Work vehicle, information processing device, and method

Abstract

To improve a technology for automatic driving of a work vehicle on a public road.SOLUTION: A work vehicle 10 is a work vehicle 10 including a control unit and having automatic driving functions. The control unit of the work vehicle 10 controls switching to either mode of a public road driving mode and a working mode.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a work vehicle, an information processing device, and a method. [Background technology]

[0002] Patent Document 1 discloses a work vehicle having an automatic steering function. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-153421 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional technology has room for improvement in order to allow work vehicles to travel automatically on public roads between, for example, a hangar for storing work vehicles and farmland including rice paddies or fields. In particular, work vehicles are easily soiled with mud, etc. Therefore, measures are required when sensors used for automatic travel become soiled.

[0005] The objective of the present disclosure, made in consideration of the above circumstances, is to improve the technology for automatic driving of work vehicles on public roads. [Means for solving the problem]

[0006] A work vehicle according to one embodiment of the present disclosure is a work vehicle with an automatic driving function that is equipped with a control unit, and the control unit controls switching of modes between a public road driving mode and a work mode.

[0007] An information processing device according to one embodiment of the present disclosure is an information processing device including a control unit and a communication unit, and the control unit instructs a work vehicle having an autonomous driving function to switch modes to either a public road driving mode or a work mode via the communication unit.

[0008] A method according to one embodiment of the present disclosure is a method executed by an information processing device, and includes instructing a work vehicle having an autonomous driving function to switch modes to either a public road driving mode or a work mode. Effect of the Invention

[0009] According to one embodiment of the present disclosure, it is possible to improve the technology for automatically driving work vehicles on public roads. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a schematic configuration of a system according to an embodiment of the present disclosure. [Diagram 2] 1 is a block diagram showing a schematic configuration of a work vehicle according to an embodiment of the present disclosure. [Diagram 3] 1 is a block diagram showing a schematic configuration of an information processing device according to an embodiment of the present disclosure. [Figure 4] 4 is a flowchart showing an operation of a work vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present disclosure will be described.

[0012] An overview of a system 1 according to an embodiment of the present disclosure will be described with reference to FIG.

[0013] The system 1 includes a work vehicle 10 and an information processing device 20. The work vehicle 10 and the information processing device 20 are connected to a network 30 so as to be able to communicate with each other.

[0014] The work vehicle 10 is, for example, an automobile including any agricultural machine such as a tractor, a rice planter, or a combine harvester. The work vehicle 10 is, for example, a gasoline-powered automobile, a BEV (Battery Electric Vehicle), a HEV (Hybrid Electric Vehicle), a PHEV (Plug-in Hybrid Electric Vehicle), or a FCEV (Fuel Cell Electric Vehicle), but is not limited to these. The work vehicle 10 may be driven by a driver, or may be automated at any level. The level of automation is, for example, any of levels 1 to 5 according to the level classification of the Society of Automotive Engineers (SAE).

[0015] The information processing device 20 is a computer such as a server that belongs to a cloud computing system or other computing system.

[0016] The network 30 includes the Internet, at least one wide area network (WAN), at least one metropolitan area network (MAN), or any combination thereof. The network 30 may include at least one wireless network, at least one optical network, or any combination thereof. The wireless network may be, for example, an ad-hoc network, a cellular network, a local area network (LAN), a satellite communication network, or a terrestrial microwave network.

[0017] An overview of this embodiment will be described with reference to Fig. 1. A work vehicle 10 has an automatic driving function. A control unit 11 of the work vehicle 10 controls switching between a public road driving mode and a work mode.

[0018] According to this embodiment, even if the work vehicle 10 is soiled with mud or the like in a work area including farmland, it is possible to switch between the public road driving mode and the work mode, so it is possible to prevent the sensor module and the like provided in the work vehicle 10 for automatic driving on public roads from becoming dirty. Therefore, it is possible to improve the technology for the work vehicle 10 to automatically drive on public roads.

[0019] The configuration of the work vehicle 10 according to this embodiment will be described with reference to FIG.

[0020] The work vehicle 10 includes a control unit 11 , a communication unit 12 , a memory unit 13 , a positioning unit 14 , an acquisition unit 15 , an imaging unit 16 , and a working unit 17 .

[0021] The control unit 11 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination of these. The processor is a general-purpose processor such as a central processing unit (CPU) or a graphics processing unit (GPU), or a dedicated processor specialized for a specific process. The programmable circuit is, for example, a field-programmable gate array (FPGA). The dedicated circuit is, for example, an application specific integrated circuit (ASIC). The control unit 11 executes processes related to the operation of the work vehicle 10 while controlling each part of the work vehicle 10.

[0022] The communication unit 12 includes at least one communication interface. The communication interface is, for example, an interface compatible with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th generation) standard, or 5G (5th generation) standard, an interface compatible with a short-range wireless communication standard such as Bluetooth (registered trademark), or a LAN interface. The communication unit 12 receives data used in the operation of the work vehicle 10, and transmits data obtained by the operation of the work vehicle 10.

[0023] The storage unit 13 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a random access memory (RAM) or a read only memory (ROM). The RAM is, for example, a static random access memory (SRAM) or a dynamic random access memory (DRAM). The ROM is, for example, an electrically erasable programmable read only memory (EEPROM). The storage unit 13 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 13 stores data used in the operation of the work vehicle 10 and data obtained by the operation of the work vehicle 10. In this embodiment, the data used in the operation of the work vehicle 10 includes a system program, an application program, a database, map information, and work information, etc.

[0024] The positioning unit 14 includes one or more receivers compatible with any satellite positioning system. For example, the positioning unit 14 includes a GPS (Global Positioning System) receiver. The positioning unit 14 acquires measurement values ​​of the position of the work vehicle 10 as position information. The position information includes an address, latitude, longitude, altitude, and the like. The positioning unit 14 is capable of acquiring the position information of the work vehicle 10. The positioning unit 14 may acquire the position information of the work vehicle 10 constantly, or may acquire the information periodically or non-periodically.

[0025] The acquisition unit 15 includes one or more sensor modules capable of acquiring information necessary for the autonomous driving on public roads of the work vehicle 10. Examples of the sensor module include, but are not limited to, a speed sensor, an acceleration sensor, an angular velocity sensor, or a steering angle sensor.

[0026] The imaging unit 16 includes one or more imaging modules capable of acquiring any information required for performing work including agricultural work. The imaging module includes, for example, one or more cameras. The cameras are disposed in appropriate positions on the work vehicle 10 so as to be able to capture images of the surroundings of the work vehicle 10. The imaging unit 16 may be capable of acquiring any information required for autonomous driving in a work site including farmland. However, this information is not sufficient for autonomous driving on public roads.

[0027] The working unit 17 includes one or more working implements for performing work including agricultural work, etc. Examples of the working implements include, but are not limited to, a spraying implement for spraying fertilizer or pesticide, a seeding implement for sowing seeds in rice paddies or fields, or a harvesting implement for harvesting agricultural crops, etc.

[0028] The configuration of the information processing device 20 according to this embodiment will be described with reference to FIG.

[0029] The information processing device 20 includes a control unit 21, a communication unit 22, and a storage unit 23.

[0030] The control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination of these. The processor is a general-purpose processor such as a CPU or a GPU, or a dedicated processor specialized for a specific process. The programmable circuit is, for example, an FPGA. The dedicated circuit is, for example, an ASIC. The control unit 21 executes processes related to the operation of the information processing device 20 while controlling each part of the information processing device 20.

[0031] The communication unit 22 includes at least one communication interface. The communication interface corresponds to, for example, a mobile communication standard, a wired LAN standard, or a wireless LAN standard, but is not limited to these, and may correspond to any communication standard. The communication unit 22 receives data used in the operation of the information processing device 20, and transmits data obtained by the operation of the information processing device 20.

[0032] The storage unit 23 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM or a ROM. The RAM is, for example, an SRAM or a DRAM. The ROM is, for example, an EEPROM. The storage unit 23 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 23 stores data used in the operation of the information processing device 20 and data obtained by the operation of the information processing device 20. In this embodiment, the data used in the operation of the information processing device 20 includes a system program, an application program, a database, map information, and work information, etc.

[0033] The operation of the work vehicle 10 according to this embodiment will be described with reference to Fig. 4. This operation corresponds to a method according to an embodiment of the present disclosure.

[0034] As described above, the work vehicle 10 is equipped with a sensor module for automatic driving on public roads. The sensor module may be attachable and detachable, or may be protected and deprotected, depending on the driving mode. The sensor module may be attached and detached by any method using an unmanned aerial vehicle such as a drone. The sensor module may be protected and deprotected as appropriate by opening and closing any shutter that can cover the sensor module. In this case, the control unit 11 of the work vehicle 10 protects the sensor module by controlling the closing of the shutter, and deprotects the sensor module by controlling the opening of the shutter. Alternatively, the sensor module may be protected and deprotected by moving the sensor module inside or outside the work vehicle 10 by any moving mechanism attached to the sensor module. In this case, the control unit 11 of the work vehicle 10 may protect the sensor module by moving the sensor module inside the work vehicle 10 via the moving mechanism, and may deprotect the sensor module by moving the sensor module outside the work vehicle 10 via the moving mechanism.

[0035] Step S1: The control unit 11 of the work vehicle 10 confirms that the current mode is the public road driving mode, and automatically drives the work vehicle 10 from a hangar to a work site including farmland or the like.

[0036] Specifically, the control unit 11 of the work vehicle 10 uses information acquired by the positioning unit 14 and the acquisition unit 15 to perform steering control, accelerator control, brake control, etc. of the work vehicle 10, thereby automatically driving the work vehicle 10 on public roads from a hangar to a work site including farmland, etc., according to a driving plan acquired in advance from the information processing device 20 via the communication unit 12. The driving plan may include, but is not limited to, destination information indicating the location of the destination such as farmland, driving route information to the destination, scheduled time of departure from a departure point such as a hangar, scheduled time of arrival at the destination, etc.

[0037] Step S2: When the control unit 11 of the work vehicle 10 detects that the work vehicle 10 has arrived at a work site, such as farmland, the control unit 11 removes or protects the sensor module.

[0038] Specifically, when the control unit 11 of the work vehicle 10 detects that the work vehicle 10 has arrived at a work site including farmland or the like from the position information of the work vehicle 10 acquired by the positioning unit 15, it removes or protects the sensor module by the above-mentioned method. This makes it possible to prevent the sensor module from becoming dirty with mud or the like during work described below. Note that, if the work vehicle 10 is equipped with any input interface, arrival at a work site including farmland or the like may be detected by the worker operating the input interface, but is not limited to this.

[0039] Step S3: When the control unit 11 of the work vehicle 10 detects the removal or protection of the sensor module, it switches the mode from the public road driving mode to the work mode.

[0040] Specifically, in the work mode, the control unit 11 of the work vehicle 10 uses information acquired by the imaging unit 16 to perform steering control, accelerator control, brake control, and the like of the work vehicle 10, thereby enabling the work vehicle 10 to automatically travel in a work site including farmland, etc. Also, in the work mode, the control unit 11 of the work vehicle 10 controls the operation of the working unit 17 based on work information acquired in advance or at any timing from the information processing device 20 via the communication unit 12, thereby making it possible to, for example, spray fertilizer or pesticides, sow seeds in rice paddies or fields, or harvest crops.

[0041] Step S4: When the control unit 11 of the work vehicle 10 detects the completion of the work, it attaches or removes protection from the sensor module.

[0042] Specifically, when the control unit 11 of the work vehicle 10 detects the completion of the work based on the information acquired by the imaging unit 16, it attaches or removes protection from the sensor module by the above-mentioned method. Note that, if the work vehicle 10 is equipped with an arbitrary input interface, the completion of the work may be detected by the worker operating the input interface, but is not limited to this.

[0043] Step S5: When the control unit 11 of the work vehicle 10 detects the attachment of the sensor module or the release of protection, it switches the mode from the work mode to the public road driving mode.

[0044] Step S6: The control unit 11 of the work vehicle 10 automatically drives the work vehicle 10 from a work site, such as farmland, to a hangar.

[0045] Specifically, the control unit 11 of the work vehicle 10 uses information acquired by the positioning unit 14 and the acquisition unit 15 to perform steering control, accelerator control, brake control, etc. of the work vehicle 10, thereby automatically driving the work vehicle 10 on public roads from a work site including farmland or the like to a hangar in accordance with a driving plan acquired in advance from the information processing device 20 via the communication unit 12. Note that the driving plan may include destination information indicating the location of the destination such as a hangar, driving route information to the destination, a scheduled time of departure from a departure point such as farmland, and a scheduled time of arrival at the destination, but is not limited to these.

[0046] As described above, the work vehicle 10 according to this embodiment has an automatic driving function. The control unit 11 of the work vehicle 10 controls switching between the public road driving mode and the work mode.

[0047] According to this configuration, even if the work vehicle 10 becomes dirty with mud or the like in a work area including farmland, it is possible to switch between the public road driving mode and the work mode, so it is possible to prevent the sensor module and the like provided in the work vehicle 10 for automatic driving on public roads from becoming dirty. Therefore, it is possible to improve the technology for the work vehicle 10 to automatically drive on public roads.

[0048] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art may make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each component or step can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined or divided into one.

[0049] As a modified example, an embodiment in which some of the components of the work vehicle 10 are provided in the information processing device 20 is also possible. In this modified example, the control unit 21 of the information processing device 20 instructs the work vehicle 10 having an automatic driving function to switch between a public road driving mode and a work mode via the communication unit 22. For example, when the control unit 21 of the information processing device 20 detects the arrival of the work vehicle 10 at a work site including farmland, etc., via the communication unit 22, it instructs the work vehicle 10 to remove or protect the sensor module and instructs the work vehicle 10 to switch from the public road driving mode to the work mode. Also, for example, when the control unit 21 of the information processing device 20 detects the completion of work including farm work, etc., via the communication unit 22, it instructs the work vehicle 10 to attach or release the protection of the sensor module and instructs the work vehicle 10 to switch from the work mode to the public road driving mode. Note that for other points, the explanation of each step in the above-mentioned embodiment is used.

[0050] As a modified example, the sensor module does not have to be attached or protection removed in step S4 in the above embodiment, in which case the work vehicle 10 may be manually driven to the hangar.

[0051] Also, as a modified example, if the above-mentioned sensor module can be removed and attached, the removed sensor module that is not needed during work, including agricultural work, may be appropriately stored in an arbitrary management center or the like. Also, the above-mentioned sensor module may be shared between multiple work vehicles 10. For example, assume that the first work vehicle 10 has arrived at the farmland from the hangar and is about to start agricultural work, and the second work vehicle 10 is about to return from the farmland to the hangar. In this case, the sensor module attached to the first work vehicle 10 is removed from the first work vehicle 10 by, for example, a worker or an unmanned aerial vehicle such as a drone, and attached to the second work vehicle 10, so that the sensor module can be shared between the first and second work vehicles 10.

[0052] As a modified example, an embodiment is also possible in which a general-purpose computer functions as the information processing device 20 according to the above-described embodiment. Specifically, a program describing the processing contents for realizing each function of the information processing device 20 according to the above-described embodiment is stored in the memory of the general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be realized as a program executable by a processor, or a non-transitory computer-readable medium that stores the program.

[0053] Some of the embodiments of the present disclosure will be described below as examples. However, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] A work vehicle having an automatic driving function and including a control unit, The control unit controls switching of the mode between a public road driving mode and a work mode. [Appendix 2] 2. A work vehicle as described in claim 1, The work vehicle further comprises a sensor module for autonomous driving on public roads. [Appendix 3] 3. A work vehicle as described in claim 2, When the control unit detects that the work vehicle has arrived at a work site, the control unit removes or protects the sensor module and switches from the public road driving mode to the work mode. [Appendix 4] A work vehicle according to claim 2 or 3, When the control unit detects completion of work, it attaches or releases protection for the sensor module and switches from the work mode to the public road driving mode. [Appendix 5] A work vehicle according to claim 3 or 4, A work vehicle, wherein the protection or release of protection is performed by opening and closing a shutter capable of covering the sensor module. [Appendix 6] A work vehicle according to claim 3 or 4, A work vehicle, wherein the protection or deprotection is performed by moving the sensor module inside or outside the work vehicle. [Appendix 7] A work vehicle according to any one of appendix 2 to 6, A work vehicle, wherein the sensor module is shareable among a plurality of work vehicles. [Appendix 8] An information processing device comprising a control unit and a communication unit, The control unit instructs a work vehicle having an automatic driving function to switch modes to either a public road driving mode or a work mode via the communication unit. [Appendix 9] 9. The information processing device according to claim 8, The information processing device further includes a sensor module for autonomous driving of the work vehicle on public roads. [Appendix 10] 10. The information processing device according to claim 9, When the control unit detects via the communication unit that the work vehicle has arrived at a work site, the information processing device instructs the work vehicle to remove or protect the sensor module and to switch from the public road driving mode to the work mode. [Appendix 11] The information processing device according to claim 9 or 10, When the control unit detects completion of work via the communication unit, the information processing device instructs the work vehicle to attach or remove protection from the sensor module, and instructs the work vehicle to switch from the work mode to the public road driving mode. [Appendix 12] 12. The information processing device according to claim 10, The information processing device, wherein the protection or the release of protection is performed by opening and closing a shutter capable of covering the sensor module. [Appendix 13] 12. The information processing device according to claim 10, The information processing device, wherein the protection or the release of protection is performed by moving the sensor module inside or outside the work vehicle. [Appendix 14] An information processing device according to any one of Supplementary Notes 9 to 13, The information processing device, wherein the sensor module can be shared among a plurality of work vehicles. [Appendix 15] A method executed by an information processing device, comprising: A method comprising instructing a work vehicle having an automatic driving function to switch modes to either a public road driving mode or a work mode. [Appendix 16] 16. The method according to claim 15, The method of claim 1, wherein the work vehicle further comprises a sensor module for autonomous driving on public roads. [Appendix 17] 17. The method of claim 16, comprising: The method further includes, upon detecting arrival of the work vehicle at a work site, removing or protecting the sensor module and instructing a switch from the on-road mode to the work mode. [Appendix 18] 18. The method according to claim 16 or 17, The method further comprises, upon detecting completion of the work, installing or unsecuring the sensor module and instructing a switch from the work mode to the road driving mode. [Appendix 19] 19. The method according to claim 17 or 18, A method, wherein the protecting or unprotecting is performed by opening or closing a shutter capable of covering the sensor module. [Appendix 20] 19. The method according to claim 17 or 18, A method wherein the securing or unsecuring is performed by moving the sensor module in or out of the work vehicle. [Explanation of symbols]

[0054] 1 System 10 Work vehicles 11 Control section 12 Communications Department 13 Storage section 14 Positioning unit 15 Acquisition Department 16 Imaging unit 17 Working Section 20 Information processing device 21 Control section 22 Communications Department 23 Memory section 30 Network

Claims

1. A control unit; A sensor module for autonomous driving on public roads; A work vehicle having an automatic driving function, The control unit controls switching of the mode to either a public road driving mode or a work mode, When the arrival of the work vehicle at a work site is detected, the sensor module is protected and the work vehicle is switched from the public road driving mode to the work mode.

2. A work vehicle according to claim 1, When the control unit detects completion of work, it releases protection from the sensor module and switches from the work mode to the public road driving mode.

3. A work vehicle according to claim 1 or 2, A work vehicle, wherein the protection or release of protection is performed by opening and closing a shutter capable of covering the sensor module.

4. A work vehicle according to claim 1 or 2, A work vehicle, wherein the protection or deprotection is performed by moving the sensor module inside or outside the work vehicle.

5. An information processing device comprising a control unit and a communication unit, The control unit instructs a work vehicle having an automatic driving function to switch between a public road driving mode and a work mode via the communication unit, When the information processing device detects via the communication unit that the work vehicle has arrived at a work site, it instructs the work vehicle to protect a sensor module provided in the work vehicle for automatic driving on public roads, and instructs the work vehicle to switch from the public road driving mode to the work mode.

6. 6. The information processing device according to claim 5, When the control unit detects completion of work via the communication unit, the information processing device instructs the work vehicle to release protection for the sensor module and to switch from the work mode to the public road driving mode.

7. 7. The information processing device according to claim 5, The information processing device, wherein the protection or the release of protection is performed by opening and closing a shutter capable of covering the sensor module.

8. 7. The information processing device according to claim 5, The information processing device, wherein the protection or the release of protection is performed by moving the sensor module inside or outside the work vehicle.

9. A method executed by an information processing device, comprising: Instructing a work vehicle having an automatic driving function to switch between a public road driving mode and a work mode, The method further includes, when it is detected that the work vehicle has arrived at a work site, protecting a sensor module provided in the work vehicle for automatic driving on public roads, and instructing a switch from the public road driving mode to the work mode.

10. 10. The method of claim 9, The method further includes, upon detecting completion of the work, unsecuring the sensor module and instructing a switch from the work mode to the road driving mode.

11. 11. The method according to claim 9 or 10, A method, wherein the protecting or unprotecting is performed by opening or closing a shutter capable of covering the sensor module.

12. 11. The method according to claim 9 or 10, A method wherein the securing or unsecuring is performed by moving the sensor module in or out of the work vehicle.

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