AUTONOMOUS WORK DEVICE

Abstract

Work equipment (1) which features: a work unit (12) that is configured to perform a predetermined task; a drive unit (11) configured to propel the work tool (1); a first control unit (20) configured to control the work unit (12) and the drive unit (11); a condition detection unit (21) configured to detect an operating state of the work unit (12) and the drive unit (11); and a communication unit (31) configured to send status information about the operating status of the work unit (12) and the drive unit (11), wherein the first control unit (20) is configured to transmit the status information relating to the operating state via the communication unit (31) at a predetermined transmission time interval, wherein the predetermined transmission time interval is changed between a first time interval and a second time interval, which is longer than the first time interval, based on the operating state, wherein the first control unit (20) is configured to set the transmission time interval to the second time interval when the operating state is normal, and to set the transmission time interval to the first time interval when the operating state is not normal, characterized in that the first control unit (20) is configured to set the transmission time interval to a third time interval, which is longer than the second time interval, when the work unit (12) and the drive unit (11) are not operating.

Description

TECHNICAL FIELD

[0001] The present invention relates to an autonomous working device such as a robotic lawnmower. TECHNICAL BACKGROUND

[0002] Anti-theft devices for mobile bodies are known that are configured to externally communicate the occurrence of theft. See, for example, JP 3 839 400 B2. The anti-theft device disclosed in this conventional document is configured to externally transmit position information and an anti-theft signal when the difference between the detected position and the prescribed position exceeds a certain threshold.

[0003] A vehicle position reporting device capable of wireless communication for the purpose of tracking a stolen vehicle is also known. See, for example, JP 3 687 466 B2. The vehicle position reporting device disclosed in this conventional document is configured to transmit a signal containing position information in response to a request signal sent from a communication network at a time interval determined by the request signal. CN 1 10 827 495 A discloses a working device with features of the preamble of claims 1 and 3.

[0004] When operating an autonomous work machine that drives itself, it is desirable for the operator to be able to know the position and operating status of the work machine from a remote location at any time. However, if the work machine constantly transmits position information and operating status, the communication volume and battery power consumption could become unacceptably high. SUMMARY OF THE INVENTION

[0005] In view of this problem of the prior art, it is the primary object of the present invention to provide an autonomous working device that allows a user to constantly monitor the status of the working device without unacceptably increasing the communication volume and the power consumption of the battery.

[0006] To achieve this object, the invention provides a working device according to claims 1 and 3. Advantageous embodiments are specified in the subclaims.

[0007] The work device comprises: a work unit configured to perform a predetermined work; a traveling unit configured to propel the work device; a first control unit configured to control the work unit and the traveling unit; a state detection unit configured to detect an operating state of the work unit and the traveling unit; and a communication unit configured to transmit state information about the operating state of the work unit and the traveling unit, wherein the first control unit is configured to transmit state information related to the operating state via the communication unit at a predetermined transmission time interval, wherein the predetermined transmission time interval is changed between a first time interval and a second time interval longer than the first time interval based on the operating state.

[0008] According to this configuration, the status of the work equipment can be checked remotely because the first control unit transmits status information related to the working status of the work equipment via the communication unit. Furthermore, the first control unit changes the transmission time interval of the status information based on the working status of the work equipment, so that the communication volume and battery power consumption can be minimized.

[0009] According to claim 1, the first control unit is configured to set the transmission time interval to the second time interval when the operating state is normal, and to set the transmission time interval to the first time interval when the operating state is not normal.

[0010] If the operating condition is normal and therefore no immediate attention is required, the transmission time interval can be comparatively long, so that the communication volume and battery power consumption can be minimized. If the operating condition is abnormal and therefore immediate attention is required, the transmission time interval can be comparatively short, so that this can be reported to the operator without undue delay.

[0011] According to claim 1, the first control unit is configured to set the transmission time interval to a third time interval longer than the second time interval when the working unit and the driving unit are not working.

[0012] With this configuration, when the implement is neither working nor moving, the transmission time interval can be longer than when the implement is at least working or moving. When the implement is neither working nor moving, it is advantageous to minimize the communication volume and battery power consumption, as there is little need to monitor the implement's status.

[0013] According to claim 3, the working device further comprises a self-position information acquisition unit for acquiring self-position information, and the first control unit is configured to transmit the self-position information together with the state information via the communication unit.

[0014] This allows the operator to have the implement’s own position information as needed.

[0015] According to claim 3, the first control unit is further configured to determine, based on the self-position information, whether the working device is within a control area specified by the user, wherein upon detecting that the working device is not within the control area, the transmission time interval is set to a fourth time interval that is longer than the second time interval.

[0016] If the implement is not within the control area, it is possible that the implement has been stolen. In this case, it is preferable to increase the transmission time interval so that the self-position information can be continuously transmitted for a long period of time, thus allowing for maximum tracking time for the implement.

[0017] Preferably, the working device further comprises a first battery (19) for supplying electrical power to the working unit and the driving unit and a second battery (18) for supplying electrical power to the communication device.

[0018] This allows the communication device to operate continuously even if the first battery is neglected to charge. Preferably, the working device further comprises a second control unit, wherein, when the power is turned on and the first battery has a charge greater than a predetermined threshold, the first battery supplies electric power to the first control unit and the communication unit, and when the charge of the first battery has fallen below the threshold, electric power is supplied from the second battery to the second control unit, so that the second control unit continues to transmit the self-position information and the status information via the communication unit at a predetermined time interval.

[0019] This allows transmission to continue through the second control unit powered by the second battery and via the communication device, even if the first battery runs out.

[0020] Preferably, the transmission time interval for transmitting the status information via the communication unit is longer when the communication unit receives electrical power from the second battery than when the communication unit receives electrical power from the first battery.

[0021] When electrical energy is received from the second battery, the transmission time interval is extended, so that the consumption of the second battery can be reduced. Therefore, transmission can continue for a longer period of time.

[0022] Preferably, when the first control unit has detected that the operating state is not normal, the first control unit stops the electric power supply from the first battery to the first control unit upon elapse of a predetermined period of time from a time at which it is detected that the operating state is not normal.

[0023] In the case of a normal operating condition, this can minimize the power consumption of the first battery, so that the implement is able to resume operation as soon as the abnormal condition of the implement is resolved.

[0024] Thus, the present invention provides an autonomous working device that allows a user to constantly monitor the status of the working device without unacceptably increasing the communication volume and battery power consumption. BRIEF DESCRIPTION OF THE DRAWING(S) Fig. 1 is a diagram showing a lawn mowing management system including a lawn mower and a communication network according to an embodiment of the present invention; Fig. 2 is a side view of the lawn mower according to the present embodiment; Fig. 3 is a functional block diagram showing the configuration of the lawn mower; Fig. 4 is a diagram showing a control area and work areas determined by an operator; Fig. 5 is a flowchart of a process for determining a transmission time interval; and Fig. 6 is a table showing the dependence of the transmission time interval on the operating status and the lawnmower's own position. DESCRIPTION OF THE PREFERRED EMBODIMENT(S)

[0025] A working device in the form of a lawn mower according to the present invention will be described below with reference to the accompanying drawings. Fig. 1 is a diagram showing a lawn mower management system 3 including a lawn mower 1 and a communication network 2 according to the present invention. The lawn mower 1 is configured to autonomously perform lawn mowing operations, and the lawn mower management system 3 further includes a user terminal 5 possessed by a user or operator of the lawn mower 1, and a server 6. The user terminal 5 may be a smartphone 5a, a PC 5b, or the like. The lawn mower 1 can communicate with the user terminal 5 via a long-distance wireless communication line, such as a cellular communication line 7 or the Internet 8, in combination with the use of the cellular communication line 7, and with the server 6.

[0026] The server 6 sends the information provided by the user via the Internet 8 to the lawn mower 1 via the cellular communication line 7, and sends the information provided by the lawn mower 1 via the cellular communication line 7 to the user via the Internet 8. Thus, the server 6 allows the user terminal 5, such as a PC 5b, which is not connected to the cellular communication line 7, to communicate with the lawn mower 1.

[0027] Alternatively, the lawn mower 1 may be configured to communicate with the user terminal 5 via short-range wireless communication 9, such as Bluetooth (registered trademark) and WiFi.

[0028] Fig. Figure 2 is a side view of the lawn mower 1 according to the present embodiment. The lawn mower 1 is an autonomously driven lawn mower capable of autonomously driving to mow grass. The lawn mower 1 includes a main body 10, a traveling unit 11 provided on the main body 10 for propelling the lawn mower 1, and a working unit 12 provided centrally in the lower part of the main body 10.

[0029] The driving unit 11 has a pair of front wheels 13a and a pair of rear wheels 13b, as well as a pair of driving motors 15 that individually drive the left and right rear wheels 13b. Thus, the lawn mower 1 is capable of driving forward or backward by driving the left and right driving motors 15 in the forward-reverse direction at the same speed, and of turning in a desired direction by driving the left and right driving motors 15 at different speeds.

[0030] The working unit 12 includes a working motor 16 (electric motor) and a lawn mower cutting blade 18 mounted on the lower end of a rotating shaft 17 of the working motor 16 to be driven by the working motor 16. The working unit 12 is thus configured to perform lawn mowing operations by rotationally driving the cutting blade 18 by the working motor 16.

[0031] Furthermore, the lawn mower 1 is provided with a first battery 19 serving as a main battery for supplying electric power to the traveling unit 11 and the working unit 12, a first control unit 20 for controlling the traveling unit 11 and the working unit 12, a state detection unit 21 for detecting the operating state of the traveling unit 11 and the working unit 12, and a self-position information acquisition unit 22 for acquiring the position information of the lawn mower 1.

[0032] Fig. 3 is a block diagram showing the functional configuration of the lawn mower 1. As shown in the Fig. 2 and Fig. 3, the state detection unit 21 may include a contact sensor 24 that detects that the lawn mower 1 has come into contact with an obstacle and / or an acceleration sensor 25 that detects the acceleration of the main body 10 of the lawn mower 10, and / or a wheel speed sensor 26 that detects the rotational speed of the wheels 13. Based on the information acquired by the state detection unit 21, the first control unit 20 determines the operating state of the lawn mower 1. For example, if the lawn mower 1 is in contact with an object for more than a predetermined period of time, the first control unit 20 detects that the lawn mower 1 has become stuck on an obstacle and has become undriveable based on the detection result of the contact sensor 24.Additionally or alternatively, the first control unit 20 detects that the lawn mower 1 is not drivable based on the detection result of the acceleration sensor 25 and the voltage applied to the traction motor 15, even though the traction motor 15 is being driven. In other words, the first control unit 20 can detect the operating state of the lawn mower 1 by detecting whether or not the wheels 13b, which are the drive wheels, are slipping. Further, the first control unit 20 can compare the rotational speeds of the left and right rear wheels 13b, which are the drive wheels, with the rotational speeds of the left and right front wheels 13a, which are the driven wheels, based on the detection result of the wheel speed sensor 26. If the rotational speed of the rear wheels 13b is higher than the rotational speed of the front wheels 13a by a predetermined value or more, it can be determined that the rear wheels 13b (drive wheels) are slipping.

[0033] The self-position information acquisition unit 22 acquires the position information of the lawn mower 1 (hereinafter referred to as self-position information). The self-position information is acquired, for example, based on a signal from a GPS satellite. In this case, the position information acquisition unit 22 includes a GPS signal receiver 27 that receives a signal from the GPS satellite at a predetermined frequency (for example, several times per minute). The first control unit 20 converts the signal received by the GPS signal receiver 27 into self-position information defined by latitude and longitude and stores the position information in the memory.The first control unit 20 has a two-dimensional coordinate map 28, allowing the user to determine the position of the lawn mower 1 relative to a designated area by inputting a corresponding command from the user terminal 5 or any other suitable input means (not shown in the drawings). The first control unit 20 can send the self-position information and the determination result (specifically, whether the position of the lawn mower 1 is within the designated area or not) to the user terminal 5 via the communication device 30. The user can check the position of the lawn mower 1 based on the information sent to the user terminal 5.

[0034] The communication device 30 is provided with a communication unit 31 which sends / receives information to / from the user terminal 5 via the cellular communication line 7 or the Internet 8 (see Fig. 1). The information received by the lawn mower 1 may include information about the above-mentioned designated area, and the information transmitted by the lawn mower may include status information regarding the operating status of the lawn mower 1. The communication unit 31 thus includes a receiver 32 for receiving information and a transmitter 33 for transmitting information.

[0035] The receiver 32 receives the information transmitted from the user terminal 5 relating to the designated area. The designated area may include a control area 29 and work areas 35, as shown in Fig. 4. The control area 29 may refer to an area defined by a geo-fence 34, which is intended as a boundary within which the lawnmower 1 is expected to be located under normal circumstances. If the lawnmower 1 leaves the control area 29, it may be assessed that the lawnmower 1 has been stolen without the operator's knowledge or has otherwise moved outside the boundary. The work areas 35 may refer to areas where the lawnmower 1 is expected to perform lawnmowing operations. As shown in Fig. 3, the transmitter 33 transmits, at predetermined transmission time intervals, various pieces of information to be received by the user terminal 5, such as the state information detected by the state detection unit 21 and the self-position information acquired by the self-position information acquisition unit 22 and converted into coordinates by the first control unit 20.

[0036] The communication device 30 is controlled by the first control unit 20 and is supplied with electrical power from the first battery 19 or an external power supply station 36. The communication device 30 further includes a second control unit 37 capable of controlling the communication device 30, as well as a second battery 38 capable of supplying electrical power to the communication unit 31 and the second control unit 37.

[0037] The second control unit 37 controls the communication device 30 and the position information acquisition unit 22 when the communication device 30 is not controlled by the first control unit 20 (such as when the first control unit 20 is not receiving any electrical power). The second battery 38 supplies electrical power to the communication device 30 when the communication device 30 is under the control of the second control unit 37. Upon loss of power from the first battery 19 to the first control unit 20, the second control unit 37 switches the power source from the first battery 19 to the second battery 38. In other words, the communication device 30 can maintain communication even when the first control unit 20 ceases to function.

[0038] The first control unit 20 and the second control unit 37 are individually configured to control the operation of the lawn mower 1 when performing autonomous lawn mowing work. Upon power-on, the first control unit 20 starts acquiring the status information and self-position information of the lawn mower 1. Then, the first control unit 20 instructs the communication device 30 to transmit the acquired information to the user terminal 5 at a predetermined transmission time interval. The transmission time interval (or the time interval at which information is transmitted from the transmitter 33 of the communication device 30) is determined based on the status information and self-position information of the lawn mower 1. The process of determining the transmission time interval may also be referred to as the transmission time interval determination process.

[0039] In the following, with regard to Fig. 5 describes an outline of the transmission time interval determination process. First of all, the first control unit 20 determines the relationship between the position of the lawn mower 1 detected by the self-position information acquisition unit 22 and the control area 29 designated by the user (step ST1). Specifically, the first control unit 20 processes the signal received from the GPS signal receiver 27 to acquire the coordinates of the lawn mower 1 and compares the acquired coordinates with the coordinates of the control area 29 stored in advance. This allows it to be determined whether the lawn mower 1 is within the control area 29 or not.If the lawn mower 1 is not within the control area 29, the transmission time interval at which information is transmitted from the transmitter 33 of the communication device 30 is set to a fourth time interval (for example, twelve minutes) (step ST2). If the lawn mower 1 is within the control area 29, the first control unit 20 executes step ST3.

[0040] In step ST3, the first control unit 20 determines whether the lawn mower 1 is in an abnormal operating state based on the information provided by the state detection unit 21 (for example, an abnormal operating state exists when the lawn mower 1 is prevented from traveling by an obstacle, when the wheels 13 are slipping, etc.). Specifically, the first control unit 20 compares the rotational speed of the front wheels 13a with the rotational speed of the rear wheels 13b based on the information obtained from the wheel speed sensor 26 to determine whether the wheels 13 of the lawn mower 1 are slipping. If an abnormal operating state of the lawn mower 1 is detected, the first control unit 20 sets the transmission time interval to a first time interval (for example, 60 seconds) (step ST4). The first time interval is shorter than the fourth time interval. The first control unit 20 executes step ST5 if the operating state of the lawn mower 1 is normal.

[0041] In step ST5, the first control unit 20 determines whether the lawn mower 1 is charging or waiting. Specifically, the first control unit 20 monitors the electric power supplied from the first battery 19 via the external power supply station 36. The first control unit 20 determines that the lawn mower 1 is charging when the electric power is supplied to the first battery 19. If no electric power is supplied to the first battery 19 and the internal voltage of the first battery is equal to or higher than the predetermined threshold, it is determined that the lawn mower 1 is waiting. The predetermined threshold is a value by which the first control unit 20 determines that the first battery 19 is fully charged. If the first control unit 20 determines that the lawn mower 1 is not charging or waiting, it sets the transmission time interval to a second time interval (for example, 120 seconds) (step ST6).The second time interval is longer than the first time interval and shorter than the fourth time interval. The first control unit 20 executes step ST7 when it determines that the lawn mower 1 is charging or waiting.

[0042] In step ST7, the first control unit 20 determines whether it is receiving electric power. When the first control unit 20 is receiving electric power (or when the power is on), the first control unit 20 sets the transmission time interval to a third time interval (for example, five minutes) (step ST8), which is longer than the second time interval and shorter than the fourth time interval. When no electric power is being supplied to the first control unit 20, the second control unit 37 of the communication device 30 switches the power source to the second battery 38 and sets the transmission time interval to a fifth time interval (for example, thirty minutes) (step ST9), which is longer than the fourth time interval.

[0043] Once the transmission time interval is again set to one of the first to fifth time intervals, the first control unit 20 restarts the transmission time interval determination process section ST1. The transmission time interval determination process ends when the lawn mower receives an instruction to terminate the transmission time interval determination process, which is sent from the user terminal 5 or an input means (not shown in the drawings). The transmission time interval determined by the transmission time interval determination process relates to the operating state and the self-position state of the lawn mower 1, as shown in the table of Fig. 6 shown.

[0044] Furthermore, although not shown in the drawings, the first control unit 20 may stop the power supply to itself when the first control unit 20 detects that the elapsed time from the time the lawn mower 1 was determined to be in the abnormal state exceeds the predetermined time in step ST3. When the electric power supply to the first control unit 20 is stopped, the second control unit 37 takes over control, switches the power source to the second battery 38, and sets the transmission time interval to the fifth time interval.

[0045] The following discusses the operating mode and various features of the lawn mower management system 3 described above. The first control unit 20 transmits status information regarding the operating status of the lawn mower 1 and its own position information to the user terminal 5 via the communication device 30 at a predetermined transmission time interval. As a result, the user can check the operating status and position information of the lawn mower 1 even from a remote location. Furthermore, since the transmission time interval varies depending on the operating status and position information of the lawn mower, the user can easily identify the operating status and position information from the transmission time intervals.

[0046] When the lawn mower 1 is in an abnormal state, the transmission time interval is set to a first time interval shorter than the second time interval indicating the normal state of the lawn mower 1. Therefore, the user can easily recognize the abnormal state. Furthermore, when a predetermined period of time elapses from the time the lawn mower 1 is determined to be in an abnormal state, the electric power supply to the first control unit 20 is stopped. As a result, unnecessary power discharge of the first battery 19 can be avoided. When the electric power supply to the first control unit 20 is stopped, the second control unit 37 is able to control the communication device 30 by receiving the electric power supply from the second battery 38, so that transmission with the second control unit 37 can continue.Therefore, while the self-position information is continuously sent to the user terminal 5, the electric power required to restart the operation of the lawn mowing work can be made available when the lawn mower 1 recovers from the abnormal state.

[0047] When the lawn mower 1 is in a normal state, the transmission time interval is set to the second time interval, which is longer than the first time interval set when the lawn mower is in an abnormal state. Therefore, when the lawn mower 1 is in a normal state and the user rarely needs to check the operating status of the lawn mower 1, the power consumption of the first battery 19 and the communication scope can be reduced.

[0048] When lawnmower 1 is recharging or idle and ready for use (standby), the transmission time interval is set to the third time interval, which is longer than the second time interval set when lawnmower 1 is in a normal state (for example, when lawnmower 1 is moving or mowing). Therefore, when lawnmower 1 is neither moving nor mowing, and the user rarely needs to check the position and status of lawnmower 1, the power consumption of the first battery and the communication scope are further reduced.

[0049] If the lawn mower 1 moves out of the control area 29 without the user's knowledge, it is very likely that the lawn mower 1 has been stolen. In this situation, it is desirable for the lawn mower 1 to be able to transmit its own position information for as long a period of time as possible so that the user can track the lawn mower 1. Therefore, it is desirable to reduce the power consumption of the first battery 19. When the lawn mower 1 is outside the control area 29, according to the present embodiment, the transmission time interval is set to the fourth time interval, which is longer than one of the first to third time intervals set when the lawn mower 1 is within the control area 29. This can minimize the power consumption of the first battery 19.As a result, the lawn mower can continue to transmit the self-position information for a long period of time, compared to the case where the lawn mower 1 is within the control area 29. Therefore, it becomes easier for the user to track the lawn mower 1.

[0050] When the lawn mower 1 is stolen, it is likely that the lawn mower 1 is turned off (in other words, no power is supplied to the first control unit 20 of the lawn mower 1). Therefore, it is desirable for the lawn mower 1 to be able to continue transmitting its own position information even when the power supply from the main battery (first battery 19) is stopped. In the present embodiment, when no power is supplied to the first control unit 20 of the lawn mower 1, the second control unit 37 starts controlling the communication device 30 and switches the power source to the second battery 38, so that the transmission of position information continues. Therefore, the transmission of the own position information can continue even when the power of the lawn mower 1 is turned off during the theft or when the charge of the first battery 19 is exhausted.Furthermore, the transmission time interval is set to the fifth time interval, which is longer than any of the first to fourth time periods set when the first control unit 20 controls the communication device 30. Therefore, transmission can continue while minimizing the power consumption of the second battery 38. Therefore, it becomes easier for the user to track the lawn mower 1.

[0051] The present invention has been described with respect to a specific embodiment, but the present invention is not limited to this embodiment and can be modified in various ways without departing from the scope of the present invention. For example, in the above embodiment, when the first control unit 20 has determined in the transmission time interval determination process of step ST7 that the first control unit 20 is receiving the power supply from the first battery 19, the transmission time interval is set to the third time in step ST8. However, an arrangement is also possible that, when it is detected in step ST7 that the output voltage of the first battery 19 is equal to or higher than a predetermined threshold value, it can also be determined that the first control unit 20 is receiving the power supply from the first battery 19, and in step ST8, the first control unit 20 sets the transmission time interval to the third time interval.

[0052] Furthermore, in the above embodiment, the lawn mower 1 is provided with the first battery 19 and the second battery 38, but the second battery 38 may be omitted. In this case, the lawn mower 1 is provided with a second power supply path for supplying electric power from the first battery 19 to the communication device 30 without the intervention of the first control unit 20 when the power is turned off (or when no power is supplied to the first control unit 20 of the lawn mower 1). In this case, it may be arranged so that, upon detecting that the power supply path has been switched to the second power supply path, the second control unit 37 sets the transmission time to a fifth time interval longer than each of the first to fourth time intervals set when the first control unit 20 controls the communication device 30.As a result, the lawn mower 1 can continue transmitting information even when the power is off. Furthermore, since the transmission time interval is set longer than when the power is on, the communication volume and power consumption of the first battery 19 can also be reduced.

[0053] Furthermore, in the above embodiment, in the transmission time interval determination process of step ST3, the first control unit 20 determines whether the operating state of the lawn mower 1 is abnormal or not based on the information detected by the state detection unit 21. However, in step ST3, the self-position information acquisition unit 22 may function as the state detection unit 21, so that the first control unit 20 can detect an abnormal state when the lawn mower 1 leaves the control area 29 previously designated by the user. Typically, the work areas 35 are within the control area 29 bounded by the geo-fence 34.

[0054] Further, in the above embodiment, the working machine according to the present invention consists of a lawn mower 1. However, the working machine may also be another autonomous working machine that can drive itself to perform a predetermined work, such as vacuuming, tilling, snow removal, among others.

Claims

[1] Working device (1) which has: a work unit (12) configured to perform a predetermined work; a driving unit (11) configured to drive the working device (1); a first control unit (20) configured to control the working unit (12) and the traveling unit (11); a state detection unit (21) configured to detect an operating state of the working unit (12) and the traveling unit (11); and a communication unit (31) configured to send status information about the operating status of the working unit (12) and the driving unit (11), wherein the first control unit (20) is configured to transmit the status information relating to the operating state via the communication unit (31) at a predetermined transmission time interval, wherein the predetermined transmission time interval is changed between a first time interval and a second time interval which is longer than the first time interval based on the operating state, wherein the first control unit (20) is configured to set the transmission time interval to the second time interval when the operating state is normal and to set the transmission time interval to the first time interval when the operating state is not normal, characterized by that the first control unit (20) is configured to set the transmission time interval to a third time interval which is longer than the second time interval when the working unit (12) and the driving unit (11) are not working. [2] The working device (1) according to claim 1, further comprising a self-position information acquisition unit (22) for acquiring self-position information, and the first control unit (20) is configured to transmit the self-position information together with the state information via the communication unit (31). [3] Working device (1) which has: a work unit (12) configured to perform a predetermined work; a driving unit (11) configured to drive the working device (1); a first control unit (20) configured to control the working unit (12) and the traveling unit (11); a state detection unit (21) configured to detect an operating state of the working unit (12) and the traveling unit (11); a communication unit (31) configured to send status information about the operating state of the working unit (12) and the driving unit (11); and a self-position information acquisition unit (22) for acquiring self-position information, wherein the first control unit (20) is configured to transmit the status information relating to the operating state via the communication unit (31) at a predetermined transmission time interval, wherein the predetermined transmission time interval is changed between a first time interval and a second time interval which is longer than the first time interval based on the operating state, wherein the first control unit (20) is configured to set the transmission time interval to the second time interval when the operating state is normal, and to set the transmission time interval to the first time interval when the operating state is not normal, and wherein the first control unit (20) is configured to transmit the self-position information together with the status information via the communication unit (31); characterized by in that the first control unit (20) is configured to determine, based on the self-position information, whether the working device (1) is located within a control area (29) determined by the user, in order to set the transmission time interval to a fourth time interval which is longer than the second time interval upon detection that the working device (1) is not within the control area (29). [4] The working device (1) according to claim 2 or 3, further comprising a first battery (19) for supplying electrical power to the working unit (12) and the driving unit (11) and a second battery (38) for supplying electrical power to the communication unit (31). [5] The working device (1) according to claim 4, further comprising a second control unit (37), wherein, when the power is turned on and the first battery (19) has a charge greater than a predetermined threshold, the first battery (19) supplies electric power to the first control unit (20) and the communication unit (31), and when the charge of the first battery (19) has fallen below the threshold, electric power is supplied from the second battery (38) to the second control unit (37) so that the second control unit (37) continues to transmit the self-position information and the state information via the communication unit (31) at a predetermined time interval. [6] The working device (1) according to claim 5, wherein the transmission time interval for transmitting the status information via the communication unit (31) is longer when the communication unit (31) receives electric power from the second battery (38) than when the communication unit (31) receives electric power from the first battery (19). [7] The working device (1) according to one of claims 4 and 5, wherein, when the first control unit (20) has detected that the operating state is not normal, the first control unit (20) stops the electric power supply from the first battery (19) to the first control unit (20) upon elapse of a predetermined period of time from a time at which it is detected that the operating state is not normal.

Images