Work vehicles

Abstract

To set up more efficient work processes compared to conventional technologies. [Solution] Based on the image captured by the imaging device (40) and field information, control settings for the implement (5) are generated, the implement (5) is controlled with the generated control settings, and after the work is performed under the control settings, whether the control settings were appropriate is evaluated based on whether the workload on the implement (5) exceeds a predetermined load range. This makes it possible to set up work more efficiently than with conventional technology.

Description

Technical Field

[0001] The present invention relates to a work vehicle that works in a field.

Background Art

[0002] In work vehicles such as tractors and rice transplanters, a technique for setting a target traveling speed based on data such as the shape and position of a field, the type and model of a work device, etc. so that the work is completed within the input target work time is known (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] (Problems of the Prior Art) In the prior art, a target traveling speed is set based on work conditions (such as the shape of a field and the type of a work machine), but as a result of traveling at the target traveling speed, whether the target traveling speed is appropriate has not been verified. That is, it is unclear whether the setting based on the work conditions is really an efficient and appropriate setting for the work in view of the state of the field and the weather, etc.

[0005] The technical problem of the present invention is to perform a more efficient work setting compared to the prior art.

Means for Solving the Problems

[0006] To solve the aforementioned technical problems, the invention described in claim 1 is a work vehicle comprising: a vehicle body (10); a work machine (5) supported by the vehicle body (10) for performing work in a field; an imaging device (40) for imaging the area outside the vehicle body (10); a setting generation means (108) for generating control settings for the work machine (5) based on the image captured by the imaging device (40) and information about the field; a work machine control means (112b) for controlling the work machine (5) with the control settings generated by the setting generation means (108); and an evaluation means (114) for evaluating whether the control settings were appropriate after work in which the work machine (5) was controlled by the control settings, based on whether the work load on the work machine (5) exceeds a predetermined load range.

[0007] The invention described in claim 2 is a work vehicle according to claim 1, comprising a motor (3) for driving the work machine (5), and an evaluation means (114) that evaluates that the load range has been exceeded when the current value (V1) of the motor (3) as the work load exceeds a predetermined value (Va) for a certain period of time (ta).

[0008] The invention described in claim 3 is a work vehicle according to claim 1, comprising a motor (3) for driving the work machine (5), and an evaluation means (114) that evaluates that the load range has been exceeded when the rotational speed (V2) of the motor (3) as the work load falls below a predetermined value (Vb) for a certain period of time (tb).

[0009] The invention described in claim 4 is a work vehicle according to claim 1, comprising a motor (3) for driving the work machine (5), and an evaluation means (114) that evaluates that the load range has been exceeded when the torque (V3) of the motor (3) as the work load exceeds a predetermined value (Vc) for a certain period of time (tc).

[0010] The invention described in claim 5 is a work vehicle according to claim 1, comprising a motor (3) that drives the work machine (5), and an evaluation means (114) that evaluates that the load range has been exceeded when the average power consumption (|V4|) of the motor (3) as a work load exceeds a predetermined value (Vd).

[0011] The invention described in claim 6 is a work vehicle according to claim 1, further comprising a learning means (116) that performs learning of the setting generation means (108) based on the control settings and the evaluation by the evaluation means (114).

[0012] The invention described in claim 7 is a work vehicle according to claim 1, further comprising a setting generation means (108) that generates not only control settings for the work implement (5) but also the travel speed and steering amount during automatic travel, based on the image captured by the imaging device (40) and the field information. [Effects of the Invention]

[0013] According to the invention described in claim 1, control settings for the implement (5) are generated based on images captured by the imaging device (40) and field information, and after the implement (5) is controlled by the control settings, the appropriateness of the control settings is evaluated based on whether or not the workload on the implement (5) exceeds a predetermined load range, thereby enabling more efficient work settings compared to the conventional technology.

[0014] According to the invention described in claim 2, in addition to the effects described in claim 1, when the current value (V1) of the motor (3) that drives the work machine (5) exceeds a predetermined value (Va) for a certain period of time (ta), it is evaluated that the load range has been exceeded, thereby enabling evaluation using the current value (V1) of the motor (3) which fluctuates according to the load.

[0015] According to the invention described in claim 3, in addition to the effects described in claim 1, if the rotational speed (V2) of the motor (3) that drives the work machine (5) falls below a predetermined value (Vb) for a certain period of time (tb), it is evaluated as exceeding the load range, thereby enabling evaluation using the rotational speed (V2) of the motor (3) which fluctuates according to the load.

[0016] According to the invention described in claim 4, in addition to the effects described in claim 1, if the torque (V3) of the motor (3) that drives the work machine (5) exceeds a predetermined value (Vc) for a certain period of time (tc), it is evaluated as exceeding the load range, thereby enabling evaluation using the torque (V3) of the motor (3) which fluctuates according to the load.

[0017] According to the invention described in claim 5, in addition to the effects described in claim 1, when the average power consumption (|V4|) of the motor (3) that drives the work machine (5) exceeds a predetermined value (Vd), it is evaluated as exceeding the load range, thereby enabling evaluation using the average power consumption (|V4|) of the motor (3) which fluctuates according to the load.

[0018] According to the invention described in claim 6, in addition to the effects described in claim 1, by learning the setting generation means (108) based on the control setting and the evaluation by the evaluation means (114), a more efficient control setting can be generated the next time the control setting is generated.

[0019] According to the invention described in claim 7, in addition to the effects described in claim 1, it is also possible to generate control settings for the implement (5) based on the image captured by the imaging device (40) and field information, as well as the travel speed and steering amount during automatic travel. [Brief explanation of the drawing]

[0020] [Figure 1] Figure 1 is an overall view of a riding lawnmower, which is an example of a work vehicle according to an embodiment of the present invention. [Figure 2] Figure 2 is a functional block diagram of the control means of the embodiment. [Figure 3]FIG. 3 is a schematic explanatory diagram of the processing flow in the control means of the embodiment. [Figure 4] FIG. 4 is an explanatory diagram of the facility for growing turf in the embodiment. [Figure 5] FIG. 5 is an explanatory diagram of the main part of the seat in the embodiment.

Embodiments for Carrying Out the Invention

[0021] Next, while referring to the drawings, examples of embodiments of the present invention will be described, but the present invention is not limited to the following examples. In the description of the embodiment, the left and right directions are referred to as left and right respectively toward the forward direction of the machine body, and the forward direction is referred to as front and the backward direction is referred to as rear for explanation. In the following description using the drawings, illustrations other than the members necessary for the explanation are appropriately omitted for ease of understanding.

[0022] Hereinafter, embodiments of the present invention will be described while referring to the drawings.

[0023] FIG. 1 shows the entirety of a riding lawn mower 1 as an example of a work vehicle according to an embodiment of the present invention. The riding lawn mower 1 includes a vehicle body 10 that can travel in the front-rear direction, and front wheels 11, 11 and rear wheels 12, 12 are provided at the front and rear of the vehicle body 10 respectively. Further, a driver's seat 2 is arranged at the front of the vehicle body 10, and an electric motor 3 as an example of a drive source is arranged at the rear of the vehicle body 10.

[0024] The vehicle body 10 has a floor frame 13 that forms a floor portion 21. The driver's seat 2 is located behind the floor section 21 formed on the upper front side of the vehicle body 10. The floor section 21 is equipped with a steering column 22 located at its front, foot pedals 23 for operation located on the left and right of the steering column 22, a seat 24 which will be the driver's seat 2 located behind the steering column 22, and control units 25 located on the left and right of the seat 24. The steering column 22 is equipped with a steering wheel (handle) 26 for steering, and the control units 25 are equipped with a manual lever 27 for operation, a control panel (not shown), etc. In this riding lawnmower 1, the rear wheels 12, 12 are steered left and right by rotating the steering wheel 26 left and right.

[0025] Motor 3 is positioned at the front of the rear of the vehicle body 10. In this embodiment, an example of using an electric motor 3 (motor unit) as a drive source is illustrated, but the embodiment is not limited to this. It is also possible to use an internal combustion engine (gasoline engine or diesel engine), or a hybrid unit combining an internal combustion engine and a motor. The drive of motor 3 is shifted and distributed by a transmission (not shown) and transmitted to the front wheels 11, 11 and the grass cutting device 5, which will be described later.

[0026] In this embodiment, the riding lawnmower 1 has a grass cutting device 5, which is an example of a work implement, attached to the lower front of the vehicle body 10 and in front of the front wheels 11, 11, and a grass collection container 56 is located at the rear of the vehicle body 10 and above the motor 3.

[0027] The grass cutting device 5 is a device that performs grass cutting work such as grass by rotating a cutting blade inside a cover 51 with an open bottom, and is for example called a rotary mower. The cover 51 of this grass cutting device 5 is rotatably attached to the vehicle body 10 via a support arm 52 and moves up and down. In addition, the cutting blade of the grass cutting device 5 is rotated by power transmitted from the motor 3 via a PTO (Power Take Off) shaft (not shown). Therefore, the motor 3 in this embodiment has the function of a driving motor that is a drive source for driving and the function of a PTO motor that is a drive source for the work machine. It should be noted that the configuration is not limited to a configuration in which the driving motor and the PTO motor (motor for the work machine) are common, and it is also possible to install separate motors for driving and the work machine.

[0028] The grass collection container 56 is a container for storing the grass cut by the grass cutting device 5, and is commonly referred to as a collector. The grass collection container 56 is a box-shaped structure, such as a cube, and has an openable and closable door 56b on its rear side for discharging the stored grass. The grass collection container 56 is attached via a lifting and dumping mechanism 58 to left and right support frames 57 that are positioned above the motor 3 behind the seat 24 and the control unit 25. The lifting and dumping mechanism 58 functions to move the grass collection container 56 to a predetermined position and state when discharging the grass clippings contained in the container, and consists of a support frame, a link mechanism, a hydraulic cylinder, etc. Safety bars 59 are provided at the upper ends of the left and right support frames 57, with a shape that connects them to each other.

[0029] Furthermore, the riding lawnmower 1 is provided with a grass cutting collection unit (not shown) located between the front wheels 11, 11 and behind the grass cutting device 5, which collects the cut grass by suction and stores it in a grass collection container 56.

[0030] In the riding lawnmower 1 of this embodiment, a camera 40, which is an example of an imaging device and an example of a detector, is positioned on the upper part of the steering column 22. The camera 40 can image the field and the grass to be mowed in front of the riding lawnmower 1. It is also possible to install multiple cameras 40 to capture images in different directions such as the left and right, or to use a wide-angle lens to capture a wide area with a single camera 40. The installation position of the camera 40 is as exemplified. It is not limited to this, and can be installed at any position where the field conditions can be photographed, such as the safety bar 59.

[0031] Furthermore, the riding lawnmower 1 of this embodiment has a positioning unit 41, which is an example of a positioning device, installed on the upper surface of the steering column 22. The positioning unit 41 has a built-in GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). The GNSS receiver can receive positioning signals from artificial satellites 42 and measure the current position of the riding lawnmower 1. The IMU can measure the attitude of the riding lawnmower 1 (left-right tilt and front-back tilt) by measuring acceleration and angular velocity. Therefore, by correcting the measurement results of the GNSS receiver with the IMU, the current position can be measured with higher accuracy compared to when the current position is measured using only the GNSS method.

[0032] Therefore, the riding lawnmower 1 of this embodiment can operate autonomously (automatic driving, unmanned driving) using GNSS, or it can be driven by an operator who is on board and operates it according to their commands (manual driving, manned driving). In addition, when operating autonomously, the operator who operates the tablet terminal 46, which is an example of a remote terminal capable of wireless communication with the riding lawnmower 1, can be outside the riding lawnmower 1 (outside or inside the field), or can be on board the riding lawnmower 1 while carrying the tablet terminal 46.

[0033] The riding lawnmower 1 and the tablet terminal 46 are configured to communicate via a communication line 47. The communication line 47 can be any wireless or wired line, such as a telephone line, internet line, LAN line, or Bluetooth®. It is also possible to configure the riding lawnmower 1 and the tablet terminal 46 to communicate directly without using the communication line 47 (ad-hoc network). The tablet terminal 46 in this embodiment has a built-in GNSS receiver (not shown) and a 3D acceleration sensor (not shown) as an example of a second positioning device. Therefore, the current location of the tablet terminal 46, that is, the current location of the worker carrying the tablet terminal 46, can be determined. Furthermore, a server 48, which is an example of an information processing device, is connected to the communication line 47. The server 48 is capable of sending and receiving information (communication) with the riding lawnmower 1 and the tablet terminal 46.

[0034] (Description of the control unit) Figure 2 is a functional block diagram of the control means of the embodiment. In the block diagram of Figure 2, elements unrelated to the description of the embodiments of the present invention are omitted from the illustration and description. In Figure 2, the control unit (an example of a control means) 100 of the embodiment is composed of a small information processing device, a so-called microcomputer. Therefore, the control unit 100 can realize various functions by executing a program stored in ROM or the like.

[0035] The control unit 100 in this embodiment receives signals from the positioning unit 41, the camera 40, the microphone (an example of an input component) B1 and the display monitor (an example of an input component) B2 installed on the operation unit 25, sensors such as the motor ammeter SN1, motor rotation speed sensor SN2, motor torque sensor SN3, and power consumption meter SN4, the manual lever 27, and various switches and buttons, as well as signal output elements. The positioning unit 41 receives signals from GNSS satellites 42 to measure the vehicle's current position, corrects this position using the vehicle's attitude measured by the inertial measuring device, and then measures the vehicle's current position.

[0036] Camera 40 photographs the field, including the grass, in front of the vehicle body 10. Microphone B1 collects sounds near the driver's seat 2. Therefore, the operator's speech and other sounds can be picked up by microphone B1. Display monitor B2, an example of a display unit and an example of an input component, is composed of a so-called touch panel, and input is possible according to the position touched by a finger.

[0037] The motor ammeter (an example of a work load detector) SN1 detects the load on motor 3 by detecting the current value supplied to motor 3 (detecting changes and transitions in the current value). The motor rotation speed sensor (an example of a work load detector) SN2 detects the load on motor 3 by detecting the rotation speed of motor 3 (detecting changes and transitions in rotation speed). The motor torque sensor (an example of a work load detector) SN3 detects the load on motor 3 by detecting the torque of motor 3 (detecting changes and transitions in torque). The power consumption meter (an example of a work load detector) SN4 detects the load on motor 3 by detecting the power consumption of motor 3 (detecting changes and trends in power consumption).

[0038] The control unit 100 in this embodiment outputs control signals to controlled elements such as the motor 3, the grass cutting device 5, the grass cutting collection unit, the lifting and dumping mechanism 58, the display monitor B2, and the steering wheel 26.

[0039] Figure 3 is a schematic diagram illustrating the processing flow in the control means of the embodiment. The control unit 100 of this embodiment has the following functional modules (program modules). The image information acquisition means 101 acquires the image captured by the camera 40. The reference information acquisition means 102 acquires reference information stored in the image reference information storage means 201 of the server 48. In this embodiment, numerous images taken in various states regarding the height (grass height), density (grass density), moisture level (whether there are water droplets on the grass, etc.) of the work (grass cutting) target, the degree of lodging, etc., are associated with information that identifies that state and are pre-registered in the server 48 as reference information. For example, an image of a state where the grass is tall is associated with information that identifies the state of "long grass height" and is registered, or an image of grass leaning eastward and an image of grass leaning northward are associated with information that identifies the states of "facing eastward" and "facing northward," respectively and are registered. The reference information acquisition means 102 acquires the reference information by communicating with the server 48.

[0040] The state determination means 103 determines the state of the field based on the image captured by the camera 40 and the reference information acquired by the reference information acquisition means 102. Therefore, the state determination means 103 determines (estimates) the state of the grass, such as its height, density, moisture level, and degree of lodging.

[0041] The environmental information acquisition means 104 acquires environmental information stored in the environmental information storage means 202 of the server 48. In this embodiment, environmental information such as humidity, wind speed, sunshine and rainfall amounts prior to the day of work, weather information such as temperature history (including weather forecast information), field location information (latitude, longitude, etc.) (an example of field information), satellite images of the field (an example of field information), and history information of previous work at that field (an example of field information such as whether a particular area is deep or whether there are obstacles) is pre-registered in the server 48. In other words, information that cannot be determined or is difficult to determine from the images of the camera 40 is registered in the server 48 as environmental information.

[0042] As an example of a means for generating second question information, the status confirmation question generation means 105 generates a status confirmation question (an example of second question information) to confirm with the worker about the field condition determined by the status determination means 103. The status confirmation question generation means 105 in this embodiment generates a status confirmation question that can be answered with "yes" or "no". Furthermore, the status confirmation question generation means 105 in this embodiment generates a status confirmation question based on the determination result of the status determination means 103 and environmental information.

[0043] In this embodiment, status confirmation questions are created for matters that need to be confirmed when setting the work content based on the condition of the field. For example, questions such as "The grass height is estimated to be longer than ○ cm. Is the grass height longer than ○ cm?", "The weather is estimated to be sunny. Is it currently raining?", "The grass is estimated to be wet. Is the grass wet?", "The wind speed is estimated to be ○ m / s. Is the wind strong?", and "The field to be worked on is estimated to be field number ○. Is this correct?" are generated. It is also possible to create questions for all predetermined confirmation items, or, for example, if the grass height is sufficiently short based on the determination result of the status determination means 103, questions may not be created for items where the work content does not change even when considering a margin, i.e., Furthermore, it is possible to make some or all of the verification items unnecessary to verify. Therefore, it is also possible to make it possible in some cases that no status confirmation questions are generated. The generation of status confirmation questions can be done using conventionally known generation AI (Artificial Intelligence), with inputs such as grass height and grass density determined by the status determination means 103, and weather information obtained by the environmental information acquisition means 104, and outputting the question text.

[0044] The status confirmation question generation means 105 of the embodiment then displays the generated status confirmation questions on the display monitor B2. In this embodiment, if status confirmation questions are generated for multiple confirmation items, the status confirmation questions for each confirmation item are displayed sequentially on the display monitor B2. Therefore, the first status confirmation question is displayed on the display monitor B2, and once an answer is given to that question, the status confirmation questions for the next confirmation item are displayed on the display monitor B2. Furthermore, the notification method is not limited to displaying information on monitor B2; it is also possible to notify workers via voice guidance.

[0045] Furthermore, in this embodiment, if the tablet terminal 46 is in a mode (guidance mode) that allows remote operation and remote monitoring (remote confirmation) of the riding lawnmower 1, the control unit 100 transmits information to the tablet terminal 46 so that a status confirmation question is also displayed on the tablet terminal 46's touch panel (an example of a second display and an example of an input unit) 46b.

[0046] The status confirmation response acquisition means 106 acquires the input results of the worker's response to the status confirmation question displayed on the display monitor B2. In this embodiment, the response content ("yes" or "no") is acquired based on the worker's finger input to the display monitor B2 in response to the status confirmation question. It is not limited to input to the display monitor B2, but it is also possible to acquire the response content ("yes" or "no") by speaking into the microphone B1. Furthermore, if the guidance mode is on, the response content transmitted from the tablet terminal 46 is also acquired as a response. Therefore, the worker can actually see and confirm the condition of the field and crops, or see the image from the camera 40 and then answer. In this embodiment, the response content acquired by the status confirmation response acquisition means 106 is used as the determination result of the condition of the crops and field.

[0047] The input setting storage means 107 stores setting information (input setting information) entered by the operator from an input device such as the display monitor B2 or tablet terminal 46, that is, setting information for the operation of the vehicle body 10 and the grass cutting device 5 when working on a field. As setting information, for example, the height of the grass cutting device 5, the travel speed, the PTO rotation speed (rotation speed of the grass cutting device 5), the power range (gear setting), etc. can be set. Therefore, the operator enters the setting value that the operator deems appropriate for the work for each setting item, and the input setting storage means 107 stores it. It is possible to make all setting items mandatory input, but it is also possible to use predetermined initial values ​​or recommended setting values ​​described later for items that are not entered as optional input. Therefore, the number of input setting information items can be increased or decreased according to the operator's input.

[0048] The recommended setting generation means (an example of a setting generation means) 108 generates recommended values ​​(recommended settings, control settings) for each setting of the work performed by the riding lawnmower 1, based on the setting information stored in the input setting storage means 107 and the determination result of the field condition identified by the answer to the condition confirmation question (condition information). The recommended setting generation means 108 generates recommended (optimal) work content (driving settings and work settings) for settings such as the travel speed, rotation speed of the mowing device 5, height, power range, etc., according to the input setting information and the field condition. The recommended setting generation means 108 of the embodiment includes a driving setting generation means 108a and a work setting generation means 108b. The driving setting generation means 108a generates driving settings (an example of control settings) such as driving speed (rotation speed and gear shift setting of motor 3), steering amount, and steering timing. The work setting generation means 108b generates work settings (an example of control settings) such as the rotation speed of the grass cutting device 5 (gear shift setting according to the rotation speed of motor 3), height, current supply value to motor 3, and torque.

[0049] Recommended settings can be generated using a generating AI (Artificial Intelligence) with the setting information stored in the input setting storage means 107 and the field condition determination results identified by the answers to the status confirmation questions as inputs, and the driving speed etc. as outputs. In this embodiment, the generating AI is weighted from the history information (learning data) of past work results so that settings with lower driving load, work load, and power (material) consumption are recommended, and repeated learning is performed in advance. Therefore, as recommended settings, values ​​(setting values) with a low load (driving load, work load, power consumption) relative to the input are output. Consequently, if changing the settings results in a lower load than when the work was performed with the input setting information, setting information different from the input setting information may be output as recommended settings, while the input setting information is taken into consideration.

[0050] Furthermore, while the recommended setting generation means 108 of the embodiment exemplifies a method for generating recommended settings for work content, it is not limited to this. For example, it is also possible to generate work routes. In this case, it is preferable to generate work routes that avoid obstacles acquired from satellite images or that avoid areas where grass blockages have occurred based on past work information. Furthermore, the generating AI can be individually trained and configured for each worker. That is, it is possible to switch whether or not to train beginners and experts separately, or to weight the AI ​​according to the worker's skill level (e.g., giving more weight to experts). In addition, it is possible to use the worker's skill level as one of the inputs for the recommended setting generation means 108, so that the driving speed, steering amount, work settings, etc. differ depending on the skill level.

[0051] The recommended setting notification means 109 notifies the user by displaying the recommended setting generated by the recommended setting generation means 108 on the display monitor B2. In this embodiment, if the recommended setting and the input setting information are different, both are displayed, and an image is displayed for the user to select one of them. It should be noted that the method of notifying the user is not limited to displaying on the display monitor B2; it is also possible to notify the user via voice guidance. In this embodiment, if the guidance mode is turned on in the tablet terminal 46, the control unit 100 transmits information to the tablet terminal 46 so that the recommended setting is also displayed on the tablet terminal 46's touch panel 46b.

[0052] The setting response acquisition means 110 acquires the input result of the operator's response to the recommended settings displayed on the display monitor B2. In this embodiment, the response content ("yes" or "no") is acquired based on the input to the display monitor B2 in response to the display asking whether or not to use the recommended settings. It is not limited to input to the display monitor B2, but it is also possible to acquire the response content ("yes" or "no") by speaking into the microphone B1. Furthermore, if the guidance mode is on, the response content transmitted from the tablet terminal 46 is also acquired as a response. Therefore, the operator can set the work content by answering whether or not to use the recommended settings while confirming in a question format.

[0053] The work content setting means 111 sets the work content generated by the recommended setting generation means 108 and confirmed by the setting response acquisition means 110 as the work content to be performed by the riding lawnmower 1. In this embodiment, if the operator answers "No" to the work content, the work content adjustment means 111a sets the input setting information as the work content. It should be noted that the system is not limited to a choice between the recommended setting and the input setting information. For example, if the operator answers "No," the system may display an image to change the work content. For example, if the operator answers "No" when checking the driving speed, the work content adjustment means 111a may display an image to adjust the driving speed, and the input content for that image may be adjusted and set as the driving speed during the work.

[0054] The work control means 112 includes a travel control means 112a and a work machine control means 112b, and controls the riding lawnmower 1 during operation according to the work content set by the work content setting means 111. Therefore, according to the travel speed set by the work content setting means 111, the travel control means 112a controls the rotation speed and shifting of the motor 3 and the steering of the steering wheel 26 (control of steering amount and steering timing). In addition, it controls the lawnmower 5 and the grass cutting collection unit, etc., according to the height and rotation speed of the lawnmower 5 set by the work content setting means 111.

[0055] The load detection means 113 includes a current value detection means 113a, a rotation speed detection means 113b, a torque detection means 113c, and a power consumption detection means 113d, and detects the load during operation. The current value detection means 113a detects the load on the motor 3 by detecting the current value V1 supplied to the motor 3 based on the detection result of the motor ammeter SN1. The rotation speed detection means 113b detects the load on the motor 3 by detecting the rotation speed V2 of the motor 3 based on the detection result of the motor rotation speed sensor SN2. The torque detection means 113c detects the load on the motor 3 by detecting the torque V3 of the motor 3 based on the detection result of the motor torque sensor SN3. The power consumption detection means 113d detects the load on the motor 3 by detecting the power consumption V4 of the motor 3 based on the detection result of the power consumption meter SN4.

[0056] The evaluation means 114 evaluates whether the work content (control settings, recommended settings) generated by the recommended setting generation means 108 was appropriate based on the load detected by the load detection means 113. In the embodiment, the evaluation means 114 evaluates whether the recommended settings were appropriate after the grass cutting device 5 has been controlled with the recommended settings, based on whether the work load on the grass cutting device 5 exceeds a predetermined load range. In the evaluation means 114 of this embodiment, if the current value V1 supplied to the motor 3 exceeds a predetermined current discrimination value Va for a certain period of time, it is evaluated that the load range has been exceeded.

[0057] Furthermore, the evaluation means 114 of the embodiment evaluates that the load range has been exceeded if the rotational speed V2 of the motor 3 remains below a predetermined rotational speed discrimination value Vb for a period of time tb or longer. Furthermore, the evaluation means 114 of the embodiment evaluates that the load range has been exceeded if the torque V3 of the motor 3 exceeds a predetermined torque discrimination value Vc for a period of time tc or longer. Furthermore, the evaluation means 114 of the embodiment evaluates that the load range has been exceeded when the average value |V4| of the power consumption V4 of the motor 3 exceeds a predetermined power discrimination value Vd. In this embodiment, since an electric motor 3 is used, power consumption V4 is used as an indicator, but if an engine as an internal combustion engine is used, the amount of fuel (gasoline, diesel, etc.) consumed as an example of material can be used as an indicator.

[0058] The evaluation means 114 evaluates the system based on four indicators: current value V1, rotational speed V2, torque V3, and power consumption V4. The more indicators that exceed the load range, the lower the evaluation; and the more indicators that do not exceed the load range, the higher the evaluation. For example, if all four indicators do not exceed the load range, the evaluation is 1 (highest evaluation); if three do not exceed the load range, the evaluation is 2 (high evaluation); if two do not exceed the load range, the evaluation is 3 (medium evaluation); if one does not exceed the load range, the evaluation is 4 (low evaluation); and if all exceed the load range, the evaluation is 5 (lowest evaluation). Note that the evaluation method is not limited to the example given. It is also possible to pre-determine the importance (weighting) of the four indicators, and the more important the indicator, the greater its influence on the evaluation result. Furthermore, the evaluation indicators are not limited to the four examples given; it is also possible to use three or fewer indicators, or five or more indicators.

[0059] The evaluation result display means 115 displays the evaluation results from the evaluation means 114 on the display monitor B2. The evaluation result display means 115 also transmits the evaluation results to the tablet terminal 46. Therefore, the evaluation results are displayed on the touch panel 46b of the tablet terminal 46. The learning means 116 trains the generating AI (recommended setting generation means 108) based on the recommended settings and the evaluation by the evaluation means 114. In other words, it trains the AI ​​using the recommended settings and evaluation results as training data. Therefore, the evaluation results of the evaluation means 114 are utilized (reflected) in the generation of the next recommended settings.

[0060] (Operation of the embodiment) In the riding lawnmower 1 of the embodiment with the above configuration, the field condition is determined from the image captured by the camera 40 and the reference information registered in the server 48. Recommended settings are generated according to the determined condition, environmental information, and input setting information. The recommended settings are then displayed, and the operator can confirm and adjust the work content by responding while checking them. Therefore, in the riding lawnmower 1 of the embodiment, recommended settings are made according to the field condition and situation, and the operator can either adopt the recommended settings or adjust them while checking the site. Thus, even inexperienced or unfamiliar operators who do not know what settings to use for travel speed and work speed can adopt the recommended settings and perform work with less load and efficiency, with more appropriate recommended settings compared to conventional technology, according to the field conditions. Furthermore, skilled operators can input and adjust the travel speed, etc., according to the field conditions to perform work even more efficiently.

[0061] In this embodiment, after the work is performed with the recommended settings, the work results are evaluated. Specifically, it is evaluated whether the current value V1, rotational speed V2, torque V3, and power consumption V4 of the motor 3 during the work were within the load range. The more of the four indicators that are within the load range, the more appropriate the recommended settings are evaluated; the more of the indicators that are outside the load range, the more inappropriate the settings are evaluated. Therefore, compared to conventional technology in which the evaluation of whether the control values ​​set from the work conditions (camera images and environmental information) were appropriate is not performed, this embodiment makes it possible to set up more efficient work by referring to the evaluation. In particular, in this embodiment, the recommended setting generation means 108 is trained using the recommended settings and evaluation results, and the evaluation results are reflected and fed back into the recommended settings for subsequent times. Therefore, more efficient settings are automatically generated in the recommended settings for subsequent times.

[0062] Furthermore, in this embodiment, the motor 3 is controlled by constant voltage, and when a load is applied to the motor 3, the supplied current value V1 increases. If the current value V1 exceeds the current discrimination value Va for a period of time ta or longer, it is evaluated that a situation has occurred where the recommended settings are insufficient to handle the load, rather than a momentary (irregular) increase in load, and the recommended settings are evaluated as inappropriate. Similarly, if the rotational speed V2 remains below the rotational speed discrimination value Vb for a period of tb or longer, or if the torque V3 exceeds the torque discrimination value Vc for a period of tc or longer, or if the average power consumption |V4| exceeds the power discrimination value Vd, it is evaluated that the recommended settings are insufficient to handle the load, and the recommended settings are deemed inappropriate.

[0063] Furthermore, in this embodiment, not only the grass-cutting device 5, which is the work machine, but also the travel speed control and steering control are automatically recommended and set. Therefore, in a robotic agricultural machine that autonomously travels along a work path and performs work automatically, recommended settings that reduce the load are automatically generated and executed.

[0064] Figure 4 is an explanatory diagram of a facility for cultivating turf according to an embodiment. In the riding lawnmower 1 of this embodiment, it is possible to mow grown grass, but new grass is transplanted in areas where the grass has withered or failed to grow. In Figure 4, the cultivation facility 301 for growing grass has mat-like grass grown in multiple cultivation boxes 302. The cultivation boxes 302 are mounted on a trolley 303, which is movable on rails 304. The trolley 303 is equipped with a motor (not shown) which operates when moving on rails 304. The cultivation facility 301 is equipped with a camera 311 as an example of an imaging device, which can image the condition of the grass in the cultivation boxes 302. A computer device 312 connected to the camera 311 determines the growth status of the grass in each cultivation box 302, and the computer device 312 controls the motor of the trolley 303 to move the position of the cultivation boxes 302 so that the differences in growth status due to differences in sunlight exposure are uniform.

[0065] In this way, the turf grown in the nursery facility 301 can be transplanted to areas in the field that have died or are not growing well. Furthermore, when removing the rearing boxes 302 from the rearing facility 301, the work efficiency of the workers can be improved by moving the rearing boxes 302 to be removed to the entrance 301a of the rearing facility 301 using a trolley 303. In addition, when removing multiple rearing boxes 302 in sequence, it is preferable to move the rearing boxes 302 to the entrance 301a of the rearing facility 301 in sequence using the trolley 303 according to the order in which the work vehicle passes through.

[0066] Although Figure 4 illustrates the growth of turfgrass, the method is not limited to this and can also be applied to the growth of rice seedlings and vegetable seedlings. Furthermore, it is preferable to embed an IC tag as an example of a means of storing identification information in the rearing box 302, and to manage it using the information on the IC tag when managing it with the computer device 312. Then, when transplanting, the computer device 312 determines the optimal rearing box 302, and when the worker removes it from the rearing facility 301, the worker refers to the information on the IC tag, which improves work efficiency and reduces the chance of removal errors. It should be noted that it is not limited to IC tags, and it is also possible to use information such as 2D codes or barcodes.

[0067] Furthermore, while the embodiment uses a riding lawnmower 1 as an example of a work vehicle, it is not limited to this. It can be applied to work vehicles such as tractors, rice transplanters, cultivators (pest control machines), and combine harvesters. When applied to a combine harvester, the camera can be installed in the cabin or at the tip of the conveyor (discharge device) that transports grain to an external container. In the riding lawnmower 1 of the embodiment, the direction of grass lodging was determined from the camera image, but in a combine harvester, the direction of lodging of the crop to be harvested can be determined from the camera image. The cutting speed (working speed) and driving speed can be changed according to the degree of crop lodging.

[0068] Figure 5 is an explanatory diagram of the main parts of the seat according to the embodiment. Furthermore, while the embodiment illustrates a method of setting the working speed and driving speed based on images from the camera 40, it is not limited to this. In Figure 5, for example, permanent magnets 2b are placed at the four corners of the underside of the driver's seat 2, and electromagnets 2a are placed on the vehicle body 10 side opposite the permanent magnets 2b, making it possible to move the driver's seat 2 up and down relative to the vehicle body 10 by magnetic force. Then, based on the camera image, the unevenness in front of the riding lawnmower 1 is determined, the tilt of the vehicle body 10 during driving (left-right and front-back tilt) is predicted, and the on / off switching of the four electromagnets 2a is controlled to tilt the driver's seat 2 relative to the vehicle body 10 to counteract the tilt of the vehicle body 10. In this way, the stability of the driver's seat 2 is improved and the burden on the driver is reduced. When predicting the tilt, it is desirable to include the topographic information of the field (flat land, sloping land, uneven land, etc.) and map information (elevation, contour line information, etc.) in the prediction. Furthermore, in work vehicles with a cabin surrounding the driver's seat 2 (such as combine harvesters and pest control machines), it is also possible to tilt the entire cabin using electromagnets. In addition, when controlling the tilt of the driver's seat 2, it is desirable to have a configuration that allows the camera to capture a wide area in front of the vehicle in order to ensure that the predictive processing is completed in time.

[0069] Furthermore, while the embodiments illustrate a mode in which the generating AI generates status confirmation questions and recommended settings, and then notifies and responds, i.e., a mode in which interactive communication takes place, the system is not limited to this. For example, it is also possible to train the generating AI with aircraft information, maintenance manuals, repair methods, etc., and enable it to communicate with operators in an interactive format regarding maintenance and repair methods, thereby enabling it to instruct operators on maintenance methods, etc. In this case, if it is determined from the aircraft information, work information, and repair history that there is a high probability of a malfunction occurring, the system can estimate the cause of the malfunction and the location of the malfunction, and notify and explain to the operator in an interactive format in advance. If the operator can handle the malfunction based on the malfunction determination result, it is also possible to summarize the maintenance manual, generate text and images, and display them. On the other hand, if the malfunction is difficult for the operator to handle, it is also possible to notify and explain to service staff. In this case, it is preferable to also determine the severity (danger level) and indicate the priority of the malfunction response.

[0070] Furthermore, it is possible to determine recommended maintenance based on aircraft information, work information, and maintenance history, and notify the operator. When notifying about maintenance, it is preferable to summarize the maintenance manual, generate text and images, and display them. If the recommended maintenance is difficult for the pilot to handle, it is also possible to notify and explain it to the service staff.

[0071] In the embodiment of the riding lawnmower 1, the processing is shown as being centrally handled by the control unit 100, but the invention is not limited to this. It is also possible to use a distributed processing method that utilizes multiple information processing devices connected to a network. [Explanation of Symbols]

[0072] 1. Work vehicles, 3 motors, 5. Work equipment, 10 car bodies, 40 Imaging device, 108 Setting generation means, 112b Work machine control means, 114 Evaluation methods, 116. Learning methods.

Claims

1. Vehicle body (10) and A work machine (5) is supported by the vehicle body (10) and performs work in the field, An imaging device (40) that images the area outside the vehicle body (10), A setting generation means (108) generates control settings for the implement (5) based on the image captured by the imaging device (40) and the field information, A work machine control means (112b) controls the work machine (5) with the control settings generated by the setting generation means (108), An evaluation means (114) evaluates whether the control settings were appropriate after the work performed by the work implement (5) under the control settings, based on whether the work load on the work implement (5) exceeds a predetermined load range. A work vehicle equipped with [a specific feature / equipment].

2. A motor (3) that drives the aforementioned work machine (5), The evaluation means (114) evaluates that the load range has been exceeded when the current value (V1) of the motor (3) as the work load exceeds a predetermined value (Va) for a certain period of time (ta), A work vehicle according to claim 1, comprising:

3. A motor (3) that drives the aforementioned work machine (5), The evaluation means (114) evaluates that the load range has been exceeded when the rotational speed (V2) of the motor (3) as the work load falls below a predetermined value (Vb) for a certain period of time (tb), A work vehicle according to claim 1, comprising:

4. A motor (3) that drives the aforementioned work machine (5), The evaluation means (114) evaluates that the load range has been exceeded when the torque (V3) of the motor (3) as the work load exceeds a predetermined value (Vc) for a certain period of time (tc), A work vehicle according to claim 1, comprising:

5. A motor (3) that drives the aforementioned work machine (5), The evaluation means (114) evaluates that the load range has been exceeded when the average power consumption (|V4|) of the motor (3) as the work load exceeds a predetermined value (Vd), A work vehicle according to claim 1, comprising:

6. Based on the control settings and the evaluation by the evaluation means (114), a learning means (116) performs learning on the setting generation means (108). A work vehicle according to claim 1, comprising:

7. Based on the image captured by the imaging device (40) and the field information, the setting generation means (108) generates not only the control settings for the implement (5), but also the travel speed and steering amount during automatic travel. A work vehicle according to claim 1, comprising:

Images