Function adding device

Abstract

To provide a function adding device and the like that can suppress a fault of a circuit to be retrofitted to a vehicle.SOLUTION: According to an embodiment of the present invention, a function adding device is provided. The function adding device comprises a housing that is mounted on a vehicle, a circuit stored in the housing to add a function to the vehicle, and a first vibration-proof member provided between the housing and the vehicle to damp vibrations transmitted from the vehicle to the housing.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a function addition device. [Background technology]

[0002] Patent Document 1 discloses a control device used for remotely monitoring a plurality of automatically-operated vehicles that are configured to be switchable between an autonomous driving mode and a remote control mode. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 2022-179577 Summary of the Invention [Problem to be solved by the invention]

[0004] When retrofitting a remotely controlled vehicle with an autonomous driving function or other function, it is difficult to incorporate the circuit for the additional function, so it is necessary to attach it externally to the vehicle. In that case, the circuit needs to be fixed to the vehicle, but on the other hand, there is a possibility that the circuit may break down due to vibrations transmitted from the vehicle.

[0005] In view of the above circumstances, the present invention provides a function adding device etc. that can prevent failures in circuits that are retrofitted to a vehicle. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a function adding device comprising a housing to be attached to a vehicle, a circuit housed in the housing for adding a function to the vehicle, and a first vibration isolating member provided between the housing and the vehicle for attenuating vibrations transmitted from the vehicle to the housing.

[0007] According to this embodiment, it is possible to prevent failure of the circuit that is retrofitted to the vehicle. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of an overall configuration of a vehicle system 1. FIG. [Diagram 2] 1 is a diagram showing an example of the configuration of a vehicle 10 and a remote control 20. FIG. [Diagram 3] FIG. 1 is a perspective view of a vehicle system 1. [Figure 4] FIG. 2 is a front view of the vehicle system 1. [Diagram 5] FIG. 2 is a side view of the vehicle system 1. [Figure 6] FIG. 2 is a rear view of the vehicle system 1. [Figure 7] FIG. 2 is a plan view of the vehicle system 1. [Figure 8] 1 is an enlarged view of the common shape portion 31 and the function adding device 40 as viewed from above. [Figure 9] FIG. 9 is a view taken along the arrow AA in FIG. 8. [Figure 10] FIG. 2 is a diagram showing an example of a function addition device 40 as seen from vertically below. [Figure 11] FIG. 13 is a diagram showing an example of an area in which markers are placed. [Figure 12] 13A and 13B are diagrams showing another example of a method for providing a first vibration-isolating member. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. Various characteristic features shown in the following embodiments can be combined with each other.

[0010] <Embodiment> FIG. 1 is a diagram showing an example of the overall configuration of a vehicle system 1. The vehicle system 1 is a system for driving a vehicle to perform a predetermined task. The predetermined task is, for example, mowing a grass in a predetermined area such as a field. The vehicle system 1 includes a vehicle 10, a remote control 20, an attachment member 30, and a function addition device 40. Of these, the vehicle 10 and the remote control 20 are existing products, and the vehicle system 1 is configured by later attaching the attachment member 30 and the function addition device 40. The existing product part will be described below first.

[0011] 2 is a diagram showing an example of the configuration of vehicle 10 and remote control 20. Vehicle 10 has a driving function and a working function, and performs a predetermined task while driving. Remote control 20 has a wireless communication function and is a controller that remotely controls vehicle 10. Vehicle 10 includes an operation control circuit 11, a drive unit 12, a driving unit 13, a working unit 14, a fuel supply unit 15, a communication unit 16, and a transmission unit 17. Remote control 20 includes an operation unit 21, a communication unit 22, and a display panel 23.

[0012] The operation control circuit 11 is a circuit that controls the operation of each part of the vehicle 10. The circuit is an electronic component in which electronic components are arranged on a printed circuit board. The circuit can include both electronic circuits and electric circuits. The drive unit 12 is a part that generates a driving force. In the vehicle 10, the engine that rotates by burning fuel generates electric power, charges a battery with the generated electric power, and generates a driving force by rotating an electric motor with the charged electric power. The running unit 13 is mechanically connected to the drive unit 12 via gears or the like, and is a part that receives a driving force from the drive unit 12 to run the vehicle 10. In the vehicle 10, the running unit 13 is an endless track called a caterpillar (registered trademark) or the like.

[0013] The working unit 14 is mechanically connected to the drive unit 12 via gears and the like, and is a part that performs a predetermined work by receiving driving force from the drive unit 12. In the vehicle 10, the working unit 14 is a cutter that cuts grass by rotating a cutting blade. The fuel supply unit 15 stores fuel and supplies the stored fuel to the drive unit 12. The communication unit 16 has a wireless communication function and performs wireless communication with the remote control 20. The communication unit 16 receives an operation signal (described in detail later) transmitted from the remote control 20 and supplies the operation signal to the transmission unit 17.

[0014] The transmission unit 17 is a path for transmitting an electric signal, and transmits the supplied operation signal to the operation control circuit 11. The operation control circuit 11 controls the operation of each unit (the drive unit 12, the traveling unit 13, and the working unit 14) based on the transmitted operation signal. At the same time, the operation control circuit 11 generates status information indicating the operating status of each unit, converts the generated status information into a signal, and transmits it to the remote control 20 via the transmission unit 17 and the communication unit 16. The status information is information indicating the traveling speed, traveling direction, whether the working unit 14 is operating, etc.

[0015] The operation unit 21 has an operation lever, accepts operations of the vehicle 10 by the operator, and generates an operation signal indicating the content of the accepted operation. Operations of the vehicle 10 include moving forward, backward, turning left, turning right, and turning the working unit 14 on and off. The communication unit 22 wirelessly transmits the operation signal generated by the operation unit 21 to the vehicle 10. The communication unit 22 also receives status information transmitted from the vehicle 10. The display panel 23 displays the received status information of the vehicle 10 (e.g., whether it is running or the cutter is operating).

[0016] Returning to FIG. 1, the explanation will be given. The function-adding device 40 can be attached to various vehicles, not limited to the vehicle 10, and an attachment member that matches the shape of the vehicle is used. The attachment member 30 is an attachment member that matches the shape of the vehicle 10. The attachment member 30 includes a common shape portion 31 and an individual shape portion 32. The common shape portion 31 is the portion to which the function-adding device 40 is fixed, and has a common shape regardless of the vehicle to which the attachment member 30 is attached. The individual shape portion 32 is the portion that is fixed to the vehicle, and has a shape that matches the individual vehicle.

[0017] The function adding device 40 is a device that adds a function to the vehicle 10. In the example of FIG. 1, the function adding device 40 adds an autonomous driving function to the vehicle 10. The autonomous driving function is a function that causes the vehicle 10 to drive autonomously without operation by an operator. The function adding device 40 includes a function adding circuit 41, a LiDAR 42, an imaging unit 43, a detouring unit 44, a cable 45, a housing 46, a first vibration isolating member 47, and a second vibration isolating member 48.

[0018] The function addition circuit 41 is a circuit that realizes a function to be added to the vehicle 10. The circuit is an electronic component in which electronic components are arranged on a printed circuit board, similar to the operation control circuit 11, and can include both an electronic circuit and an electric circuit. The function addition circuit 41 can add various functions, but the following describes a case where an autonomous driving function that allows the vehicle 10 to drive autonomously without operating the remote control 20 is added.

[0019] The LiDAR 42 (Light Detection And Ranging) is a sensor that irradiates laser light and measures the distance to an object, its shape, etc., based on information about the reflected light. The LiDAR 42 is a 2D LiDAR (two-dimensional LiDAR) whose optical axis direction is the same plane, and irradiates laser light in a 360-degree direction including the front, back, left, and right directions. The photographing unit 43 is a digital camera that has a lens, an image sensor, etc., and photographs an image represented by light that reaches the image sensor. The function addition circuit 41 controls the autonomous driving of the vehicle 10 based on the measurement results by the LiDAR 42 and the images photographed by the photographing unit 43.

[0020] The detouring unit 44 is electrically connected to the transmission unit 17 of the vehicle 10 by a cable 45, and is a circuit that detours the signal transmitted by the transmission unit 17 so that it passes through the function adding circuit 41. The detouring unit 44 causes both the operation signal supplied to the operation control circuit 11 and the signalized situation information generated by the operation control circuit 11 to pass through the function adding circuit 41.

[0021] The function addition circuit 41 can switch between a manual mode in which the operation signal is returned directly to the transmission unit 17 and supplied to the operation control circuit 11, thereby allowing the vehicle 10 to be operated manually, and an automatic mode in which a control signal that controls the operation of the vehicle 10 is supplied to the operation control circuit 11 via the transmission unit 17 instead of the operation signal, thereby allowing the vehicle 10 to be automatically controlled.

[0022] The function addition circuit 41 converts the image for mode switching into a signal and transmits it to the remote control 20 via the transmission unit 17 and the communication unit 16. The display panel 23 of the remote control 20 displays the image for mode switching, allowing the operator to switch between the manual mode and the automatic mode. Note that the mode switching is not limited to the operation of the remote control 20, and may be performed by, for example, the operation of a physical switch (such as a toggle switch) provided in the function addition device 40.

[0023] The housing 46 is a rectangular box-shaped member made of a water-impermeable material such as metal or plastic, and has a ceiling, four side walls, and a bottom. The housing 46 houses the function addition circuit 41, the LiDAR 42, the imaging unit 43, and the detouring unit 44. An insertion hole 61 is formed in the ceiling of the housing 46. The LiDAR 42 is inserted and fixed in the insertion hole 61 with a portion of it exposed to the external space, and emits laser light from the portion exposed to the external space.

[0024] The housing 46 is fixed to the common shape portion 31 of the mounting member 30 by a first vibration-proof member 47. The first vibration-proof member 47 is a vibration-proof member having the ability to damp vibrations, such as a spring or rubber. The first vibration-proof member 47 damps vibrations in any direction, including the left-right direction, the front-back direction, and the up-down direction. The function additional circuit 41 is fixed to the housing 46 by a second vibration-proof member 48. The second vibration-proof member 48 is also a vibration-proof member having the ability to damp vibrations, such as a spring or rubber, and damps vibrations in any direction, including the left-right direction, the front-back direction, and the up-down direction.

[0025] Next, the external appearance of the vehicle system 1 will be described with reference to FIGS. Fig. 3 is a perspective view of the vehicle system 1. Fig. 4 is a front view of the vehicle system 1. Fig. 5 is a side view of the vehicle system 1. Fig. 6 is a rear view of the vehicle system 1. Fig. 7 is a plan view of the vehicle system 1. For ease of understanding, Figs. 3 to 7 do not show the body of the vehicle 10 but show the inside of the vehicle 10 so that it can be seen.

[0026] 3 to 7, a three-dimensional coordinate system is shown by arrows indicating the X-axis, Y-axis, and Z-axis, respectively. Hereinafter, the X-axis, Y-axis, and Z-axis directions are referred to as the front-rear direction, the left-right direction, and the up-down direction, respectively. The vehicle 10 travels with the direction indicated by the X-axis arrow as the forward direction. The vehicle 10 has a frame 18 and a roll bar 19. The drive unit 12, the traveling unit 13, the working unit 14, the fuel supply unit 15, etc. are attached to the outside of the frame 18. The working unit 14 is attached below the frame 18 so as to cut grass that has slipped under the vehicle 10.

[0027] Additionally, a roll bar 19 is fixed to the outside of the frame 18 with screws or bolts or the like. The roll bar 19 is a portion formed by joining pipes that are arranged to surround the drive unit 12, the fuel supply unit 15, etc. An individual shaped portion 32 having four rod-shaped members (pipes) is fixed to the roll bar 19. One end of each of the four rod-shaped members is fixed to the roll bar 19, and the other end is fixed to the common shaped portion 31.

[0028] A function-adding device 40 is attached to the common shape portion 31. A cable 45 shown in FIG. 1 that is arranged from the inside to the outside of a housing 46 of the function-adding device 40 is fastened to one of the rod-shaped members of the individual shape portion 32. A storage portion 181 that stores the operation control circuit 11 and the transmission portion 17 shown in FIG. 1 is attached to the upper portion of the frame 18. The cable 45 is arranged up to the inside of the storage portion 181 and is connected to the transmission portion 17 as shown in FIG. 1.

[0029] The function adding device 40 is attached so as to be located vertically above the fuel filler opening 51 of the fuel filling section 15. A LiDAR 42 is provided on the ceiling of the housing 46. An imaging hole 62 for allowing light to enter the imaging section 43 is provided on the front side of the housing 46. As shown in FIG. 6 , the function adding device 40 is provided at a position higher and separated from the vehicle 10 by the individual shaped portion 32. Vibrations occurring when the vehicle 10 is traveling are transmitted to the common shaped portion 31 by the individual shaped portion 32.

[0030] Here, the function adding device 40 includes a housing 46 attached to the vehicle 10, a function adding circuit 41 housed in the housing 46 for adding a function to the vehicle 10, and a first vibration isolating member 47 provided between the housing 46 and the vehicle 10 to attenuate vibrations transmitted from the vehicle 10 to the housing 46. Vibrations transmitted to the common shape portion 31 are largely attenuated by this first vibration isolating member 47 before being transmitted to the housing 46. Therefore, only attenuated vibrations are transmitted to the function adding circuit 41 inside the housing 46. According to this embodiment, it is possible to suppress failure of a circuit that is retrofitted to a vehicle, such as the function adding circuit 41, compared to a case in which the first vibration isolating member 47 is not provided.

[0031] The function adding device 40 also includes sensors provided in the housing 46. In the example of FIG. 1, the function adding device 40 includes three sensors, namely, a LiDAR 42, an image capturing unit 43, and an IMU (Inertial Measurement Unit) (the IMU is not shown). The function adding circuit 41 then uses the measurement results from these sensors to realize a function to be added to the vehicle 10 (an autonomous driving function in the example of FIG. 1). In the function adding device 40, the first vibration isolating member 47 attenuates vibrations from the vehicle 10, so that the vibrations of the LiDAR 42 and the image capturing unit 43 are suppressed compared to a case where the first vibration isolating member 47 is not provided, and a decrease in measurement accuracy due to vibrations of the sensors can be suppressed.

[0032] 8 is an enlarged view of the common shape portion 31 and the function adding device 40 as viewed from above. The common shape portion 31 has four pipe portions 31-1 and four corner portions 31-2. The corner portions 31-2 are members into which the pipe portion 31-1 is inserted and fixed at a right angle. The pipe portion 31-1 and the corner portions 31-2 fixed by the corner portions 31-2 form a rectangular member (a member shaped like a picture frame) having a hollow space S1 inside.

[0033] A plate portion 31-3 is formed on each of the corner portions 31-2 on the hollow space S1 side. Each plate portion 31-3 is a portion for fixing a first vibration-isolating member 47. The function-adding device 40 has a square shape when viewed from above, and fixing portions 49 are formed in the front-rear direction near each of the four vertices. The fixing portions 49 are portions for fixing the first vibration-isolating member 47. A method for fixing the first vibration-isolating member 47 will be described with reference to FIG. 9.

[0034] Fig. 9 is a view taken along the line AA in Fig. 8. The first vibration-isolating member 47 has a screw at one end, and the plate portion 31-3 and the fixed portion 49 each have a hole through which the screw can pass. The first vibration-isolating member 47 is fixed to the plate portion 31-3 and the fixed portion 49 by passing the screw at the end through the hole and fastening it with a bolt. The housing 46 has a bottom surface 63 that faces vertically downward when attached to the vehicle 10. The surface of the fixed portion 49 that faces vertically downward is connected to the bottom surface 63.

[0035] Fig. 10 is a diagram showing an example of the function-adding device 40 as viewed vertically from below. In the function-adding device 40, the bottom surface 63 of the housing 46 has a polygonal shape (a square in the example of Fig. 10) as viewed vertically from below. The first vibration-isolating member 47 is desirably attached within a range of a predetermined length from the apex of the polygon. The predetermined length is, for example, 1 / N (N is a natural number of 2 or more) of the shortest side of the polygon. In Fig. 10, the recommended attachment range when N=4 is indicated by a two-dot chain line.

[0036] According to this embodiment, it is possible to stabilize housing 46 compared to a case where first vibration isolating member 47 is attached outside a range of a predetermined length from the apex of the polygon. Note that, the larger the above-mentioned N is, that is, the shorter the predetermined length is, the closer the position at which first vibration isolating member 47 is attached to the apex of the polygon, and housing 46 becomes more stable.

[0037] The shapes of the housing 46 and the bottom surface 63 are not limited to those shown in FIG. 10. For example, the bottom surface 63 may be a polygon other than a rectangle, and the housing 46 may be a hollow prism shape. The bottom surface 63 may be a rectangle with one side deformed to draw an arc instead of a straight line, and the housing 46 may be a hollow prism shape with that shape as the bottom surface. In this case, too, it is desirable that the first vibration-proof member 47 is attached within a predetermined length range from the apex of the deformed rectangle (both ends of the arc are also apexes). The bottom surface 63 may be a circle or ellipse, and the housing 46 may be a hollow cylinder or ellipse cylinder. In these cases, it is desirable that the first vibration-proof member 47 is provided at a constant interval along the circumference within a predetermined length range from the edge of the circle or ellipse.

[0038] 1, the function addition circuit 41 is stored in the housing 46. A second vibration-proof member 48 that attenuates vibrations transmitted from the housing 46 to the function addition circuit 41 is provided between the function addition circuit 41 and the housing 46. In the function addition device 40, the first vibration-proof member 47 is provided to attenuate vibrations, but the second vibration-proof member 48 can further attenuate vibrations transmitted to the function addition circuit 41 compared to a case in which the second vibration-proof member 48 is not provided, and as a result, damage to the function addition circuit 41 can be further suppressed.

[0039] As described above, vehicles to which the function adding device 40 can be attached include not only vehicle 10 but also multiple types of vehicles. The first vibration-damping member 47 is fixed to the mounting member 30 which is attached to each of the multiple types of vehicles. The shape of the portion of the mounting member 30 which is attached to the vehicle 10 (i.e., the individual shaped portion 32) corresponds to the shape of the vehicle 10. Meanwhile, the shape of the portion to which the first vibration-damping member 47 is fixed (i.e., the common shaped portion 31) is common regardless of the type of vehicle. According to this embodiment, the housing can be made common to all types of vehicles, so that the manufacturing costs of the function adding device 40 can be reduced compared to when the shape of the housing is made different for each type of vehicle.

[0040] The function adding device 40 also includes a LiDAR 42, which is an example of a first sensor provided in the housing 46. The LiDAR 42 has a function of detecting the position of a predetermined marker. The marker here is a mark indicating the boundary of the area in which the vehicle 10 travels, and is installed near the boundary. The marker is, for example, a board or stick of a specific shape, and is desirably installed at a position higher than the height of the weeds that the vehicle 10 cuts.

[0041] Moreover, "near the boundary" means a position within a predetermined distance from the boundary. The predetermined distance is a distance for preventing the vehicle 10 from coming into contact with the marker 70 when traveling around the edge or corner of the working area A1, and is set to, for example, about several tens of centimeters to several meters. In this way, the marker 70 is installed as a guide for the boundary of the working area A1.

[0042] FIG. 11 is a diagram showing an example of an area where markers are installed. In the example of FIG. 11, a rectangular work area A1 is shown in which ten markers 70, 701 to 710 (when not distinguishing between them, they are referred to as "markers 70"). In the example of FIG. 11, it is assumed that the markers 70 are provided on the boundary of the work area A1 for ease of explanation. The function addition circuit 41 measures the distance and direction to each marker 70 by the LiDAR 42. In the example of FIG. 11, it is assumed that markers 701, 702, 703, 708, 709, and 710 within the detection range of the LiDAR 42 are detected, and markers 704, 705, 706, and 707 outside the detection range are not detected.

[0043] The function addition circuit 41 may control the vehicle 10 to rotate when detecting the marker 70. For example, depending on how the LiDAR 42 is attached, the limit distance at which the marker 70 can be detected may differ depending on the orientation. For example, if the marker 70 can be detected farthest in the forward direction and the limit distance is set as the maximum detection distance, the marker 70 can be detected up to the maximum detection distance in any orientation by rotating the vehicle 10.

[0044] The function addition circuit 41 controls the vehicle 10 to travel within an area whose boundary is near the position of the marker detected by the LiDAR 42. The function addition circuit 41 first identifies an area surrounded by the detected markers 701, 702, 703, 708, 709, and 710, and travels within the identified area. When the vehicle 10 travels close to the marker 703, which is the edge of the identified area, the function addition circuit 41 stops the vehicle 10 once and detects the marker 70 by the LiDAR 42 again.

[0045] In this case, since markers 704, 705, 706, and 707 are also within the detection range, the distance and direction are measured by the LiDAR 42. In this way, the function addition circuit 41 detects all markers 70 by repeating the process of detecting the marker 70 again when the function addition circuit 41 travels to the edge of the area whose boundary is the position of the detected marker, and specifies the working area A1 whose boundaries are all the detected markers 70. According to this embodiment, it is possible to travel within a predetermined area (for example, the working area A1) without a position sensor. Furthermore, in the function addition device 40, the first vibration isolation member 47 also attenuates the vibration of the LiDAR 42, so that the accuracy of the detection result of the LiDAR 42 can be improved and the accuracy of the autonomous traveling can also be improved compared to the case where the first vibration isolation member 47 is not provided.

[0046] The number of markers 70 is not limited to ten as shown in FIG. 11. For example, four markers 70 may be placed at the four corners of the working area A1. In this case, it is desirable that all four markers 70 can be detected from anywhere in the working area A1. If the working area A1 is large and some of the markers 70 cannot be detected, for example, a string-like object (rope, belt, etc.) may be attached between the markers 70 to indicate the boundary line of the working area. In this case, the LiDAR 42 detects the string-like object in addition to the markers 70.

[0047] Furthermore, the function adding device 40 includes a photographing unit 43 (more specifically, an image sensor included in the photographing unit 43) which is an example of a second sensor provided in the housing 46. The photographing unit 43 (image sensor) is a sensor that detects an image represented by visible light. When the function adding circuit 41 performs pattern recognition processing or the like on the image photographed by the photographing unit 43, it is possible to detect specific objects such as people and cars that are obstacles to the vehicle 10. In this way, the photographing unit 43 cooperates with the function adding circuit 41 to exhibit the function of detecting obstacles.

[0048] When the photographing unit 43 detects an obstacle, the function addition circuit 41 controls the vehicle 10 to avoid collision with the obstacle. When the function addition circuit 41 detects an obstacle, for example, the function addition circuit 41 stops the vehicle 10 to avoid collision with the obstacle. When the function addition circuit 41 detects an obstacle, it changes direction to a direction where there is no obstacle to avoid collision with the obstacle. According to this embodiment, it is possible to avoid collision of the vehicle 10 with an obstacle. In addition, in the function addition device 40, the first vibration isolating member 47 also attenuates vibration of the photographing unit 43, so that the accuracy of the detection result (photographed image) of the photographing unit 43 can be improved and the accuracy of the collision avoidance process can also be improved compared to a case where the first vibration isolating member 47 is not provided.

[0049] <Configuration variations> The method of providing the first vibration isolating member is not limited to the method shown in FIG. Fig. 12 is a diagram showing another example of how to provide the first vibration-proofing member. Fig. 12(a) shows the housing 46 as viewed from above, and Fig. 12(b) shows the housing 46 as viewed from the left. In the example of Fig. 12, a first vibration-proofing member 47a is fixed to the housing 46. The first vibration-proofing member 47a has an expansion / contraction direction B1, and is provided such that an upper end 471 in the expansion / contraction direction B1 is closer to the center C1 of the bottom surface 63 of the housing 46 than a lower end 472 when viewed vertically from above.

[0050] The expansion / contraction direction B1 is the direction in which the elastic first vibration-proofing member 47a expands and contracts. When viewed vertically from above, the distance L1 from the upper end 471 of the first vibration-proofing member 47a to the center C1 of the bottom surface 63 is shorter than the distance L2 from the lower end 472 of the first vibration-proofing member 47a to the center C1 of the bottom surface 63. By providing the first vibration-proofing member 47a tilted toward the center C1 of the bottom surface 63 in this manner, the direction of the force received when the housing 46 vibrates back and forth and left and right becomes closer to the expansion / contraction direction B1 of the first vibration-proofing member 47a, compared to a case in which the first vibration-proofing member is provided without being tilted, and vibrations are more easily attenuated. As a result, the housing 46 can be stabilized compared to a case in which the first vibration-proofing member is provided without being tilted.

[0051] The configuration of the vehicle 10 is not limited to that described in FIG. 2. The vehicle 10 may have normal wheels instead of caterpillar tracks. The vehicle 10 may be driven by directly transmitting the rotational force of an engine to the traveling unit 13 and the working unit 14, or may not be equipped with an engine but only an electric motor to generate driving force. In the latter case, the vehicle 10 has a battery instead of the fuel supply unit 15. The vehicle 10 may be used not only for mowing but also for spraying pesticides, plowing, planting rice, harvesting, etc. The vehicle 10 may be used not only for remote control but also for a person to ride and drive, or for an autonomous driving function.

[0052] The functions added by the function adding device 40 are not limited to those described above (autonomous driving function). For example, the function adding device 40 may add not only driving but also a function of autonomously controlling the operation of the working unit 14. The function adding device 40 may also add a remote operation support function that displays an image captured by the photographing unit 43 on the display panel 23 of the remote control 20, enabling remote operation even when the vehicle 10 cannot be seen. In short, the function adding device 40 may add any function that the vehicle 10 does not have.

[0053] In the embodiment, the LiDAR 42 detects the marker 70 shown in FIG. 11 or the string-like object described above, but is not limited thereto. The LiDAR 42 may detect obstacles such as people, trees, and other vehicles, or may detect work targets such as grass. In addition, the LiDAR 42 is a 2D LiDAR with the same plane as the optical axis direction in the embodiment, but may be a 3D LiDAR (three-dimensional LiDAR) with a wider scanning range. In addition, the LiDAR 42 is not limited to a sensor that scans all 360 degrees, and may be a sensor that does not scan some directions (for example, backward).

[0054] In the embodiment, the photographing unit 43 detects an obstacle by cooperating with the function addition circuit 41, but this is not limited thereto. The photographing unit 43 may detect, for example, the marker 70 or the string-like object described above. The photographing unit 43 may also detect a work target such as grass. The photographing unit 43 may also detect the type of person (worker, other person, etc.) by cooperating with the function addition circuit 41. For example, the photographing unit 43 and the function addition circuit 41 may perform pattern recognition of a specific work uniform and detect a person wearing the work uniform as a worker.

[0055] The photographing unit 43 and the function adding circuit 41 may detect the state of the ground (wet or dry, etc.) based on the brightness and hue of each pixel of the image of the ground. If the photographing unit 43 has a depth camera or a stereo camera, the photographing unit 43 can detect the distance and direction to an object. The function adding circuit 41 controls the operation of the vehicle 10, such as traveling and work, based on the various detection results of the LiDAR 42 and the photographing unit 43 described above.

[0056] In addition, the housing 46 is not limited to that shown in Fig. 3 and the like. For example, the housing 46 is a rectangular box-shaped member, but may be a triangular prism, a pentagonal prism, a hexagonal prism, a cylinder, or the like. In addition, the position at which the LiDAR 42 and the image capturing unit 43 are provided in the housing 46 may be different. In short, the housing 46 may be of any shape or material as long as the function addition circuit 41, the bypass unit 44, and the like are stored therein, and the LiDAR 42 and the image capturing unit 43 can be attached so as to be able to measure a required object.

[0057] <Additional Notes> Furthermore, it may be provided in the following aspects:

[0058] (1) A function adding device comprising: a housing to be attached to a vehicle; a circuit stored in the housing for adding a function to the vehicle; and a first vibration-damping member provided between the housing and the vehicle for attenuating vibrations transmitted from the vehicle to the housing.

[0059] According to this embodiment, it is possible to prevent failure of the circuit that is retrofitted to the vehicle.

[0060] (2) The function-adding device according to (1) above, further comprising a sensor provided in the housing, wherein the circuit realizes the function using a measurement result by the sensor.

[0061] According to this aspect, it is possible to suppress a decrease in measurement accuracy due to vibration of the sensor.

[0062] (3) A function adding device as described in (1) or (2) above, wherein the housing has a bottom surface facing vertically downward when attached to the vehicle, the bottom surface is polygonal in shape, and the first vibration-damping member is attached within a predetermined length range from a vertex of the polygon.

[0063] According to this aspect, the housing can be stabilized.

[0064] (4) A function-adding device as described in (3) above, wherein the first vibration-damping member has an extension direction and is arranged so that, when viewed from vertically above, the upper end of the extension direction is closer to the center of the bottom surface of the housing than the lower end.

[0065] According to this aspect, the housing can be stabilized.

[0066] (5) In the function-adding device described in any one of (1) to (4) above, the circuit is stored in the housing, and the function-adding device further comprises a second vibration-damping member provided between the circuit and the housing to damp vibrations transmitted from the housing to the circuit.

[0067] According to this embodiment, damage to the circuit can be further suppressed.

[0068] (6) A function adding device according to any one of (1) to (5) above, wherein the vehicle includes a plurality of types of vehicles, the first vibration-damping member is fixed to a mounting member that is attached to each of the plurality of types of vehicles, and the shape of the portion of the mounting member that is attached to the vehicle corresponds to the vehicle, while the shape of the portion to which the first vibration-damping member is fixed is common regardless of the type of vehicle.

[0069] According to this aspect, the housing can be shared, and manufacturing costs can be reduced.

[0070] (7) A function adding device according to any one of (1) to (6) above, further comprising a first sensor provided in the housing, the first sensor having a function of detecting the position of a predetermined marker, the marker being installed near the boundary of an area in which the vehicle travels, and the circuit controlling the vehicle to travel within an area whose boundary is near the position of the marker detected by the first sensor.

[0071] According to this embodiment, the vehicle can travel within a predetermined area without a position sensor.

[0072] (8) A function-adding device according to any one of (1) to (7) above, further comprising a second sensor provided in the housing, the second sensor having a function of detecting an obstacle, and the circuit controlling the vehicle to avoid collision with the obstacle when the second sensor detects the obstacle.

[0073] According to this embodiment, collision with an obstacle can be avoided. Of course, this is not the case. Furthermore, the above-described embodiments and modifications may be combined in any desired manner.

[0074] Finally, although various embodiments of the present invention have been described, these are presented as examples and are not intended to limit the scope of the invention. The new embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The embodiments and their modifications are within the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0075] 1: Vehicle system 10: Vehicle 11: Operation control circuit 12: Drive unit 13: Running part 14: Working section 15: Refueling Department 16: Communications Department 17: Transmission section 18: Frame 20: Remote control 21:Operation section 22: Communications Department 23: Display panel 30: Mounting material 31: Common shape part 32: Individual shape part 40: Function addition device 41: Additional function circuit 42: LiDAR 43: Photography Department 44: Detour section 45: Cable 46: Housing 47: First vibration-isolating member 48: Second vibration-isolating member 49:Fixed part 51: Fuel filler 61: Insertion hole 62: Shooting hole 63: Bottom 70: Marker

Claims

1. A function addition device, A housing that is attached to a vehicle; A circuit housed in the housing for adding a function to the vehicle; a first vibration isolating member provided between the housing and the vehicle to attenuate vibrations transmitted from the vehicle to the housing; A function adding device comprising:

2. 2. The function adding device according to claim 1, A sensor is provided in the housing, The circuitry realizes the function using the measurement results from the sensor. Function-adding device.

3. 2. The function adding device according to claim 1, the housing has a bottom surface that faces vertically downward when attached to the vehicle, The bottom surface is polygonal in shape, The first vibration isolating member is attached within a range of a predetermined length from a vertex of the polygon. Function-adding device.

4. 4. The function adding device according to claim 3, the first vibration-isolating member has an extension direction, and is provided such that, when viewed vertically from above, an upper end of the extension direction is closer to a center of the bottom surface of the housing than a lower end of the extension direction. Function-adding device.

5. 2. The function adding device according to claim 1, The circuit is housed in the housing, a second vibration isolating member provided between the circuit and the housing to attenuate vibration transmitted from the housing to the circuit; Function-adding device.

6. 2. The function adding device according to claim 1, The vehicles include a plurality of types of vehicles; the first vibration isolation member is fixed to a mounting member that is attached to each of the plurality of types of vehicles, a portion of the mounting member that is attached to a vehicle has a shape that corresponds to the vehicle, while a portion to which the first vibration-isolating member is fixed has a shape that is common regardless of the type of vehicle. Function-adding device.

7. 2. The function adding device according to claim 1, A first sensor is provided in the housing, The first sensor has a function of detecting a position of a predetermined marker, The marker is installed near a boundary of an area in which the vehicle travels, The circuit controls the vehicle to travel within an area having a boundary near a position of the marker detected by the first sensor. Function-adding device.

8. 2. The function adding device according to claim 1, A second sensor is provided in the housing, The second sensor has a function of detecting an obstacle, The circuit controls the vehicle to avoid a collision with the obstacle when the second sensor detects the obstacle. Function-adding device.

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