at the charging station 10 on its return.

[0013] The work instructing device 4 is, for example, a server device. The work instructing device 4 is communicatively connected to the robotic lawnmower 2, the power supply device 3, the weather information server 6, and the mobile terminal 5 of the manager U via a communication network 7. The work instructing device 4 obtains basic instructions relating to work for the robotic lawnmower 2 from the manager U via the mobile terminal 5.

[0014] 9 is a diagram showing an example of a basic instruction. The basic instruction may include, for example, the location (address) and total area SU of the mowing area AR which is the work target location of the robotic lawnmower 2, a specification of the start date and end date of mowing work in the mowing area AR, and a specification of a work target from the work start date to the work end date. Here, the work target is the target area of ​​the worked area within the mowing area AR (area where mowing work has been completed) at the end of work on that work day.

[0015] 1, the work instructing device 4 collects information from the robotic lawnmower 2, the power supply device 3, and the weather information server 6. The content of the collected information will be described later. The work instructing device 4 creates work instructions, including specification of operating time periods for the robotic lawnmower 2 during the planned work period, based on the basic instructions obtained from the mobile terminal 5 and the information collected from the robotic lawnmower 2, the power supply device 3, and the weather information server 6. The work instructing device 4 sends the created work instructions to the robotic lawnmower 2.

[0016] In this embodiment, the work instructing device 4 creates and transmits work instructions including a specification of the operating time period of the robotic lawnmower 2 for each day from the day before the work start date to the day before the work end date specified in the basic instruction, with the work day following that day being the planned work period. However, the planned work period does not necessarily have to be the period of one work day, and can be a period of any length, such as half a day, two days, or one week. Hereinafter, in this embodiment, the planned work period will be referred to as the planned work day.

[0017] [1.2 Configuration of the robot lawnmower] FIG. 2 is a side view showing an example of the configuration of the robot lawnmower 2 according to this embodiment. The robotic lawnmower 2 comprises a housing 20, two front wheels 21 (left and right) provided at the front of the housing 20, two rear wheels 22 (left and right) provided at the rear of the housing 20, and a working unit 23 provided at the lower center of the housing 20. The working unit 23 is a blade disk provided with a cutting blade, and the blade disk is driven to rotate to cut grass.

[0018] Inside the housing 20 of the robotic lawnmower 2, two traction motors 24 (left and right), a work motor 25, a first battery 9, a rotation sensor 26, a magnetic sensor 27, a gyro sensor 28, a first connector 29, and a work control device 30 are housed. The left and right travel motors 24 each drive the left and right rear wheels 22 individually. The travel motors 24 drive the rear wheels 22 in accordance with instructions from the work control device 30, causing the robotic lawnmower 2 to travel. The robotic lawnmower 2 turns due to the difference in rotational speed between the left and right travel motors 24. The rotation sensor 26 detects the rotational speed of the left and right rear wheels 22, which are drive wheels. The detection signal from the rotation sensor 26 is output to the work control device 30. The work motor 25 drives the working unit 23. The work motor 25 drives the working unit 23 in accordance with instructions from the work control device 30, performing lawn mowing work.

[0019] The first battery 9 supplies operating power to each component of the robotic lawnmower 2. The first battery 9 is charged at a charging station 10. 3 is a diagram showing the charging station 10 and the robotic lawnmower 2 connected together. The charging station 10 includes a connection box 14 and a mounting stand 16 fixed to the connection box 14. The connection box 14 is provided with a second connector 15 that engages with a first connector 29 of the robotic lawnmower 2. A cable of the power supply device 3 is connected to the second connector 15. The first connector 29 of the robotic lawnmower 2 connects to the second connector 15 when the robotic lawnmower 2 returns to the charging station 10 from a work site by autonomous travel. By connecting the first connector 29 and the second connector 15, the first battery 9 of the robotic lawnmower 2 is supplied with power from the second battery 12 of the power supply device 3 and charged.

[0020] 4 is a diagram showing the configuration of the work control device 30 provided in the robotic lawnmower 2. The work control device 30 controls the operation of each part of the robotic lawnmower 2. The work control device 30 includes a charging control circuit 31, a power consumption measurement circuit 32, a work control circuit 33, and a travel control circuit 34.

[0021] The charging control circuit 31 controls the charging operation from the second battery 12 of the power supply device 3 to the first battery 9 of the robotic lawnmower 2 when the robotic lawnmower 2 is connected to the charging station 10 . The power consumption measuring circuit 32 detects the output current and output voltage of the first battery 9 to measure the amount of power consumption of the first battery 9. In response to an instruction from the first processor 40, the power consumption measuring circuit 32 transmits the measured value of the amount of power consumption to the first processor 40, which will be described later.

[0022] The work control circuit 33 controls the operation of the work motor 25 in response to instructions from the first processor 40, and causes the robotic lawnmower 2 to perform a lawnmowing operation. The drive control circuit 34 controls the left and right drive motors 24 in response to instructions from the first processor 40 to cause the robotic lawnmower 2 to travel.

[0023] The work control device 30 also has a first processor 40, a first memory 41, and a first communication device 42. The first memory 41 is configured, for example, from a volatile and / or non-volatile semiconductor memory. An area map 44 is stored in the first memory 41. The area map 44 is a map of the mowing area AR that is created by a work control unit 46, which will be described later.

[0024] The first communication device 42 is a transceiver for allowing the work control device 30 to communicate with other devices such as the work instructing device 4 via the communication network 7.

[0025] The first processor 40 is, for example, a computer equipped with a CPU, etc. The first processor 40 may have a configuration including a ROM in which a program is written, a RAM for temporarily storing data, etc. The first processor 40 includes, as functional elements or functional units, an instruction receiving unit 45, an operation control unit 46, a first battery control unit 47, and a first information providing unit 48.

[0026] These functional elements of the first processor 40 are realized, for example, by the first processor 40 being a computer, executing a first program 43 stored in a first memory 41. The first program 43 can be stored in any computer-readable storage medium. Alternatively, all or part of the above-mentioned functional elements of the first processor 40 can be configured by hardware including one or more electronic circuit components.

[0027] The instruction receiving unit 45 communicates with the work instructing device 4 via the first communication device 42 and receives work instructions from the work instructing device 4.

[0028] The work control unit 46 causes the robotic lawnmower 2 to travel autonomously within the mowing area AR using the travel motor 24, and performs mowing operations using the work motor 25. During autonomous travel, the work control unit 46 causes the robotic lawnmower 2 to travel along a desired route using inertial navigation with the gyro sensor 28, while detecting the boundaries of the mowing area AR using the magnetic sensor 27.

[0029] The work control unit 46 plans, as the desired route, a travel route for the robotic lawnmower 2 to mow unworked areas, which are areas within the mowing area AR where no mowing work has been performed. The work control unit 46 plans the travel route using the area map 44 stored in the first memory 41.

[0030] The area map 44 is created by the work control unit 46 and stored in the first memory 41, for example, when the robotic lawnmower 2 is placed in the mowing area AR for the first time. For example, when a reset switch (not shown) on the robotic lawnmower 2 is pressed while the robotic lawnmower 2 is connected to the charging station 10 installed in the mowing area AR, the work control unit 46 causes the robotic lawnmower 2 to freely travel within the mowing area AR. During the above-mentioned free travel, the work control unit 46 uses the magnetic sensor 27 and gyro sensor 28 to detect and store the position of the boundary wire 8 as a relative position from the position of the charging station 10, and creates an area map 44 that indicates the positions of the boundaries of the mowing area AR, and stores this in the first memory 41.

[0031] Each time the work control unit 46 performs mowing work within the mowing area AR, it measures the worked area where the mowing work has been completed, and adds division information to the area map 44 that identifies the worked area and the unworked area.

[0032] The work control unit 46 obtains the remaining charge of the first battery 9 at predetermined time intervals using the first remaining charge sensor 35 provided on the first battery 9. On the condition that the remaining charge of the first battery 9 exceeds a predetermined work threshold, the work control unit 46 leaves the charging station 10 and starts mowing work in the mowing area AR. When the remaining charge of the first battery 9 falls below the predetermined charge threshold during mowing work, the work control unit 46 returns to the charging station 10 and charges the first battery 9. Furthermore, when the remaining charge of the first battery 9 exceeds the work threshold again due to the charging operation at the charging station 10, the work control unit 46 leaves the charging station 10 and can resume mowing work.

[0033] In this embodiment in particular, the work control unit 46, in accordance with a work instruction received from the work instructing device 4, causes the robotic lawnmower 2 to leave the charging station 10 when the operating time period specified in the work instruction arrives, and begins mowing the unworked areas on the area map 44 through autonomous driving. After starting mowing, the work control unit 46 repeats mowing operations in unworked areas and charging operations at the charging station 10 according to the remaining charge of the first battery 9 until the end of the operating time period.

[0034] During the operating hours, the operating mode in which the robotic lawnmower 2 performs lawn mowing operations is referred to as the work mode, and the operating mode in which the robotic lawnmower 2 returns to the charging station 10 and performs charging operations for the first battery 9 is referred to as the charging mode.

[0035] As described below, the work instructing device 4 specifies the operating time period for the robotic lawnmower 2 on the scheduled work day, but does not specify the timing of mode transition. Here, mode transition refers to the transition of the operating mode between the work mode and the charge mode. In other words, in this embodiment, the work instructing device 4 does not specify the execution time of each of the work modes and the charge mode during the operating time period.

[0036] The work control unit 46 of the robotic lawnmower 2 starts mowing work when the operating time period arrives (i.e., when the start time of the operating time period arrives). Therefore, the start time of the operating time period is the work start time of the robotic lawnmower 2 on that work day.

[0037] After the operation control unit 46 starts mowing work when the operating time arrives, as described above, it repeats mowing operation in unworked areas (operation in the operation mode) and charging operation at the charging station 10 (operation in the charging mode) depending on the remaining charge of the first battery 9.

[0038] The work control unit 46 then ends the mowing operation at an appropriate time when the end of the operating period arrives - for example, if the work control unit 46 is operating in work mode at the end of the operating period, it continues operation in that work mode, and when the remaining charge of the first battery 9 falls below the charge threshold, it ends the work mode operation and returns to the charging station, ending the mowing operation. In this case, the time of return to the charging station marks the end of work for the robotic lawnmower 2 for that work day.

[0039] Furthermore, when the work control unit 46 is operating in the charging mode at the end time of the operating time slot, it will not start operation in the work mode even if the remaining charge of the first battery 9 subsequently exceeds the work threshold. In this case, the start time of the charging mode that was executed at the end time of the operating time slot, i.e., the end time of the work mode that was executed immediately before the charging mode, becomes the work end time for that work day.

[0040] When the start time of the operating time period arrives and mowing work begins, the work control unit 46 notifies the first information providing unit 48 of the work start time. In addition, when the end time of the operating time period arrives and mowing work ends, the work control unit 46 notifies the first information providing unit 48 of the work end time.

[0041] Furthermore, when the work control unit 46 starts and ends the work mode, it transmits a work mode start notification that notifies the start of the work mode and a work mode end notification that notifies the end of the work mode to the first information providing unit 48. Furthermore, when the work control unit 46 starts and ends the charging mode during the operating time period, it transmits a charging mode start notification that notifies the start of the charging mode and a charging mode end notification that notifies the end of the charging mode to the first information providing unit 48.

[0042] As described above, the work control unit 46 measures the completed area where the mowing work has been completed each time mowing work is performed within the mowing area AR (e.g., each time the work mode is executed), and adds division information to the area map 44 that identifies the completed area and the unworked area.

[0043] When the robotic lawnmower 2 returns to the charging station 10, the first battery control unit 47 instructs the charging control circuit 31 to execute a charging operation for the first battery 9.

[0044] When the lawn mowing work is completed, the first information providing unit 48 transmits to the work instructing device 4 a work record of the lawn mowing work from the work start time to the work finish time on that work day. FIG. 10 is a diagram showing an example of a work record transmitted by the robotic lawnmower.

[0045] The work record includes the date of the work day, the work start time, the work end time, and the work duration from the work start time to the work end time on that work day. As described above, the work start time and the work end time are transmitted from the work control unit 46 to the first information providing unit 48. The work time length is calculated, for example, by the first information providing unit 48 from the work start time and the work end time.

[0046] The work record also includes the work results, which is the total area within the mowing area AR that has been mowed from the work start date to the work end time of that work day. When the first information providing unit 48 receives the work end time from the work control unit 46, it refers to the area map 44 stored in the first memory 41, and regards the area of ​​the worked area on the area map 44 as the work results.

[0047] The work record also includes information about mode transitions from the work start time to the work finish time. The mode transition information may include mode information of each work mode and each charging mode executed between the work start time and the work end time, in the order of the execution number n (n=1, 2, ...) of each operation mode. The information of each work mode and each charging mode includes the mode start time and mode end time, which are the start and end times of each operation mode, the duration of that operation mode, and the amount of power consumption. In addition, the mode information of the charging mode further includes the amount of charge (the amount of increase in the remaining charge) of the first battery 9 in that charging mode.

[0048] After receiving the work start time from the work control unit 46, the first information providing unit 48 counts the number of times the work mode is executed each time a work mode start notification is received from the work control unit 46, and sets the counted value as execution number n of that work mode. The first information providing unit 48 also counts the number of times the charge mode is executed each time a charge mode start notification is received from the work control unit 46 after receiving the work start time, and sets the counted value as execution number n of that charge mode.

[0049] Furthermore, the first information providing unit 48 determines the time when a work mode start notification is received from the work control unit 46 and the time when a work mode end notification is received from the work control unit 46 as the mode start time and mode end time of the work mode, respectively. Similarly, the first information providing unit 48 determines the time when a charge mode start notification is received from the work control unit 46 and the time when a charge mode end notification is received from the work control unit 46 as the mode start time and mode end time of the charge mode, respectively. The first information providing unit 48 calculates the duration of the operation mode from the mode start time and mode end time.

[0050] Furthermore, when the first information providing unit 48 receives a work mode start notification from the work control unit 46, it instructs the power consumption measuring circuit 32 to start measuring the amount of power consumption, and when it receives a work mode end notification from the work control unit 46, it acquires the amount of power consumption in the work mode from the power consumption measuring circuit 32. Similarly, when the first information providing unit 48 receives a charging mode start notification from the work control unit 46, it instructs the power consumption measuring circuit 32 to start measuring the amount of power consumption, and when it receives a charging mode end notification from the work control unit 46, it acquires the amount of power consumption in the charging mode from the power consumption measuring circuit 32.

[0051] Furthermore, when the first information providing unit 48 receives a charging mode start notification and when it receives a charging mode end notification from the work control unit 46, it respectively acquires the remaining charge of the first battery 9 from the first remaining charge sensor 35. The first information providing unit 48 determines the charge amount in the charging mode to be a value obtained by subtracting the remaining charge amount when the charging mode start notification is received from the remaining charge amount when the charging mode end notification is received.

[0052] The work record also includes the work mode power consumption Po(W), which is the average power consumption in the entire work mode from the work start time to the work end time, and the charging mode power consumption Pc(W), which is the average power consumption in the entire charging mode.

[0053] The first information providing unit 48 calculates the work mode power consumption Po (W) by dividing the sum of the power consumption for all the work modes by the sum of the durations based on the power consumption (Wh) and durations in each work mode included in the mode transition information. Also, the first information providing unit 48 calculates the charge mode power consumption Pc (W) by dividing the sum of the power consumption for all the charge modes by the sum of the durations based on the power consumption (Wh) and durations in each charge mode included in the mode transition information.

[0054] Here, the work mode power consumption Po varies depending on the growth of the grass in the mowing area AR, specifically the length of the grass; the longer the grass, the greater the workload on the robotic lawnmower 2 and the greater the work mode power consumption Po.

[0055] [1.3 Configuration of power supply equipment] FIG. 5 is a diagram showing the configuration of the power supply device 3. As shown in FIG. The power supply device 3 charges the second battery 12 with power supplied from a solar panel 11, which is a natural energy power generation device. The power supply device 3 also charges the first battery 9 of the robotic lawnmower 2 from the second battery 12 via a second connector 15 of the charging station 10.

[0056] The power supply device 3 includes a second battery 12, a power generation amount measuring circuit 50, a battery control circuit 51, and a second remaining battery sensor 52. The power generation amount measurement circuit 50 measures the amount of power generated by the solar panel 11 in one day in response to an instruction from the second processor 60, which will be described later. The battery control circuit 51 performs a charging operation from the solar panel 11 to the second battery 12. The second remaining charge sensor 52 detects the remaining charge of the second battery 12.

[0057] The power supply device 3 also has a second processor 60, a second memory 61, and a second communication device 62. The second memory 61 is, for example, configured of a volatile and / or non-volatile semiconductor memory and / or a hard disk device. The second communication device 62 is a transceiver for the power supply device 3 to communicate with other devices such as the work instruction device 4 via the communication network 7.

[0058] The second processor 60 is, for example, a computer including a CPU, etc. The second processor 60 may have a configuration including a ROM in which a program is written, a RAM for temporarily storing data, etc. The second processor 60 includes, as functional elements or functional units, a power generation amount measuring unit 64, a charge amount measuring unit 65, a second battery control unit 66, and a second information providing unit 67.

[0059] These functional elements of the second processor 60 are realized, for example, by the second processor 60, which is a computer, executing a second program 63 stored in a second memory 61. The second program 63 can be stored in any computer-readable storage medium. Alternatively, all or part of the above-mentioned functional elements of the second processor 60 can be configured by hardware including one or more electronic circuit components.

[0060] The power generation amount measurement unit 64 instructs the power generation amount measurement circuit 50 to measure the daily power generation amount PG, which is the amount of power generated by the solar panel 11 in one day, excluding the period when the second battery 12 is charging the first battery 9 of the robotic lawnmower 2. For example, the power generation amount measurement unit 64 instructs the power generation amount measurement circuit 50 to start measuring the amount of power generated at 0:00, the start time of the day. Thereafter, when the robotic lawnmower 2 is connected to the charging station 10, the power generation amount measurement unit 64 causes the power generation amount measurement circuit 50 to suspend measurement of the amount of power generated, and when the robotic lawnmower 2 is removed from the charging station 10, the power generation amount measurement unit 64 causes the power generation amount measurement circuit 50 to resume measuring the amount of power generated. The power generation measurement unit 64 acquires the amount of power generated by the solar panel 11 as the daily power generation amount PG from the power generation measurement circuit 50, for example, before the schedule creation time (in this embodiment, 10 p.m.) at which the work instructing device 4 described below starts creating work instructions for the next scheduled work day, and at the time when the sun's sunlight has definitely ended at the installation site of the solar panel 11 (hereinafter referred to as the sunshine end time). The above-mentioned "time when the sun's sunlight has definitely ended" is, for example, 9 p.m.

[0061] The power generation amount measurement unit 64 also uses the sunshine sensor 13 to measure the daily sunshine amount SA, which is the amount of sunshine in a day excluding the period when the second battery 12 is charging the first battery 9 of the robotic lawnmower 2. The daily sunshine amount SA is, for example, the amount of sunshine from the start time of the day at 0:00 to the above-mentioned sunshine end time, excluding the charging period of the first battery 9. Whether or not the second battery 12 is charging the first battery 9 of the robotic lawnmower 2 can be detected, for example, by a current sensor (not shown) provided in the current path between the second battery 12 and the second connector 15 of the charging station 10.

[0062] The charge amount measurement unit 65 measures the daily charge amount CG, which is the amount of charge from the solar panel 11 to the second battery 12 in one day, excluding the period when the second battery 12 is charging the first battery 9 of the robotic lawnmower 2. The daily charge amount CG is the amount of charge to the second battery 12, excluding the period when the first battery 9 is being charged, for example, during the period from the start time of the day at 0 to the above-mentioned sunshine end time.

[0063] For example, the charge amount measurement unit 65 measures the increase in the remaining charge of the second battery 12 obtained from the second remaining charge sensor 52 during a charging period that is the period from midnight to the end of sunshine on a day, excluding the period during which the second battery 12 is charging the first battery 9 of the robotic lawnmower 2 (i.e., the period during which the second battery 12 is discharging), and sets the measured increase as the daily charge amount CG of the second battery 12. Here, when there are multiple charging periods in a day, the charge amount measurement unit 65 sets the sum of the increases in the remaining charge of the second battery 12 during each charging period as the daily charge amount CG.

[0064] The second battery control unit 66 instructs the battery control circuit 51 to control the charging operation from the solar panel 11 to the second battery 12. When the robotic lawnmower 2 is connected to the charging station 10, the second battery control unit 66 also instructs the battery control circuit 51 to control the charging operation from the second battery 12 to the first battery 9 of the robotic lawnmower 2.

[0065] The second information providing unit 67 transmits the power supply record of that day at a predetermined time between the sunshine completion time and the above-mentioned plan creation time. FIG. 11 is a diagram illustrating an example of a power supply record transmitted by the power supply device. The power supply record includes the date of that day, the daily power generation amount PG (Wh) and the daily solar radiation amount SA (Wh / m2) measured by the power generation amount measurement unit 64, and the daily charge amount CG (Wh) measured by the charge amount measurement unit 65.

[0066] The power supply record also includes the power generation efficiency Eg of the solar panel 11, which is a value obtained by dividing the daily power generation amount PG by the daily solar radiation amount SA, and the charging efficiency Ec of the second battery 12, which is a value obtained by dividing the daily charging amount CG by the daily power generation amount PG. The power generation efficiency Eg and the charging efficiency Ec are calculated by the second information providing unit 67.

[0067] [1.4 Configuration of work instruction device] The work instructing device 4 creates work instructions for the robotic lawnmower 2, and transmits the created work instructions to the robotic lawnmower 2. The work instructions include a specification of the operating time period on the scheduled work day.

[0068] FIG. 6 is a diagram showing the configuration of the work instructing device 4. As shown in FIG. The work instructing device 4 has a third processor 70, a third memory 71, and a third communication device 72. The third memory 71 is composed of, for example, a volatile and / or non-volatile semiconductor memory and / or a hard disk device. The third communication device 72 is a transceiver that enables the work instructing device 4 to communicate with other devices such as the robotic lawnmower 2 via the communication network 7.

[0069] The third processor 70 is, for example, a computer including a CPU, etc. The third processor 70 may have a configuration including a ROM in which a program is written, a RAM for temporarily storing data, etc. The third processor 70 includes an information collecting unit 74 and a work planning unit 75 as functional elements or functional units.

[0070] These functional elements of the third processor 70 are realized, for example, by the third processor 70, which is a computer, executing a third program 73 stored in a third memory 71. The third program 73 can be stored in any computer-readable storage medium. Alternatively, all or part of the above-mentioned functional elements of the third processor 70 can be configured by hardware including one or more electronic circuit components.

[0071] The information collection unit 74 acquires information from the mobile terminal 5 of the manager U, the robotic lawnmower 2, the power supply device 3, and the weather information server 6, and stores the information in the third memory 71.

[0072] Specifically, the information collection unit 74 acquires basic instructions for work by the robotic lawnmower 2 that are sent by the manager U via the mobile terminal 5. The information collection unit 74 stores the acquired basic instructions in the third memory 71 as basic instruction information 80.

[0073] The information collection unit 74 also acquires information on the work record transmitted by the robotic lawnmower 2 upon completion of work for each work day of the robotic lawnmower 2. The information collection unit 74 saves the work records for a predetermined period of time in the past (for example, the most recent month) in the third memory 71 as work history 81.

[0074] The information collection unit 74 also acquires the power supply record transmitted by the power supply device 3 for each working day of the robotic lawnmower 2. The information collection unit 74 saves the power supply record for a predetermined period in the past (for example, the most recent one month) in the third memory 71 as a power supply history 82.

[0075] The information collecting unit 74 also communicates with the weather information server 6 to obtain an insolation amount prediction SG, which is a prediction of the time transition of the amount of insolation on the scheduled work day for the sunlight used for power generation by the solar panel 11. The insolation amount prediction SG corresponds to an energy generation prediction in this disclosure, which is a prediction of the time transition of the amount of natural energy used by the natural energy power generation device during the scheduled work period.

[0076] The timing for acquiring the sunshine amount prediction SG may be a predetermined energy information acquisition time before the work planning unit 75, which will be described later, starts a plan creation process and after the weather information server 6 starts providing the sunshine amount prediction SG for the next day. The information collecting unit 74 stores the acquired sunshine amount prediction SG in the third memory 71 as natural energy information 83. When the natural energy information 83 for the previous day is stored in the third memory 71, the information collecting unit 74 overwrites the already stored natural energy information 83 with the newly acquired sunshine amount prediction SG and saves it.

[0077] An example of the natural energy information 83 (that is, the sunshine amount prediction SG) is shown in Fig. 12. The sunshine amount prediction SG may be expressed, for example, as the average sunshine amount for 30 minutes for every 30 minutes in a 24-hour day.

[0078] With reference to FIG. 6, the work planning unit 75 creates a work instruction including a designation of an operating time period on the scheduled work day for the robotic lawnmower 2. The work planning unit 75 creates a work instruction for the robotic lawnmower 2 on the scheduled work day at a predetermined timing. In this embodiment, the predetermined timing is a daily planning time from the day before the work start date to the day before the work end date designated in the basic instruction, and the scheduled work day is a 24-hour period from midnight to midnight on the day after the above-mentioned predetermined timing. The planning time is determined in advance. In this embodiment, the planning time is, for example, 10 p.m. The work planning unit 75 erases the basic instruction information 80 stored in the third memory 71 on the day after the work end date designated in the basic instruction.

[0079] The work planning unit 75 determines the operating time periods for the planned work period so that the remaining charge of the second battery 12 of the power supply device 3 stays within a range equal to or greater than a predetermined first predetermined value, based on information about power consumption during past work by the robotic lawnmower 2 and an energy generation prediction, which is a prediction of the amount of natural energy (e.g., sunlight) used for power generation by the solar panel 11 over time on the planned work day. The energy generation prediction is, for example, a prediction of the amount of sunlight over time on the planned work day.

[0080] Hereinafter, the work instruction creation process in the work planning unit 75 will be described with reference to the flow diagram shown in Fig. 8. Fig. 8 is a flow diagram showing the procedure of the plan creation process executed by the work planning unit 75 of the work instructing device 4. The plan creation process shown in Fig. 8 is executed in step S110 of the process in the work machine control system 1 in Fig. 7, which will be described later.

[0081] The plan creation process shown in FIG. 8 starts when the plan creation time, which is a predetermined timing, arrives in the process of the work machine control system 1 shown in FIG. 7 (that is, in the case of YES in step S102).

[0082] When the plan creation process shown in FIG. 8 is started, the work planning unit 75 first sets candidate time slots that are candidates for the operating time slots on the scheduled work date (S200).

[0083] As an example, the work planning unit 75 calculates an average start time, which is the average time of work start times, and an average end time, which is the average time of work end times, during a work period of a predetermined number of days in the most recent past (hereinafter referred to as the most recent work period) recorded in the work history 81. The work planning unit 75 then sets a candidate time period to a time period whose start time is the calculated average start time and whose end time is the calculated average end time. Specifically, the work planning unit 75 refers to the work history of the robotic lawnmower 2 stored in the third memory 71, and calculates the average start time and average end time for the most recent work period (for example, the most recent seven days).

[0084] Next, the work planning unit 75 refers to the work history 81 stored in the third memory 71 and calculates a power consumption prediction GP, ​​which is a prediction of the time progression of power consumption in the candidate time period, based on information about the power consumption in past work performed by the robotic lawnmower 2 (S202).

[0085] This allows the power consumption prediction to be calculated based on the power consumption during past work by the robotic lawnmower 2, so that the power consumption of the robotic lawnmower 2 can be predicted with high accuracy even if the workload in the mowing area AR (e.g., the growth of the grass) fluctuates over time.

[0086] Specifically, the work planning unit 75 first predicts the mode transition of the robotic lawnmower 2 during the candidate time period set above. For example, the work planning unit 75 refers to the work history 81 stored in the third memory 71, and predicts the mode transition of the robotic lawnmower 2 during the candidate time period determined above from the mode transition information indicated in the work records for each work day in the most recent work period.

[0087] More specifically, the work planning unit 75 estimates, as the duration of the nth work mode in the candidate time period, the average time in the most recent work period for the duration of the nth work mode on each work day (n=1, 2, ...) from the mode transition information for each work day shown in the work history 81. Similarly, the work planning unit 75 estimates, as the duration of the nth charge mode in the candidate time period, the average time in the most recent work period for the duration of the nth charge mode on each work day (n=1, 2, ...) from the mode transition information for each work day shown in the work history 81.

[0088] Then, the work planner 75 alternately arranges the work modes and the charging modes having the estimated durations from the start time of the candidate time period in ascending order of the value of n, and estimates the mode transition during the operating time period.

[0089] When the end time of a candidate time slot overlaps with a time slot of a work mode, the work mode may be estimated to end at the end time of the candidate time slot. When the end time of a candidate time slot overlaps with a time slot of a charge mode, the work mode immediately preceding the charge mode may be predicted to continue until the end time of the candidate operating time slot and end.

[0090] Next, the work planning unit 75 refers to the work mode power consumption Po(W) and the charging mode power consumption Pc(W) for each work day in the most recent work period from the work history stored in the third memory 71, and calculates the average work power Poav and the average charging power consumption Pcav, which are the average values ​​in the most recent work period of the work mode power consumption Po and the charging mode power consumption Pc. Then, the work planning unit 75 can calculate the power consumption prediction GP by assuming that the calculated average work power Poav and average charging power consumption Pcav will be consumed in each work mode and each charging mode in the mode transition estimated in the candidate time slot.

[0091] FIG. 13 is a diagram showing an example of a power consumption prediction GP. The horizontal axis of the graph shown in FIG. 13 is the time of the scheduled work day, and the vertical axis is power consumption (W). In the example of FIG. 13, a time period from 9:00 to 16:00 is set as a candidate time period. Band B at the top of the graph shows a prediction of mode transition in the candidate time period, with hatched sections being the time period of the work mode and non-hatched sections being the time period of the charge mode. As shown in FIG. 13, the power consumption prediction GP is calculated assuming that average work power Poav is consumed during the time period of the work mode and average charging power consumption Pcav is consumed during the time period of the charge mode.

[0092] Referring to FIG. 8, the work planning unit 75 then calculates a power generation forecast GG, which is a prediction of the time progression of the power generation of the solar panel 11 on the scheduled work day, based on the solar radiation forecast SG, which is a prediction of energy generation on the scheduled work day (S204).

[0093] Specifically, the work planning unit 75 first refers to the power supply history 82 stored in the third memory 71 and calculates an average power generation efficiency Egav, which is the average value during the most recent work period of the power generation efficiency Eg of the solar panel 11 on each work day. Then, the work planning unit 75 multiplies the predicted amount of sunlight SG on the scheduled work day, which is indicated by the natural energy information 83 stored in the third memory 71, by the average power generation efficiency Egav to calculate the predicted power generation amount GG.

[0094] Fig. 14 is a diagram showing an example of power generation forecast GG. The horizontal axis of the graph shown in Fig. 14 is the time of the scheduled work day, and the vertical axis is the power generation amount (Wh) averaged every 30 minutes. In the example of Fig. 14, sunrise is 6:00 and sunset is 18:30. Power generation starts to increase after 6:00, peaks around 11:00, and then decreases towards sunset at 18:30.

[0095] Next, the work planner 75 calculates a remaining charge forecast GC, which is a forecast of the time transition of the remaining charge of the second battery 12 of the power supply device 3, based on the power consumption forecast GP and the power generation forecast GG calculated in steps S202 and S204, respectively (S206).

[0096] This makes it possible to accurately predict the remaining charge of the second secondary battery, and therefore makes it possible to appropriately adjust the candidate time slots in the processes from step S208 onwards, which will be described later.

[0097] Specifically, the work planning unit 75 first calculates a virtual remaining charge SV, which is a time transition of a virtual remaining charge of the second battery 12 (referred to as a virtual remaining charge) in a case where the second battery 12 is charged from the solar panel 11 without supplying power to the first battery 9 of the robotic lawnmower 2, based on the power generation prediction GG. More specifically, the work planning unit 75 refers to the power supply history 82 stored in the third memory 71, and calculates an average charging efficiency Ecav, which is an average value of the charging efficiency Ec of the second battery 12 on each work day during the most recent work period. The work planning unit 75 then multiplies the power generation prediction GG calculated above by the average charging efficiency Ecav to calculate the amount of power generation per hour. Then, the work planning unit 75 calculates the time transition of the accumulated amount of power generation per hour calculated as the virtual remaining charge SV.

[0098] Fig. 15 is a diagram showing an example of the virtual remaining charge SV of the second battery 12 calculated by the work instructing device. In the graph of Fig. 15, the horizontal axis represents the time of the scheduled work day, and the vertical axis represents the virtual remaining charge (Wh). Here, the initial value Si of the remaining charge of the second battery 12 at the start time of a day, 0:00, can be estimated from the actual remaining charge value of the second battery 12 measured by the second remaining charge sensor 52 at the end time of work on the previous day. In addition, since the virtual remaining charge SV is a virtual amount, it can be calculated as if charging is performed beyond the charge capacity of the second battery 12.

[0099] Next, based on the power consumption prediction GP calculated in step S202, the work planning unit 75 calculates the power consumption prediction GW, which is a prediction of the change in the amount of power consumed by the robotic lawnmower 2 over time. For example, the work planning unit 75 can calculate the power consumption prediction GW by integrating the power consumption indicated by the power consumption prediction GP over time from 0 o'clock to each time.

[0100] FIG. 16 is a diagram showing an example of the power consumption prediction GW. The power consumption prediction GW shown in FIG. 16 is calculated based on the power consumption prediction GP shown in FIG. 13. The horizontal axis of the graph shown in FIG. 16 is the time of the scheduled work day, and the vertical axis is the power consumption (W). As in FIG. 13, the band B at the top of the graph shown in FIG. 16 shows the prediction of the mode transition in the candidate time period, with the hatched sections being the time period for the work mode and the non-hatched sections being the time period for the charging mode. Since the power consumed in the time period for the work mode is greater than the power consumed in the charging mode, the power consumption transitions in an approximately step-like manner.

[0101] Here, the predicted power consumption GW is the amount of power consumed by the robotic lawnmower 2 up to each time, and corresponds to the amount of power discharged from the first battery 9 of the robotic lawnmower 2. For example, w1, w2, w3, and w4 shown in Fig. 16 are the amounts of power consumed after the end of the previous charging mode at the time when the robotic lawnmower 2 is connected to the charging station 10 due to the start of the first, second, and third charging modes, and the end of work, respectively. These power consumptions w1, w2, w3, and w4 can be the amounts of power discharged from the second battery 12 to the first battery 9 in the first, second, and third charging mode operations, and after the end of work, respectively.

[0102] Therefore, the work planning unit 75 calculates the remaining charge prediction GC of the second battery 12, for example, by subtracting the power consumption w1, w2, w3, and w4 in the power consumption prediction GW shown in FIG. 16 from the virtual remaining charge SV shown in FIG. 15 during the first, second, and third charging mode operations and after the work is completed.

[0103] FIG. 17 is a diagram showing an example of the remaining charge prediction GC of the second battery 12. The horizontal axis of the graph shown in FIG. 17 is the time of the scheduled work day, and the vertical axis is the remaining charge (Wh) of the second battery 12. As in FIG. 13, the band B in the upper part of the graph shown in FIG. 17 shows the prediction of the mode transition in the candidate time period, where the hatched section is the work mode time period and the non-hatched section is the charging mode time period. By the above-mentioned calculation procedure, the predicted value of the remaining charge of the second battery 12 is reduced by the same amount of power as the power consumption w1, w2, w3, and w4 in the power consumption prediction GW shown in FIG. 16 during the first, second, and third charging mode periods and after the end of the work.

[0104] In the example shown in FIG. 17, the remaining charge of the second battery 12 is assumed to decrease in a stepwise manner, but the remaining charge of the second battery 12 may also decrease linearly or exponentially with respect to time depending on the charging characteristics of the first battery 9 to which power is being supplied.

[0105] Referring to FIG. 8, from step S208 onwards, the work planning unit 75 adjusts the candidate time periods based on the remaining charge prediction GC so that the remaining charge of the second battery 12 remains within a range equal to or greater than a predetermined first specified value, and determines the adjusted candidate time periods as the operating time periods on the scheduled work day.

[0106] Specifically, following step S206, the work planning unit 75 determines whether or not there is a time period of power shortage in which the remaining charge of the second battery 12 falls below a predetermined first predetermined value in the remaining charge prediction GC of the second battery 12 (S208). Then, if there is no time period of power shortage in the candidate time period (S208, NO), the work planning unit 75 refers to the basic instruction information 80 and the work history 81 stored in the third memory 71 and determines whether or not the work performance indicated in the previous day's work record is equal to or greater than the work target for the previous day indicated in the basic instruction (S210).

[0107] Then, when the work performance is equal to or greater than the work target (S210, YES), the work planning unit 75 determines whether or not a time period of surplus power occurs in the remaining charge prediction GC of the second battery 12 where the remaining charge of the second battery 12 exceeds a predetermined second specified value (S212).

[0108] Then, when it is determined that a time period in which there will be a power surplus will occur within the candidate time period (S212, YES), the work planning unit 75 determines whether the range of change in the remaining charge in the remaining charge prediction GC of the second battery 12 calculated in step S206 is equal to or less than a predetermined threshold value (S214).

[0109] Then, when the variation range of the remaining charge in the remaining charge prediction GC is equal to or less than a predetermined threshold (S214, YES), the work planning unit 75 determines the candidate time slot as the operation time slot on the scheduled work day (S216). The work planning unit 75 transmits a work command specifying the determined operation time slot to the robotic lawnmower 2 (S218). The work planning unit 75 then returns the process to step S112 in FIG. 7, and ends this process.

[0110] On the other hand, when it is determined in step S208 that a period of power shortage will occur (S208, YES), the work planning unit 75 shortens the candidate time periods to a length of time that will not result in a period of power shortage (S220), and determines the shortened candidate time periods as the operating time periods on the scheduled work day (S216).

[0111] As a result, when the remaining charge of the second battery 12 falls below the first predetermined value and becomes insufficient, the operating time period can be shortened, making it easy to prevent the robotic lawnmower 2 from losing power in advance.

[0112] For example, the work planning unit 75 can shorten the candidate time slot by deleting the time slot of the last work mode and the last charging mode in the candidate time slot from the mode transition in the candidate time slot predicted in the processing of step S202. The work planning unit 75 repeats the same processing as steps S202 to S208 described above for the shortened candidate time slot to confirm that no time slot of power shortage will occur. If it is predicted that a time slot of power shortage may still occur in the shortened candidate time slot, the work planning unit 75 further shortens the candidate time slot in the same manner as described above until no time slot of power shortage is predicted to occur.

[0113] On the other hand, when the work performance is less than the work target in step S210 (S210, NO), the work planning unit 75 extends the candidate time period to a time range in which no time period of power shortage occurs (S222), and determines the extended candidate time period as the operating time period on the scheduled work day (S216).

[0114] This makes it possible to increase the amount of work performed by the robotic lawnmower 2 during the scheduled work period and improve work efficiency, as long as the predicted remaining charge does not cause the second battery 12 to run out of charge.

[0115] For example, the work planning unit 75 can extend the candidate time slot by adding a new work mode and charging mode time slot having the same length as the last work mode and the last charging mode, respectively, in the candidate time slot to the mode transition in the candidate time slot predicted in the process of step S202. The work planning unit 75 repeats the same process as steps S202 to S208 described above for the extended candidate time slot to confirm that no time slot of power shortage will occur. If it is predicted that a time slot of power surplus may still occur in the extended candidate time slot, the work planning unit 75 further extends the candidate time slot in the same manner as described above until no time slot of power surplus is predicted to occur.

[0116] On the other hand, when it is determined in step S212 that no time period in which there will be a power surplus will occur (S212, NO), the work planning unit 75 transfers the process to step S216 and determines the candidate time period set in step S202 as the operating time period as is.

[0117] On the other hand, in step S214, when the change range of the remaining charge in the remaining charge prediction GC exceeds a predetermined threshold (S214, NO), the work planning unit 75 changes the start time of the candidate time period to an earlier time (S224), and determines the candidate time period with the earlier start time as the operating time period (S216).

[0118] For example, the work planning unit 75 may advance the start time of a candidate time slot by a predetermined time. The work planning unit 75 confirms that a time slot of surplus power will not occur for the candidate time slot whose start time has been advanced by repeating the same processes as steps S202 to S208 described above. If it is predicted that a time slot of surplus power may still occur for the candidate time slot whose start time has been advanced, the work planning unit 75 advances the start time of the candidate time slot in the same manner as described above until a time slot of surplus power is no longer predicted to occur.

[0119] This prevents the second battery 12 from being excessively charged beyond the second predetermined value, thereby preventing the power generated by the natural energy power generation device from going to waste. Also, since there is no need to store potentially surplus power, the charge capacity required of the second battery 12 can be reduced. Therefore, for example, a smaller battery can be used as the second battery 12, allowing the robotic lawnmower 2 to operate more efficiently.

[0120] [2. Operation of the work equipment control system] Next, the procedure of the operation of the work machine control system 1 will be described. FIG. 7 is a flow diagram showing the procedure of processing executed cooperatively by the first processor 40 of the robotic lawnmower 2, the second processor 60 of the power supply device 3, and the third processor 70 of the work instructing device 4, which are computers of the work machine control system 1.

[0121] The process shown in FIG. 7 starts when the power switches of the robotic lawnmower 2, the power supply device 3, and the work instructing device 4 are turned on, and is executed repeatedly.

[0122] When the process starts, first, the information collecting unit 74 of the work instructing device 4 judges whether or not the basic instruction information 80 is stored in the third memory 71 (S100). Then, when the basic instruction information 80 is stored in the third memory 71 (S100, YES), the information collecting unit 74 and the work planning unit 75 judge whether or not the plan creation time has arrived (S102). Then, when the plan creation time has not arrived (S102, NO), the information collecting unit 74 receives the work record when it is transmitted from the robotic lawnmower 2, and stores the work record in the work history 81 stored in the third memory 71 (S104). Also, when the power supply record is transmitted from the power supply device 3, the information collecting unit 74 receives the power supply record, and stores the power supply history 82 stored in the third memory 71 (S106). Furthermore, the information collecting unit 74 acquires the sunshine amount forecast SG from the weather information server 6 at a predetermined energy information acquisition time, and stores it in the third memory 71 as natural energy information 83 (S108). After that, the information collecting unit 74 returns to step S102 to repeat the process, and waits for the arrival of the plan creation time.

[0123] On the other hand, when the plan creation time arrives in step S102 (S102, YES), the work planning unit 75 executes the plan creation process shown in Fig. 8 (S110). The work command transmitted by the work planning unit 75 of the work instructing device 4 in step S218 of the plan creation process is received by the command receiving unit 45 of the robotic lawnmower 2.

[0124] Next, the work control unit 46 of the robotic lawnmower 2 determines whether the start time of the operating time period specified by the received work command has arrived (S112). If the start time of the operating time period has not yet arrived (S112, NO), the work control unit 46 returns to step S112 and repeats the process, waiting for the start time of the operating time period to arrive.

[0125] On the other hand, when the start time of the operating time period has arrived (S112, YES), the work control unit 46 executes the lawn mowing work of the robotic lawnmower 2, which is a predetermined work of the automatic work machine (S114). Next, the work control unit 46 determines whether the end time of the operating time period has arrived (S116). If the end time of the operating time period has not yet arrived (S116, NO), the work control unit 46 returns to step S116 and repeats the process while continuing the lawn mowing work.

[0126] On the other hand, if the end time of the operating time period has arrived (S116, YES), the work control unit 46 will end the execution of the mowing work at the appropriate time described above (S118). This ends the process. After the end, the process returns to step S100 and is repeated.

[0127] On the other hand, when the basic instruction information 80 is not stored in the third memory 71 in step S100 (S100, NO), the information collection unit 74 determines whether or not a basic instruction has been received from the administrator U's mobile terminal 5 (S120).

[0128] Then, when a basic instruction is not received from the portable terminal 5 of the administrator U (S120, NO), the information collection unit 74 returns to step S120 to repeat the process and waits for reception of the basic instruction from the portable terminal 5. On the other hand, when a basic instruction is received from the portable terminal 5 (S120, YES), the information collection unit 74 stores the received basic instruction in the third memory 71 as basic instruction information 80 (S122), and then proceeds to step S102.

[0129] 3. Other embodiments

[0130] In the above embodiment, the work period specified in the basic instruction includes a plurality of work days, but the work period may be one day. In the above embodiment, the candidate time periods are set as the average time periods during which work was actually performed on the most recent work day, but the method for setting the candidate time periods is arbitrary. For example, the candidate time periods may be time periods that are predetermined for each month.

[0131] However, as in this embodiment, by setting the candidate time periods as average time periods for recent work, it is possible to set candidate time periods according to fluctuations in the workload within the mowing area AR that occur over time. As a result, the number of revisions to the candidate time periods required to determine the operating time periods can be reduced, making it possible to quickly determine ultimately appropriate operating time periods.

[0132] The automatic working machine does not have to be the robotic lawnmower 2. The automatic working machine can be any working machine equipped with a battery and capable of autonomously traveling to perform any given task. For example, the automatic working machine can be an autonomous cultivator, a vacuum cleaner, a drone that sprays pesticides on a field, and the like.

[0133] In the above embodiment, the natural energy power generation device is the solar panel 11, which is a type of photovoltaic power generation device, but it may be any type of natural energy power generation device that generates power from any natural energy. For example, the natural energy power generation device may be a windmill-type wind power generation device that generates power from wind power, instead of a solar panel. In this case, the energy generation forecast may be the time transition of the magnitude of wind power in one day.

[0134] In the above embodiment, the work instruction device 4 is an independent device connected to the communication network 7, but it may also be provided in the robotic lawnmower 2 or power supply device 3, which is the automatic work machine that is the target of the work instruction, as an embedded device that is incorporated into another device.

[0135] In the above embodiment, the terminal device to which the administrator U transmits the basic instruction is the mobile terminal 5, but it may also be a personal computer.

[0136] The present invention is not limited to the configurations of the above-described embodiments, and can be embodied in various forms without departing from the spirit and scope of the present invention.

[0137] [4. Configuration supported by the above embodiment] The above-described embodiment supports the following configurations.

[0138] (Configuration 1) A work machine control system for controlling an automatic work machine performing a specified task, the work machine having an automatic work machine equipped with a first secondary battery, a power supply device equipped with a second secondary battery, charging the second secondary battery with power from a natural energy power generation device and charging the first secondary battery of the automatic work machine from the second secondary battery, and a work instructing device for transmitting work instructions to the automatic work machine, the work instructing device having a work planning unit that creates the work instructions including designation of an operation time period of the automatic work machine during a planned work period of the automatic work machine, the work planning unit determining the operation time period during the planned work period based at least on information of power consumption of the automatic work machine in the past tasks and an energy generation prediction that is a prediction of the time transition of the generation of natural energy used by the natural energy power generation device during the planned work period so that the remaining charge of the second secondary battery transitions within a range equal to or greater than a predetermined first predetermined value. According to the work machine control system of configuration 1, even if the power supply device that charges the automatic work machine uses a secondary battery that is charged by power supplied from a natural energy power generation device whose generated power fluctuates depending on the weather, it is possible to prevent the automatic work machine from losing power.

[0139] (Configuration 2) The work planning unit sets candidate time periods within the planned work period that are candidates for the operating time periods, calculates a power consumption prediction that is a prediction of the time trend of the power consumption of the automatic work machine during the candidate time periods based on information on the power consumption of the automatic work machine in the past during the work, adjusts the candidate time periods based on the power consumption prediction and the energy generation prediction so that the remaining charge of the second secondary battery changes within a range equal to or greater than a predetermined first specified value, and determines the adjusted candidate time periods as the operating time periods in the planned work period. According to the work machine control system of configuration 2, the power consumption prediction is calculated based on the power consumption during past work by the automatic work machine, so that even if the workload in the workplace fluctuates over time, the accuracy of the power consumption prediction for the automatic work machine can be improved.

[0140] (Configuration 3) The work planning unit calculates a power generation prediction that is a prediction of the time progression of the power generation amount of the natural energy power generation device during the planned work period based on the energy generation prediction, calculates a remaining charge prediction that is a prediction of the time progression of the remaining charge of the second secondary battery based on the power consumption prediction and the power generation prediction, adjusts the candidate time periods so that the remaining charge of the second secondary battery changes within a range equal to or greater than the first predetermined value in the remaining charge prediction, and determines the adjusted candidate time periods as the operating time periods during the planned work period. According to the work machine control system of configuration 3, it is possible to appropriately adjust the candidate time periods while accurately predicting the remaining charge of the second secondary battery.

[0141] (Configuration 4) The work machine control system described in Configuration 3, wherein, when a time period of power shortage occurs in which the remaining charge of the second secondary battery falls below the first predetermined value in the remaining charge prediction, the work planning unit shortens the length of the candidate time period so that the time period of power shortage does not occur, and determines the shortened candidate time period as the operating time period in the planned work period. According to the work machine control system of configuration 4, when the remaining charge of the second secondary battery falls below the first predetermined value and becomes insufficient, the operating hours are shortened, making it possible to easily prevent the automatic work machine from losing power in advance.

[0142] (Configuration 5) A work machine control system as described in configuration 3 or 4, wherein, when the remaining charge prediction does not result in a time period of power shortage in which the remaining charge of the second secondary battery falls below the first specified value, and when the amount of work of the specified work that has already been completed before the planned work period is less than a predetermined target work amount, the work planning unit extends the length of the candidate time period to a extent that does not result in a time period of power shortage, and determines the extended candidate time period as the operating time period in the planned work period. According to the work machine control system of configuration 5, the work efficiency can be improved by increasing the work volume of the automated work machine during a scheduled work period, within a range in which the remaining charge of the second secondary battery is not insufficient in the remaining charge prediction.

[0143] (Configuration 6) A work machine control system described in any one of configurations 3 to 5, wherein, when a time period of surplus power occurs in which the remaining charge of the second secondary battery exceeds a predetermined second specified value in the remaining charge prediction, the work planning unit adjusts the start time of the candidate time period to an earlier time until the time period of surplus power no longer occurs, and determines the candidate time period with the start time adjusted to an earlier time as the operating time period in the planned work period. According to the work machine control system of configuration 6, since it is possible to prevent the second secondary battery from being excessively charged beyond the second predetermined value, it is possible to prevent the power generated by the natural energy power generation device from being wasted and to reduce the charging capacity required for the second secondary battery. Therefore, for example, it is possible to operate the automatic work machine with high efficiency by using a smaller battery as the second secondary battery.

[0144] (Configuration 7) A work machine control system described in any of configurations 2 to 6, wherein the work planning unit calculates an average start time, which is the average time of work start times and an average end time, which is the average time of work end times for past work performed by the automatic work machine, and sets the candidate time period to a time period whose start time is the calculated average start time and whose end time is the calculated average end time. According to the work machine control system of configuration 7, candidate time periods are determined based on the work start times and work end times of past work performed by the automated work machine. Therefore, even if the workload at the workplace fluctuates over time, the number of revisions to the candidate time periods required to determine the operating time periods can be reduced, and ultimately, appropriate operating time periods can be quickly determined.

[0145] (Configuration 8) A work machine control system described in any one of configurations 1 to 7, wherein the natural energy power generation device is a solar power generation device or a wind power generation device, and the information on the available amount of natural energy is information on the time progression of the amount of sunlight or the time progression of the wind speed in the area where the natural energy power generation device is installed. According to the work machine control system of configuration 8, various power generation devices can be used as the natural energy power generation device.

[0146] (Configuration 9) A work instruction device in a work machine control system including an automatic work machine equipped with a first secondary battery and performing a specified task, and a power supply device equipped with a second secondary battery, charging the second secondary battery with power from a natural energy power generation device and charging the first secondary battery of the automatic work machine from the second secondary battery, the work instruction device sending work instructions to the automatic work machine, the work instruction device including a work planning unit creating the work instructions including a specification of an operation time period of the automatic work machine during a planned work period of the automatic work machine, the work planning unit determining the operation time period during the planned work period based at least on information on the power consumption of the automatic work machine in the past tasks and an energy generation prediction, which is a prediction of the time trend of the generation of natural energy used by the natural energy power generation device during the planned work period, so that the remaining charge of the second secondary battery changes within a range equal to or greater than a predetermined first specified value. According to the work instruction device of configuration 9, even if the power supply device that charges the automatic work machine uses a secondary battery that is charged by power supplied from a natural energy power generation device whose generated power fluctuates depending on the weather, it is possible to prevent the automatic work machine from losing power. [Explanation of symbols]

[0147] 1...work machine control system, 2...robot lawnmower (automatic work machine), 3...power supply device, 4...work instruction device, 5...mobile terminal, 6...weather information server, 7...communication network, 8...area wire, 9...first battery (first secondary battery), 10...charging station, 11...solar panel (natural energy power generation device), 12...second battery (second secondary battery), 13...sunlight amount sensor, 14...connection box, 15...second connector, 16...mounting base, 20...housing, 21...front wheel, 22...rear wheel, 24...travel motor, 25...work motor, 26...rotation sensor, 27...magnetic sensor, 28...gyro sensor, 29...first connector, 30...work control device, 31...charging control circuit, 32...power consumption measurement circuit, 33...work control circuit, 34...travel control circuit, 35 ...First remaining battery sensor, 40...First processor, 41...First memory, 42...First communication device, 43...First program, 44...Area map, 45...Instruction receiving unit, 46...Work control unit, 47...First battery control unit, 48...First information providing unit, 50...Power generation measurement circuit, 51...Battery control circuit, 52...Second remaining battery sensor, 60...Second processor, 61...Second memory, 62...Second communication device, 63...Second program, 64...Power generation measurement unit, 65...Charge measurement unit, 66...Second battery control unit, 67...Second information providing unit, 70...Third processor, 71...Third memory, 72...Third communication device, 73...Third program, 74...Information collection unit, 75...Work planning unit, 80...Basic instruction information, 81...Work history, 82...Power supply history, 83...Renewable energy information, U...Administrator.

Claims

1. A work machine control system (1) for controlling an automatic work machine (2) that performs a predetermined task, The automatic work machine is equipped with a first secondary battery (9); a power supply device (3) including a second secondary battery (12), charging the second secondary battery with power from a natural energy power generation device (11), and charging the first secondary battery of the automatic work machine from the second secondary battery; A work instruction device (4) for transmitting work instructions to the automatic work machine; having The work instruction device includes a work planning unit (75) that creates the work instruction including a designation of an operating time period of the automatic work machine during a scheduled work period of the automatic work machine, The work planning unit includes: determining the operating time zone during the scheduled work period based on at least information (81) on power consumption during past work of the automatic work machine and an energy generation prediction (83) which is a prediction of the time transition of the amount of natural energy used in the natural energy power generation device during the scheduled work period, so that the remaining charge of the second secondary battery transitions within a range equal to or greater than a predetermined first predetermined value; Work equipment control system.

2. The work planning unit includes: Set candidate time slots that are candidates for the operating time slots within the scheduled work period; Calculating a power consumption forecast (GP), which is a forecast of the time transition of the power consumption of the automatic work machine in the candidate time period, based on information on the power consumption of the automatic work machine in the past work; adjusting the candidate time period based on the power consumption prediction and the energy generation prediction so that the remaining charge of the second secondary battery remains within a range equal to or greater than a first predetermined value; determining the adjusted candidate time slots as the operating time slots in the scheduled work period; The work machine control system according to claim 1 .

3. The work planning unit includes: Calculating a power generation forecast (GG), which is a forecast of a time transition of the power generation amount of the natural energy power generation device during the scheduled work period, based on the energy generation forecast; calculating a remaining charge prediction (GC) which is a prediction of a time transition of a remaining charge of the second secondary battery based on the power consumption prediction and the power generation prediction; adjusting the candidate time period so that the remaining charge of the second secondary battery remains within a range equal to or greater than the first predetermined value in the remaining charge prediction; determining the adjusted candidate time slots as the operating time slots in the scheduled work period; The work machine control system according to claim 2 .

4. The work planning unit includes: When a time period of power shortage occurs in which the remaining charge of the second secondary battery falls below the first predetermined value in the remaining charge prediction, a length of the candidate time period is shortened so that the time period of power shortage does not occur; determining the shortened candidate time slot as the operating time slot in the scheduled work period; The work machine control system according to claim 3 .

5. The work planning unit includes: when a time period of power shortage in which the remaining charge of the second secondary battery falls below the first predetermined value does not occur in the remaining charge prediction, and an amount of work of the specified work that has already been completed before the scheduled work period is less than a predetermined target amount of work, a length of the candidate time period is extended to a extent that the time period of power shortage does not occur; determining the extended candidate time period as the operating time period in the scheduled work period; The work machine control system according to claim 3 .

6. The work planning unit includes: when a time period of surplus power occurs in which the remaining charge of the second secondary battery exceeds a second predetermined value in the remaining charge prediction, adjusting a start time of the candidate time period to an earlier time until the time period of surplus power no longer occurs; determining a candidate time period obtained by adjusting the start time to an earlier time as the operation time period in the scheduled work period; The work machine control system according to claim 3 .

7. The work planning unit includes: calculating an average start time, which is an average time of work start times in past work of the automatic work machine, and an average end time, which is an average time of work end times, and setting the candidate time period to a time period having the calculated average start time as a start time and the calculated average end time as an end time; The work machine control system according to claim 2 .

8. The natural energy power generation device is a solar power generation device or a wind power generation device, The information on the available amount of natural energy is information on the time transition of the amount of sunlight or the time transition of the wind speed in the area where the natural energy power generation device is installed. A work machine control system according to any one of claims 1 to 7.

9. A work instruction device (4) in a work machine control system (1) including an automatic work machine (2) equipped with a first secondary battery (9) and performing a predetermined work, and a power supply device (3) equipped with a second secondary battery (12), charging the second secondary battery with power from a natural energy power generation device (11) and charging the first secondary battery of the automatic work machine from the second secondary battery, the work instruction device (4) transmitting work instructions to the automatic work machine, A work planning unit (75) is provided for creating the work instructions, the work instructions including a designation of an operating time period of the automatic work machine during a scheduled work period of the automatic work machine; The work planning unit includes: determining the operating time zone during the scheduled work period based on at least information (81) on power consumption during past work of the automatic work machine and an energy generation prediction (83) which is a prediction of the time transition of the amount of natural energy used in the natural energy power generation device during the scheduled work period, so that the remaining charge of the second secondary battery transitions within a range equal to or greater than a predetermined first predetermined value; Work instruction device.

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