Cultivator control system

Abstract

To provide a husbandry machine control system capable of improving the convenience of driving a walking-type husbandry machine.SOLUTION: A husbandry machine control system includes: a walking-type husbandry machine 10 that can be operated by an operator on the basis of the operation of an operation unit (handle operation unit 24); an information input unit (control means 35) for inputting information related to driving of the walking-type husbandry machine 10; and a control unit (control means 35) capable of executing a priority control S10 for controlling the operation of the walking-type husbandry machine 10 on the basis of the information input to the information input unit (control means 35), prior to the operation by the operation unit (handle operation unit 24).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a technique for a tiller control system for controlling the operation of a walk-behind tiller. [Background technology]

[0002] Conventionally, techniques for walk-behind tillers that can be operated by operators have been publicly known, as described in, for example, Patent Document 1.

[0003] Patent Document 1 discloses a walk-behind tiller equipped with a steering handle.

[0004] The walk-behind cultivator described in the above Patent Document 1 can be operated by the operator using a handle. Such walk-behind cultivators are often used by people of all ages and genders, including not only agricultural workers who are accustomed to operating machines, but also housewives and elderly people who do home gardening as a hobby. For users who are not accustomed to operating such machines, there is a demand for further improvements in the convenience of operating walk-behind cultivators. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP2020-18243A Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been made in consideration of the above-mentioned situation, and the problem it aims to solve is to provide a tiller control system that can improve the convenience of operating a walk-behind tiller. [Means for solving the problem]

[0007] The problem to be solved by the present invention has been described above, and the means for solving this problem will now be described.

[0008] That is, in claim 1, there is provided a walk-behind tending machine that can operate based on the operation of an operating unit by an operator, an information input unit to which information related to the operation of the walk-behind tending machine is input, and a control unit that can execute priority control to control the operation of the walk-behind tending machine based on the information input to the information input unit, taking priority over the operation by the operating unit. An image capturing unit capable of capturing an image; Equipped with The information input unit receives the image captured by the photographing unit as the information, and the control unit can execute the priority control based on the image. In the priority control, the operation of the walk-behind cultivator can be controlled based on a first image captured by the photographing unit of an operator operating the walk-behind cultivator. In the priority control, when a proportion of the image of the operator in the first image becomes equal to or less than a first value, the walk-behind cultivator can be controlled to reduce the drive speed or stop the drive. It is something.

[0009] In claim 2, The present invention comprises a walk-behind cultivator that can operate based on the operation of an operating unit by an operator, an information input unit to which information relating to the operation of the walk-behind cultivator is input, a control unit that can execute priority control that controls the operation of the walk-behind cultivator based on the information input to the information input unit, taking priority over the operation by the operating unit, and a photographing unit that can photograph images, wherein the information input unit receives the image photographed by the photographing unit as input, and the control unit can execute the priority control based on the image, and in the priority control, it is possible to control the operation of the walk-behind cultivator based on a second image of the ground photographed by the photographing unit, and in the priority control, when the proportion of the image of the ground in the second image becomes equal to or less than a second value, it is possible to control the drive speed of the walk-behind cultivator to be slowed down or the drive to be stopped. It is something.

[0010] In claim 3, The present invention comprises a walk-behind cultivator that can operate based on the operation of an operation unit by an operator, an information input unit to which information relating to the operation of the walk-behind cultivator is input, a control unit that can execute priority control that controls the operation of the walk-behind cultivator based on the information input to the information input unit, taking priority over the operation by the operation unit, and a voice acquisition unit that can acquire the voice of the operator, wherein the voice acquired by the voice acquisition unit is input as the information to the information input unit, and the control unit can execute the priority control based on the voice, and when a voice of a predetermined volume or higher is input by the voice acquisition unit in the priority control, it is possible to control the walk-behind cultivator to slow down its drive speed or stop its drive. It is something.

[0011] In claim 4, The walk-behind cultivation machine includes a walk-behind cultivation machine that can operate based on the operation of an operation unit by an operator, an information input unit to which information related to the operation of the walk-behind cultivation machine is input, a control unit that can execute priority control that controls the operation of the walk-behind cultivation machine based on the information input to the information input unit, taking priority over the operation by the operation unit, and a biometric information acquisition unit that can acquire biometric information of the operator, wherein the biometric information acquired by the biometric information acquisition unit is input as the information to the information input unit, and the control unit can execute the priority control based on the biometric information, and the biometric information acquisition unit has a sweat information acquisition unit that can acquire at least information related to the sweat of the operator as the biometric information, and the priority control includes sweat information control that controls the operation of the walk-behind cultivation machine based on the information related to sweat acquired by the sweat information acquisition unit, and the control unit is capable of controlling, in the sweat information control, to reduce the drive speed of the walk-behind cultivation machine or stop driving it based on the amount of change in the amount of sweat acquired by the sweat information acquisition unit. It is something.

[0012] In claim 5, The control unit is capable of controlling the operation of the drive source of the walk-behind type cultivator by giving priority to the operation by the operation unit in the priority control. It is something.

[0013] In claim 6, The control unit is capable of controlling the speed change by the speed change mechanism of the walking type cultivator in the priority control, giving priority to the operation by the operation unit. It is something.

[0014] In claim 7, The walk-behind cultivator includes a tilt detection unit capable of detecting the tilt of the walk-behind cultivator relative to a predetermined reference direction, and the information input unit receives the tilt of the walk-behind cultivator detected by the tilt detection unit as the information, and the control unit can execute the priority control based on the tilt of the walk-behind cultivator. It is something.

[0015] In claim 8, The walk-behind cultivator is provided with an acceleration detection unit capable of detecting the acceleration of the walk-behind cultivator, and the information input unit receives the acceleration of the walk-behind cultivator detected by the acceleration detection unit as the information, and the control unit can execute the priority control based on the acceleration of the walk-behind cultivator. It is something.

[0016] In claim 9, the device comprises a first communication unit and a second communication unit capable of wireless communication with the first communication unit, and the control unit is capable of executing the priority control using wireless communication via the first communication unit and the second communication unit.

[0017] In claim 10, the second communication section is provided in a drive source of the walking type cultivator.

[0018] In claim 11, the walk-behind cultivator is provided with a portable terminal having the information input section and the first communication section, and the walk-behind cultivator has an attachment section to which the terminal can be attached and detached. Effect of the Invention

[0019] The present invention has the following advantages.

[0020] According to claim 1, the convenience of operating the walk-behind cultivator can be improved. In addition, in claim 1, priority control is performed based on the image captured by the photographing section, thereby making it possible to improve the convenience of operating the walk-behind cultivator.

[0021] In claim 2, It is possible to improve the convenience of operating the walk-behind cultivator. Also, in claim 2, by executing priority control based on an image captured by the photographing unit, it is possible to improve the convenience of operating the walk-behind cultivator.

[0022] In claim 3, It is possible to improve the convenience of operating the walk-behind cultivator. Also, in claim 3, by executing priority control based on the voice of the operator, it is possible to improve the convenience of operating the walk-behind cultivator.

[0023] In claim 4, It is possible to improve the convenience of operating the walk-behind cultivator. Also, in claim 4, by executing priority control based on the biometric information of the operator, it is possible to improve the convenience of operating the walk-behind cultivator.

[0024] In claim 5, By controlling the drive source, the convenience of operating the walk-behind cultivator can be improved.

[0025] In claim 6, By controlling the speed change mechanism, the convenience of operating the walk-behind cultivator can be improved.

[0026] In claim 7, By executing priority control based on the inclination of the walk-behind cultivator, the convenience of operating the walk-behind cultivator can be improved.

[0027] In claim 8, By executing priority control based on the acceleration of the walk-behind cultivator, the convenience of operating the walk-behind cultivator can be improved.

[0028] In claim 9, the priority control can be executed via the first communication unit and the second communication unit.

[0029] According to claim 10, the second communication section and the driving source can be handled integrally, and workability during assembly and replacement can be improved.

[0030] In claim 11, information relating to the operation of the walk-behind cultivator can be input using a portable terminal. [Brief description of the drawings]

[0031] [Figure 1] 1 is a side view showing a cultivation machine control system according to a first embodiment of the present invention; [Diagram 2] The same enlarged plan view. [Diagram 3] Also the block diagram. [Figure 4] FIG. 4 is a block diagram showing control that can be executed by the cultivation machine control system. [Diagram 5] 13A is a flowchart showing a first image control, and FIG. 13B is a flowchart showing a second image control. [Figure 6] 1A is a schematic diagram showing a state in which the proportion of the image of the worker in the first image exceeds a predetermined value, and FIG. 1B is a schematic diagram showing a state in which the proportion of the image of the worker in the first image is equal to or smaller than a predetermined value. [Figure 7] 1A is a schematic diagram showing an embodiment in which priority control is performed based on the tilt of an image of a worker, as image control, and FIG. 1B is a schematic diagram showing an embodiment in which priority control is performed based on facial expressions of the image of the worker, as image control. [Figure 8] 13A is a flow chart showing tilt control, and FIG. 13B is a flow chart showing acceleration control. [Figure 9] 1A is a flowchart showing a first voice control, and FIG. 1B is a flowchart showing a second voice control. [Figure 10] 13A is a flow chart showing heart rate information control, and FIG. 13B is a flow chart showing sweat information control. [Figure 11] 11 is a flowchart showing gripping force control. [Figure 12] FIG. 4 is a block diagram showing a cultivation machine control system according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] In the following description, the directions indicated by arrows U, D, F, B, L and R in the figures are defined as upward, downward, forward, backward, leftward and rightward, respectively.

[0033] Hereinafter, a cultivator control system 1 according to a first embodiment of the present invention will be described with reference to Figs. 1 to 11.

[0034] The cultivation machine control system 1 shown in Figures 1 to 3 is capable of operating a walk-behind cultivation machine 10 through operation by an operator and through predetermined control. More specifically, the cultivation machine control system 1 is capable of executing priority control S10, which will be described later, as the above-mentioned predetermined control, based on information relating to the operation of the walk-behind cultivation machine 10. Here, "information relating to operation" refers to any information relating to the walk-behind cultivation machine 10 and the operator during operation. The cultivation machine control system 1 comprises the walk-behind cultivation machine 10, a terminal 30, an attachment unit 40, and a grip sensor 50.

[0035] The walk-behind cultivator 10 shown in Figure 1 comprises a body frame 11, wheels 12, an engine 13, a fuel tank 14, a bonnet 15, a cover 16, a transmission case 17, tillage tines 18, a tillage cover 19, a clutch mechanism 20, a handle frame 21, a handle connection portion 22, and a steering handle 23, etc.

[0036] The vehicle frame 11 is a member formed by appropriately bending a plate material. The vehicle frame 11 is supported by a pair of left and right wheels 12. The engine 13 is mounted on the vehicle frame 11. A detailed description of the engine 13 will be given later. A fuel tank 14 is disposed behind the engine 13. The engine 13 and the fuel tank 14 are covered by a bonnet 15. A cover 16 is provided on the left side of the engine 13 to cover a clutch mechanism 20 that transmits the power of the engine 13 to a transmission case 17.

[0037] The transmission case 17 is a case that houses a speed change mechanism 17a that transmits power from the engine 13 to the wheels 12 and the rotating shaft 17b. The speed change mechanism 17a is equipped with a speed change lever 17c that can be operated to change the drive speed of the wheels 12 and the rotating shaft 17b. A tillage tine 18 is fixed to the rotating shaft 17b. The upper part of the tillage tine 18 is covered with a tillage cover 19.

[0038] The clutch mechanism 20 is for switching between transmitting and not transmitting power from the engine 13 to the transmission mechanism 17a (the wheels 12 and the tiller tines 18). The clutch mechanism 20 in this embodiment is assumed to be a so-called belt tension clutch that transmits power by applying tension to a belt wound around a pulley.

[0039] A handle frame 21 is disposed above the tillage cover 19. The handle frame 21 is a frame for supporting a steering handle 23. The handle frame 21 is formed to extend rearward and upward. The steering handle 23 is attached to the rear upper end of the handle frame 21 via a handle connector 22.

[0040] The steering handle 23 will be described below with reference to Figures 1 and 2. The steering handle 23 is used by the operator to operate the walk-behind cultivation machine 10. As shown in Figure 2, the steering handle 23 is formed in the shape of a substantially triangular frame in a plan view. The steering handle 23 is formed so as to extend rearward and upward from the handle connecting portion 22. The steering handle 23 is formed by appropriately bending a member that is substantially circular in a cross-sectional view. The steering handle 23 comprises a side portion 23a, a rear portion 23b, a cross portion 23c, and a handle operating portion 24.

[0041] 2 are portions that constitute both the left and right sides of the steering handle 23. The side portions 23a extend rearward (rearward and upward) from the handle connecting portion 22 so as to be spaced apart from each other in the left-right direction.

[0042] The rear portion 23b constitutes the rear of the steering handle 23. The rear portion 23b extends in the left-right direction so as to connect the rear ends of the left and right side portions 23a to each other. The rear portion 23b is gripped by the fingers of an operator.

[0043] The horizontal portion 23c is a portion that connects the front-rear direction middle portions of the left and right side portions 23a to each other. The horizontal portion 23c is provided so as to be located rearward of the front-rear direction center portion of the steering handle 23. By providing the horizontal portion 23c, the steering handle 23 can be reinforced.

[0044] 2 and 3 is a section for performing various operations related to the operation of the walk-behind cultivation machine 10. The handle operation section 24 is provided on the steering handle 23. The handle operation section 24 includes a clutch lever 24a, an engine switch 24b, a start switch 24c, and a throttle lever 24d.

[0045] The clutch lever 24a is a lever that can be operated to operate the clutch mechanism 20. The clutch lever 24a is connected to the clutch mechanism 20 via a cable (not shown). The clutch lever 24a is provided between the middle parts in the front-rear direction of the left and right side parts 23a (rear of the cross section 23c). When an operator operates the clutch lever 24a by gripping it, the clutch lever 24a rotates clockwise relative to the left and right side parts 23a as viewed from the left side, as shown in FIG. 1. When an operator releases the clutch lever 24a, it automatically returns to the position before operation.

[0046] The engine switch 24b is a switch that can be switched between a state in which the engine 13 can be started and a state in which the engine 13 is stopped. The engine switch 24b can be switched between a drive position in which the engine 13 can be started and a stop position in which the engine 13 is stopped by an appropriate rotation operation. In addition to the above-mentioned rotation operation, the engine switch 24b can also be pressed. The engine switch 24b can be switched from the drive position to the stop position by being pressed. For example, the engine switch 24b can be one that is operated via a specific key when the key is inserted in a cylinder.

[0047] The start switch 24c is a switch for starting the engine 13. A switch that can be pressed can be used as the start switch 24c.

[0048] The throttle lever 24d is a lever that can be operated to control the output (revolutions per minute) of the engine 13. The throttle lever 24d has an appropriate sensor that detects the amount of operation of the lever. As the throttle lever 24d, a lever that can be appropriately rotated can be used.

[0049] The engine 13 will be described in detail below with reference to Fig. 3. Various engines that run on fuel, such as a gasoline engine or a diesel engine, can be used as the engine 13. The engine 13 includes an engine control unit 13a and a communication unit 13b.

[0050] The engine control unit 13a is capable of controlling the starting and stopping of the engine 13, changing the drive speed, etc., based on predetermined information. An appropriate engine control unit (engine control module) can be adopted as the engine control unit 13a. The engine control unit 13a is electrically connected to the engine switch 24b, the start switch 24c, and the throttle lever 24d, and can control the operation of the engine 13 based on the operation of the engine switch 24b, the start switch 24c, and the throttle lever 24d. The engine control unit 13a can operate using power from an appropriate battery or alternator provided in the walk-behind cultivator 10.

[0051] The communication unit 13b is capable of wirelessly communicating information related to the operation control of the engine 13. The communication unit 13b can receive information transmitted from outside the engine 13 (for example, a terminal 30 described later). For the communication of information by the communication unit 13b, a wireless communication technology such as "Bluetooth" (registered trademark) can be adopted. Note that the wireless communication technology used by the communication unit 13b is not limited to the above-mentioned example, and various wireless communication technologies such as Wi-Fi (registered trademark) can be adopted. The communication unit 13b is electrically connected (either wired or wireless) to the engine control unit 13a so as to be able to exchange information with it.

[0052] The engine control unit 13a and the communication unit 13b are provided integrally with the engine 13. According to the engine 13 according to this embodiment, the engine 13, the engine control unit 13a, and the communication unit 13b can be handled integrally, and workability during assembly and replacement of the engine 13 can be improved.

[0053] The operation of the walk-behind type cultivation machine 10 configured as described above will now be described.

[0054] When the start switch 24c is pressed while the engine switch 24b is in the drive position, a signal to start the engine 13 is sent to the engine control unit 13a, which can detect the signal. When the engine control unit 13a detects the signal, it starts the engine 13 by operating an appropriate starter motor (not shown) and spark plugs (not shown) provided in the engine 13.

[0055] In addition, when the throttle lever 24d is operated, a signal based on the amount of operation of the throttle lever 24d is sent to the engine control unit 13a, and the engine control unit 13a can detect the signal. When the engine control unit 13a detects the signal, it controls the output of the engine 13 by adjusting the amount of fuel injected by an appropriate fuel injection device (injector) provided in the engine 13 and the opening degree (intake amount) of the throttle valve based on the signal. As the fuel injection device, an appropriate electronically controlled device such as a common rail system can be used. This allows the driving speed of the engine 13 (wheels 12 and tilling tines 18) to be accelerated or decelerated. In this way, the walking cultivator 10 according to this embodiment can control the start and output of the engine 13 by electronic control.

[0056] Furthermore, when the operator grips the clutch lever 24a, tension is applied to the belt and the clutch mechanism 20 is actuated. This allows power from the engine 13 to be transmitted to the wheels 12 and the rotating shaft 17b via the transmission mechanism 17a. This enables the walk-behind cultivator 10 to travel and rotate the tilling tines 18 to till the field.

[0057] In addition, in the walk-behind cultivator 10, when the operation of the clutch lever 24a is released, the application of tension to the belt is stopped and the operation of the clutch mechanism 20 is stopped. This stops the rotation of the wheels 12 and the tiller tines 18. The clutch mechanism 20 can be a so-called deadman's clutch that operates while the operator is holding the clutch lever 24a and stops when the operator releases his / her hand and the operation of the clutch lever 24a is released.

[0058] In addition, when the engine control unit 13a detects a signal to stop the engine 13, which is sent when the engine switch 24b is pressed, it controls the fuel injection device, throttle valve, spark plug, etc. of the engine 13 to stop the engine 13.

[0059] The terminal 30 shown in Figs. 1 to 3 is capable of inputting and outputting various types of information. A small, portable terminal can be used as the terminal 30. For example, a smartphone (mobile phone) can be used as the terminal 30. Furthermore, the terminal 30 is not limited to a smartphone, and various terminals such as a tablet terminal can be used as the terminal 30. The terminal 30 is attached to the steering wheel 23 via an attachment portion 40, which will be described later. As shown in Fig. 3, the terminal 30 includes a camera 31, a tilt sensor 32, an acceleration sensor 33, a microphone 34, a control means 35, a communication unit 36, a battery 37, and a display unit 38.

[0060] The camera 31 is capable of capturing an image through a predetermined lens unit (not shown). The camera 31 is capable of capturing, for example, an image 31c (see FIG. 6) of an operator operating the walk-behind cultivation machine 10. The camera 31 includes a front camera 31a and a rear camera 31b.

[0061] The front camera 31a shown in FIG. 2 and FIG. 6 is provided on the front surface of the terminal 30 (the surface on the side of a display unit 38 described later).

[0062] The rear camera 31b is provided on the rear surface of the terminal 30 (the surface opposite the display unit 38).

[0063] The tilt sensor 32 is capable of detecting tilt. An appropriate gyro sensor or the like can be adopted as the tilt sensor 32. In this embodiment, the tilt sensor 32 is configured to be capable of detecting the tilt of the terminal 30 (walk-behind type cultivation machine 10) with respect to a predetermined reference direction (for example, the vertical direction).

[0064] The acceleration sensor 33 is capable of detecting the acceleration of the terminal 30 (the walking type management machine 10).

[0065] The microphone 34 is capable of picking up a predetermined sound such as the voice of a worker, and is provided on the front surface of the terminal 30.

[0066] 3 is capable of inputting various information including information acquired by the camera 31, tilt sensor 32, acceleration sensor 33, and microphone 34, and controlling the operation of the walk-behind cultivation machine 10 based on the information. The control means 35 is mainly composed of an arithmetic processing device such as a CPU, and storage devices such as a RAM, ROM, and HDD. The control means 35 receives as input information the image captured by the camera 31, the tilt detected by the tilt sensor 32, the acceleration detected by the acceleration sensor 33, the sound acquired by the microphone 34, etc.

[0067] Based on the input information, the control means 35 can execute various controls (priority control S10, etc.) for controlling the operation of the walking type cultivation machine 10. The controls executed by the control means 35 will be described in detail later.

[0068] The communication unit 36 ​​is capable of wirelessly communicating information related to the control of the control means 35. The communication unit 36 ​​can transmit a signal related to the operation of the engine 13 to the communication unit 13b of the engine 13. For communication of information by the communication unit 36, various wireless communication techniques can be adopted, similar to the communication unit 13b of the engine 13.

[0069] The battery 37 supplies power used for the operation of the terminal 30. The battery 37 can be charged and discharged via an appropriate connector provided on the terminal 30. As the battery 37, for example, a lithium ion battery can be adopted.

[0070] The display unit 38 is capable of displaying a predetermined image. The display unit 38 is capable of displaying an image captured by the front camera 31a or the rear camera 31b (see FIG. 6).

[0071] The mounting part 40 shown in Figs. 1 to 3 is capable of mounting the terminal 30. The mounting part 40 is provided on the steering handle 23. In this embodiment, an example is shown in which the mounting part 40 is provided at the center of the cross section 23c in the left-right direction. The mounting part 40 can detachably mount the terminal 30. As a mounting mode of the terminal 30 by the mounting part 40, for example, a mode in which the terminal 30 is mounted by clamping the side of the terminal 30 with an appropriate arm can be adopted. In addition, for example, a mode in which the terminal 30 is mounted using a magnet or a mode in which the terminal 30 is mounted with an appropriate belt (band) or the like can also be adopted.

[0072] The terminal 30 can be attached to the attachment part 40 with the front surface of the terminal 30 facing backward (upward and rearward). This allows the display unit 38 of the terminal 30 attached to the attachment part 40 to be oriented toward the worker who operates the walk-behind cultivation machine 10. In this state, the worker (mainly the upper body) can be photographed using the front camera 31a facing upward and rearward. Also, in this state, the ground can be photographed using the rear camera 31b facing downward and forward.

[0073] The grip sensor 50 shown in Figs. 2 and 3 is capable of acquiring biometric information of the worker. Here, the biometric information includes "heart rate information" which is information about the worker's heart rate, "sweating information" which is information about the worker's sweating, and the "grip force" when the worker grips the steering handle 23. As shown in Fig. 2, the grip sensor 50 is provided on the rear part 23b of the steering handle 23. The grip sensor 50 operates using electricity. The grip sensor 50 is provided so as to cover the rear part 23b of the steering handle 23. This allows the worker to grip the steering handle 23 via the grip sensor 50.

[0074] The grip sensor 50 acquires biometric information from the fingers of a worker who is holding the grip sensor 50. The grip sensor 50 includes a heart rate sensor 51, a sweat sensor 52, a grip force sensor 53, and a cable 54, as shown in FIG.

[0075] The heart rate sensor 51 is capable of acquiring heart rate information as biometric information. The heart rate information includes the heart rate, the amount of change in the heart rate per predetermined time, and the like. The heart rate sensor 51 acquires the heart rate information from the fingers of the operator who grips the grip sensor 50 (the steering wheel 23). As the heart rate sensor 51, for example, a sensor that uses a photoelectric volume pulse wave recording method or the like that acquires heart rate information based on changes in light irradiated onto the operator's skin can be adopted.

[0076] The perspiration sensor 52 is capable of acquiring perspiration information as biological information. The perspiration information includes the amount of perspiration and the amount of change in the amount of perspiration per predetermined time. The perspiration sensor 52 acquires the perspiration information from the fingers of the operator gripping the grip sensor 50 (the steering wheel 23). The perspiration sensor 52 may be one that acquires the perspiration information based on the humidity (amount of moisture) near the skin of the fingers of the operator.

[0077] The grip force sensor 53 is capable of acquiring the grip force as bioinformation. The grip force sensor 53 acquires the force acting on the grip sensor 50 (the steering handle 23) held by the worker. As the grip force sensor 53, a sensor using an appropriate strain gauge or pressure-sensitive element can be adopted.

[0078] The cable 54 shown in Fig. 2 is connected to a power supply source for operating the grip sensor 50 (heart rate sensor 51, sweat sensor 52, and grip force sensor 53). The cable 54 is provided so as to extend from the grip sensor 50. A terminal that can be connected to a connector of the terminal 30 is provided at the end of the cable 54. By connecting the cable 54 to the terminal 30, the grip sensor 50 can be operated using power from the battery 37 of the terminal 30. This makes it possible to operate each sensor of the grip sensor 50 without having to install a separate battery for operating each sensor in the walking management machine 10.

[0079] In addition, the cable 54 can be used for communication of various information between the grip sensor 50 and the control means 35. Information acquired by the heart rate sensor 51, the sweat sensor 52, and the grip force sensor 53 is input to the control means 35 via the cable 54.

[0080] The cultivation machine control system 1 according to this embodiment can operate the walk-behind cultivation machine 10 not only by operation using the handle operation unit 24, but also by control using the control means 35. The control of the operation of the walk-behind cultivation machine 10 using the control means 35 will be described below.

[0081] The control means 35 can transmit to the engine control unit 13a signals related to the operation of the engine 13. Specifically, the control means 35 can transmit to the engine control unit 13a signals for operating a starter motor (not shown), signals for adjusting the opening degree (intake amount) of the throttle valve, and other signals for controlling the fuel injection device of the engine 13, etc.

[0082] As a result, the control means 35 can start, stop, and accelerate or decelerate the drive speed of the engine 13 by electronic control, generally similar to control by operating the engine switch 24b, the starter switch 24c, and the throttle lever 24d.

[0083] The transmission of signals to the engine control unit 13a is performed via the communication unit 13b of the engine 13 and the communication unit 36 ​​of the terminal 30. This allows, for example, the control of the operation of the walking type cultivation machine 10 by the control means 35 to be executed without using wires or the like.

[0084] The above-described cultivator control system 1 can execute "priority control S10" that controls the operation of the walk-behind cultivator 10 based on information input to the control means 35 of the terminal 30, taking precedence over operations using the handle operation unit 24 (engine switch 24b, start switch 24c, throttle lever 24d) (see FIG. 4). The priority control S10 includes image control S20, tilt control S30, acceleration control S40, audio control S50, and biological information control S60. The specific content of each control will be described later.

[0085] The priority control S10 is executed by cooperation between the engine control unit 13a and the control means 35. Specifically, the engine control unit 13a prioritizes control based on a signal transmitted from the control means 35 over a signal based on the operation of the handle operation unit 24. In other words, the signal based on the operation of the handle operation unit 24 is overwritten by the signal transmitted from the control means 35.

[0086] As a result, the tiller control system 1 performs control such as stopping the engine 13 or reducing the engine speed of the engine 13, regardless of the operation of various operating devices (such as the engine switch 24b being in the drive position or the engine speed of the engine 13 being set to a predetermined value by the throttle lever 24d). Each control will be specifically described below.

[0087] First, the image control S20 will be described. The image control S20 controls the operation of the walk-behind cultivation machine 10 (executes the priority control S10) based on an image captured by the camera 31 of the terminal 30, prioritizing the operation by the handle operation unit 24. Specifically, the image control S20 detects a change in the relative positional relationship between the subject to be photographed and the walk-behind cultivation machine 10 based on an image captured by the camera 31 of the terminal 30, and performs operations such as slowing down the drive speed of the walk-behind cultivation machine or stopping the drive. The image control S20 includes a first image control S21 and a second image control S24.

[0088] The first image control S21 will be described below with reference to the flowchart in FIG.

[0089] The first image control S21 controls the operation of the walk-behind cultivation machine 10 based on a first image (see FIG. 6) of the worker operating the walk-behind cultivation machine 10. The first image can be captured by the front camera 31a. The first image includes an image of the worker's upper body (e.g., the body from the shoulders up). The first image control S21 is repeatedly executed by the control means 35 at predetermined short time intervals (e.g., 0.1 to 1 second).

[0090] In step S22, the control means 35 judges whether the ratio of the image 31c of the worker to the first image captured by the front camera 31a is equal to or less than a first ratio. The control means 35 can extract the image 31c of the worker from the image captured by the camera 31 by an appropriate image analysis technique. If the ratio of the image 31c of the worker is equal to or less than the first ratio, it is estimated that the relative positional relationship between the worker and the walk-behind type cultivator 10 has changed to some extent (see FIG. 6(b)). The first ratio can be, for example, about 1 / 2 to 1 / 4. The first ratio is not limited to the above example, and can be appropriately set from the viewpoint of suitably performing control based on the change in the relative positional relationship between the worker and the walk-behind type cultivator 10.

[0091] When the control means 35 determines that the ratio of the image 31c of the worker is equal to or less than the first ratio, the control means 35 proceeds to processing in step S23. On the other hand, when the control means 35 determines that the ratio of the image 31c of the worker is greater than the first ratio, the control means 35 ends the first image control S21.

[0092] In step S23, the control means 35 performs priority control S10 by slowing down the drive speed or stopping the drive of the engine 13. That is, regardless of the operation of various operating tools (such as the engine switch 24b being in the drive position or the engine speed of the engine 13 being set to a predetermined value by the throttle lever 24d), the control means 35 performs control to stop the engine 13 or reduce the engine speed to a predetermined value based on the information input to the control means 35. After executing the process of step S23, the control means 35 ends the first image control S21.

[0093] The second image control S24 will be described below with reference to the flowchart in FIG.

[0094] The second image control S24 controls the operation of the walk-behind type cultivation machine 10 based on a second image of the ground as a photographed object. The second image can be photographed by the rear camera 31b. The second image control S24 is repeatedly executed by the control means 35 at predetermined short time intervals.

[0095] In step S25, the control means 35 judges whether the proportion of the image of the ground in the second image captured by the rear camera 31b is equal to or less than a second proportion. The control means 35 can extract the image of the ground from the image captured by the camera 31 using an appropriate image analysis technique. If the proportion of the image of the ground is equal to or less than the second proportion, it is estimated that the relative positional relationship between the ground and the walk-behind cultivator 10 has changed to some extent. The second proportion can be set appropriately from the viewpoint of suitably performing control based on the change in the relative positional relationship between the ground and the walk-behind cultivator 10.

[0096] When the control means 35 determines that the proportion of the image of the ground is equal to or less than the second proportion, the control means 35 proceeds to the process of step S26. On the other hand, when the control means 35 determines that the proportion of the image of the ground is greater than the second proportion, the control means 35 ends the second image control S24.

[0097] In step S26, the control means 35 performs the priority control S10 by slowing down the drive speed or stopping the drive of the engine 13. After executing the process of step S26, the control means 35 ends the second image control S24.

[0098] In the above example, the subject of the second image is the ground, but this is not limited to this. For example, the subject of the second image may be a landscape other than the ground (e.g., the sky) or the whole or part of the body of the walk-behind cultivation machine 10. In this case, the control means 35 can execute the determination of step S25 based on the proportion of the image of the landscape in the second image, or the relative positional relationship between the landscape or the ground and the whole or part of the body.

[0099] According to the image control S20 described above, a change in the relative positional relationship between the subject (worker or ground) and the walk-behind cultivator 10 (for example, tilting of the walk-behind cultivator 10) can be detected based on the proportion of the subject (worker or ground) in the images captured by the camera 31 of the terminal 30, and the drive speed of the walk-behind cultivator can be slowed down or the drive can be stopped. Therefore, before the operator performs an operation to slow down the drive speed or stop the drive, the control means 35 can automatically control the drive speed or stop the drive. This can improve the convenience of operating the walk-behind cultivator.

[0100] As described above, the image control S20 is not limited to the mode in which the priority control S10 is executed based on the ratio of the image of the subject to be photographed. For example, as shown in FIG. 7(a), the control means 35 can be configured to detect the inclination of the image 31c of the worker in the first image by an appropriate image analysis technique, and the priority control S10 can be executed based on the inclination of the image 31c of the worker. Specifically, if the inclination of the image 31c of the worker is equal to or greater than a predetermined value, the priority control S10 may be configured to slow down the driving speed of the engine 13 or stop driving it. Note that it is also possible to employ a configuration in which the inclination of the ground or scenery is detected based on the second image instead of the first image, and the priority control S10 is executed based on the inclination.

[0101] Also, for example, as shown in FIG. 7(b), the control means 35 can detect the facial expression of the face image 31d of the worker in the first image by an appropriate image analysis technique, and the priority control S10 can be executed based on the face image 31d. Specifically, when it is determined that the facial expression of the face image 31d of the worker is different from normal, the priority control S10 may be to slow down the driving speed of the engine 13 or to stop the driving. In this case, the control means 35 can store the face (expression) of the worker in normal times using the face image 31d, and determine whether or not to execute the priority control S10 based on the amount of change in the facial expression based on the normal face. Note that, as a mode of executing the priority control S10 based on the change in the facial expression, it is not necessary to store the face (expression) in normal times as a reference, and it is possible to execute the priority control S10 by, for example, recognizing a surprised expression or the like from the face image 31d by an appropriate facial expression recognition technique.

[0102] Next, the tilt control S30 will be described with reference to the flowchart of FIG.

[0103] The tilt control S30 controls the operation of the walk-behind cultivation machine 10 as the priority control S10 based on the tilt of the walk-behind cultivation machine 10 (terminal 30). The tilt control S30 is repeatedly executed by the control means 35 at predetermined short time intervals.

[0104] In step S31, the control means 35 judges whether the angle (tilt) detected by the tilt sensor 32 of the terminal 30 is equal to or greater than a predetermined angle with respect to a predetermined reference direction (e.g., vertical direction). If the tilt detected by the tilt sensor 32 is equal to or greater than a predetermined angle with respect to the reference direction, it is estimated that the walking type cultivation machine 10 is tilted to a certain degree with respect to the reference direction. Any value can be set as the predetermined angle.

[0105] When the control means 35 determines that the tilt detected by the tilt sensor 32 is equal to or greater than the predetermined angle with respect to the reference direction, the control means 35 proceeds to processing in step S32. On the other hand, when the control means 35 determines that the tilt detected by the tilt sensor 32 is less than the predetermined angle with respect to the reference direction, the control means 35 ends the tilt control S30.

[0106] In step S32, the control means 35 performs the priority control S10 by slowing down the drive speed or stopping the drive of the engine 13. After executing the process of step S32, the control means 35 ends the inclination control S30.

[0107] According to the above-mentioned tilt control S30, when the tilt of the walk-behind cultivator 10 (terminal 30) becomes equal to or greater than a predetermined tilt, the drive speed of the walk-behind cultivator 10 can be slowed down or the drive can be stopped. Therefore, before an operation to slow down the drive speed or stop the drive is performed by the operator, the drive can be automatically slowed down or stopped by the control of the control means 35. This can improve the convenience of operating the walk-behind cultivator 10.

[0108] Next, the acceleration control S40 will be described with reference to the flowchart of FIG.

[0109] The acceleration control S40 controls the operation of the walk-behind cultivation machine 10 as the priority control S10 based on the acceleration of the walk-behind cultivation machine 10 (terminal 30). The acceleration control S40 is repeatedly executed by the control means 35 at predetermined short time intervals.

[0110] In step S41, the control means 35 judges whether the acceleration detected by the acceleration sensor 33 of the terminal 30 is equal to or greater than a predetermined acceleration. If the acceleration detected by the acceleration sensor 33 is equal to or greater than the predetermined acceleration, it is estimated that the speed of the walking type cultivation machine 10 has suddenly increased. Any value can be set as the predetermined acceleration.

[0111] When the control means 35 determines that the acceleration detected by the acceleration sensor 33 is equal to or greater than the predetermined acceleration, the control means 35 proceeds to processing in step S42. On the other hand, when the control means 35 determines that the acceleration detected by the acceleration sensor 33 is less than the predetermined acceleration, the control means 35 ends the acceleration control S40.

[0112] In step S42, the control means 35 performs the priority control S10 by slowing down the drive speed or stopping the drive of the engine 13. After executing the process of step S42, the control means 35 ends the acceleration control S40.

[0113] According to the above-mentioned acceleration control S40, when the acceleration of the walk-behind cultivator 10 (terminal 30) exceeds a predetermined acceleration, the drive speed of the walk-behind cultivator 10 can be slowed down or the drive can be stopped. Therefore, before an operation to slow down the drive speed or stop the drive is performed by the operator, the drive speed can be automatically slowed down or stopped by the control of the control means 35. This can improve the convenience of operating the walk-behind cultivator 10.

[0114] In the above example, the priority control S10 is executed when the speed of the walk-behind cultivator 10 suddenly increases (when the acceleration detected by the acceleration sensor 33 becomes equal to or greater than a predetermined acceleration), but the present invention is not limited to this configuration. For example, the priority control S10 may be executed when the speed of the walk-behind cultivator 10 suddenly decreases (when the negative acceleration detected by the acceleration sensor 33 becomes equal to or less than a predetermined acceleration). In this way, if the speed of the walk-behind cultivator 10 suddenly decreases due to hitting an obstacle or the like, the engine 13 can be automatically stopped, for example.

[0115] Next, the voice control S50 will be described. The voice control S50 shown in Fig. 4 controls the operation of the walk-behind cultivation machine 10 as the priority control S10 based on the voice of the worker picked up by the microphone 34 of the terminal 30. Specifically, when the microphone 34 picks up a specific voice, the voice control S50 starts the walk-behind cultivation machine 10, slows down the drive speed, stops drive, etc. The voice control S50 includes a first voice control S51 and a second voice control S54.

[0116] The first voice control S51 will be described below with reference to the flowchart in FIG.

[0117] The first voice control S51 controls the operation of the walk-behind cultivator 10 based on a first voice acquired by the microphone 34 of the terminal 30. The first voice is a preset voice that triggers the start of the engine 13. The control means 35 is capable of recognizing the first voice using an appropriate voice recognition technology. As the first voice, for example, a specific word or phrase (voice command) such as "start" can be adopted. The first voice control S51 is repeatedly executed by the control means 35 at predetermined short time intervals.

[0118] In step S52, the control means 35 judges whether or not the first voice has been input. If the control means 35 judges that the first voice has been input, the control means 35 proceeds to the process of step S53. On the other hand, if the control means 35 judges that the first voice has not been input, the control means 35 ends the first voice control S51.

[0119] In step S53, the control means 35 starts the engine 13 as the priority control S10. That is, the control means 35 performs control to prioritize the signal for starting the engine 13 by the control means 35 over the operation signals by the engine switch 24b and the start switch 24c. After executing the process of step S53, the control means 35 ends the first voice control S51. Note that, before starting the engine 13, a step of checking whether the engine 13 is in a state where it can be started or not may be added. That is, a step of checking whether the clutch lever 24a is being operated or released, or a step of checking whether the walking type cultivator 10 is in a state where it will move forward simultaneously with the start of the engine 13 may be added.

[0120] The second voice control S54 will be described below with reference to the flowchart in FIG.

[0121] The second voice control S54 controls the operation of the walk-behind cultivator 10 based on a second voice acquired by the microphone 34 of the terminal 30. The second voice is different from the first voice, and is a voice that triggers a preset deceleration of the drive speed of the engine 13 or a stop of drive. The control means 35 can recognize the second voice by an appropriate voice recognition technology. As the second voice, for example, a specific word or phrase (voice command) such as "stop" can be adopted. The second voice control S54 is repeatedly executed by the control means 35 at predetermined short time intervals.

[0122] In step S55, the control means 35 judges whether or not the second voice has been input. If the control means 35 judges that the second voice has been input, the control means 35 proceeds to the process of step S56. On the other hand, if the control means 35 judges that the second voice has not been input, the control means 35 ends the second voice control S54.

[0123] In step S56, the control means 35 performs the priority control S10 by slowing down the drive speed or stopping the drive of the engine 13. After executing the process of step S56, the control means 35 ends the second sound control S54.

[0124] According to the above-mentioned voice control S50, the walk-behind cultivation machine 10 (engine 13) can be started, the drive speed of the walk-behind cultivation machine 10 can be slowed down, or the drive can be stopped easily based on the specific voice of the worker, thereby further improving the convenience of operating the walk-behind cultivation machine 10.

[0125] Furthermore, according to this embodiment, since the mounting portion 40 is provided on the operation handle 23, the terminal 30 equipped with the microphone 34 can be disposed in a position where the operator's voice can be easily input.

[0126] As described above, the voice control S50 is not limited to the mode in which the priority control S10 is executed by a specific word or phrase (voice command). For example, when a voice of a predetermined volume or more is input to the control means 35, the driving speed of the engine 13 may be reduced or the engine 13 may be stopped.

[0127] Next, the biological information control S60 will be described. The biological information control S60 shown in Fig. 4 controls the operation of the walk-behind type cultivation machine 10 as the priority control S10 based on the biological information of the worker acquired by the grip sensor 50. Specifically, the biological information control S60 reduces the drive speed of the walk-behind type cultivation machine 10 or stops the drive based on the heart rate information, sweat information, and gripping force. The biological information control S60 includes heart rate information control S61, sweat information control S64, and gripping force control S67.

[0128] The heart rate information control S61 will be described below with reference to the flowchart of FIG.

[0129] In step S62, the control means 35 judges whether or not the heart rate (heart rate information) acquired by the heart rate sensor 51 of the grip sensor 50 is equal to or higher than a predetermined heart rate. If the heart rate acquired by the heart rate sensor 51 is equal to or higher than the predetermined heart rate, it is estimated that the worker's heart rate is relatively high. Any value can be set as the predetermined heart rate. The heart rate information control S61 is repeatedly executed at predetermined short time intervals by the engine control unit 13a or the control means 35. Note that in this embodiment, the judgment in step S62 is made based on the heart rate. However, instead of such an example, the judgment in step S62 may be made based on, for example, the amount of change in the heart rate per predetermined time.

[0130] When the control means 35 determines that the heart rate acquired by the heart rate sensor 51 is equal to or greater than the predetermined heart rate, the control means 35 proceeds to processing in step S63. On the other hand, when the control means 35 determines that the heart rate acquired by the heart rate sensor 51 is less than the predetermined heart rate, the control means 35 ends the heart rate information control S61.

[0131] In step S63, as the priority control S10, the control means 35 performs the deceleration of the drive speed or the stop of the drive of the engine 13. After executing the process of step S63, the control means 35 ends the heart rate information control S61.

[0132] The perspiration information control S64 will be described below with reference to the flowchart of FIG.

[0133] In step S65, the control means 35 judges whether the amount of sweat (sweating information) acquired by the perspiration sensor 52 of the grip sensor 50 is equal to or greater than a predetermined amount of sweat. If the amount of sweat acquired by the perspiration sensor 52 is equal to or greater than the predetermined amount of sweat, it is estimated that the amount of sweat of the worker is relatively large. Any value can be set as the predetermined amount of sweat. The perspiration information control S64 is repeatedly executed at predetermined short time intervals by the engine control unit 13a or the control means 35. Note that in this embodiment, the judgment in step S65 is based on the amount of sweat, but instead of this example, the judgment in step S65 may be based on, for example, the amount of change in the amount of sweat per predetermined time.

[0134] When the control means 35 determines that the amount of sweat acquired by the perspiration sensor 52 is equal to or greater than the predetermined amount of sweat, the control means 35 proceeds to processing in step S66. On the other hand, when the control means 35 determines that the amount of sweat acquired by the perspiration sensor 52 is less than the predetermined amount of sweat, the control means 35 ends the perspiration information control S64.

[0135] In step S66, the control means 35 performs the priority control S10 by slowing down the driving speed or stopping the driving of the engine 13. After executing the process of step S66, the control means 35 ends the perspiration information control S64.

[0136] The gripping force control S67 will be described below with reference to the flowchart of FIG.

[0137] In step S68, the control means 35 judges whether the grip force acquired by the grip force sensor 53 of the grip sensor 50 is equal to or greater than a predetermined value. If the grip force acquired by the grip force sensor 53 is equal to or greater than a predetermined value, it is estimated that the force with which the operator grips the grip sensor 50 (the steering handle 23) is relatively large. Any value can be set as the predetermined value.

[0138] When the control means 35 determines that the grip force acquired by the grip force sensor 53 is equal to or greater than the predetermined value, the control means 35 proceeds to processing in step S69. On the other hand, when the control means 35 determines that the grip force acquired by the grip force sensor 53 is less than the predetermined value, the control means 35 ends the grip force control S67.

[0139] In step S69, the control means 35 performs the priority control S10 by slowing down the drive speed or stopping the drive of the engine 13. After executing the process of step S66, the control means 35 ends the gripping force control S67.

[0140] According to the above-mentioned bioinformation control S60, the convenience of operation of the walk-behind cultivator 10 can be improved by executing the bioinformation control S60 (heart rate information control S61, sweat information control S64, and gripping force control S67) based on the bioinformation of the worker acquired by the grip sensor 50. Specifically, if the heart rate, amount of sweat, or gripping force increases to a certain extent, an unexpected event may have occurred to the worker during operation. In such a case, the control means 35 automatically slows down or stops the drive before the worker performs an operation to slow down the drive speed or stop the drive, thereby further improving the convenience of operation of the walk-behind cultivator.

[0141] Furthermore, according to the grip force control S67, in addition to the deadman clutch that stops the operation of the walk-behind cultivator 10 when the operator releases the control handle 23 or the clutch lever 24a, it is also possible to slow down or stop the drive of the walk-behind cultivator when the operator grips the control handle 23 too tightly. This makes it possible to further improve the convenience of operating the walk-behind cultivator.

[0142] According to the cultivator control system 1 as described above, by controlling the engine 13 by the priority control S10, it is possible to simultaneously reduce the travel speed of the walk-behind cultivator 10 and the rotation speed of the tiller tines 18, or simultaneously stop the travel of the walk-behind cultivator 10 and the rotation of the tiller tines 18. This makes it possible to improve the convenience of operating the walk-behind cultivator 10.

[0143] Furthermore, with the cultivation machine control system 1, even if the operator is late in operating the handle operation unit 24, priority control can be used to appropriately control the operation of the walk-behind cultivation machine 10 based on information relating to operation (all information relating to the walk-behind cultivation machine 10 and the operator during operation) input to the control means 35. Specifically, the operation of the walk-behind cultivation machine 10 can be appropriately controlled based on images, tilt, acceleration, and voice acquired by the terminal 30, and biometric information acquired by the grip sensor 50.

[0144] Furthermore, the cultivation machine control system 1 according to this embodiment can be easily formed, for example, by attaching the terminal 30, the attachment portion 40, and the grip sensor 50 to an existing walk-behind cultivation machine 10.

[0145] Furthermore, for example, even if the engine of an existing walking-type tiller 10 does not have a communication function, the tiller control system 1 can be realized by later providing a communication unit 13b and connecting it to the engine control unit 13a using appropriate wiring.

[0146] Furthermore, for example, even if the engine of an existing walk-behind tiller 10 cannot be electronically controlled, the tiller control system 1 can be realized by later providing an engine control unit 13a and a communication unit 13b, and further attaching an appropriate mechanism capable of performing electronic control (such as an actuator that can control the operation of the throttle).

[0147] Furthermore, according to this embodiment, information relating to the operation of the walk-behind cultivation machine can be input using a portable terminal 30 (e.g., a smartphone, etc.), and the operation of the walk-behind cultivation machine 10 can be controlled by the control means 35. This makes it possible to control the operation of the walk-behind cultivation machine 10 using a smartphone or the like owned by the worker, without the need for a dedicated separate control means 35.

[0148] It should be noted that the above-described cultivator control system 1 is merely an example, and the cultivator control system 1 is not limited to the above-described example, and can be modified as appropriate.

[0149] For example, in the above example, the walk-behind cultivator 10 is configured to control the output of the engine 13 by an electronically controlled throttle using a sensor that detects the amount of operation of the throttle lever 24d, but the configuration is not limited to this. For example, the walk-behind cultivator 10 may be configured to adjust the output of the engine 13 by a mechanical throttle in which the throttle lever 24d is connected to the throttle via a cable (not shown) and the throttle opening is directly adjusted by operating the throttle lever 24d. In this case, a mechanism may be provided that can disconnect the connection between the throttle lever 24d and the throttle so that the operation of the throttle lever 24d does not act on the throttle when priority control S10 is performed.

[0150] In the above example, the priority control S10 is configured to reduce the drive speed of the walk-behind cultivator 10 by controlling the output of the engine 13, but the configuration is not limited to this. For example, the drive speed of the walk-behind cultivator 10 may be reduced by changing the speed using the speed change mechanism 17a. In this case, the walk-behind cultivator 10 may be configured to be capable of changing the speed using electronic control. In this case, a belt-type speed change mechanism using a belt wound around a pulley, an HST (Hydraulic Static Transmission), or the like can be used as the speed change mechanism 17a.

[0151] According to this, by controlling the transmission mechanism 17a using priority control S10, it is possible to control the drive speed of the walk-behind cultivator (the traveling speed and the rotation speed of the tiller tines 18) based on the power transmitted through the transmission mechanism 17a.

[0152] In the above example, the priority control S10 is configured to stop the walk-behind cultivator 10 by stopping the engine 13, but the configuration is not limited to this. For example, the walk-behind cultivator 10 may be stopped by cutting off the transmission of power from the engine 13 to the speed change mechanism 17a using the clutch mechanism 20.

[0153] The cultivator control system 1 may be configured such that the engine 13 can be started by the starter motor only by using a pre-registered terminal 30. In this case, for example, wireless communication may be performed between the terminal 30, such as a smartphone carried by the worker, and the walk-behind cultivator 10 (engine control unit 13a), and the engine 13 may be started when the terminal 30 is recognized as a pre-registered terminal 30.

[0154] The engine 13 according to the present embodiment is one embodiment of a drive source. Moreover, the engine control unit 13a according to the present embodiment is one form of a control unit. The communication unit 13b according to the present embodiment is an embodiment of a second communication unit. Moreover, the control handle 23 according to the present embodiment is one embodiment of a handle. Moreover, the terminal 30 according to this embodiment is an embodiment of the terminal and the first terminal. Moreover, the camera 31 according to this embodiment is one embodiment of a photographing section. The tilt sensor 32 according to this embodiment is an embodiment of a tilt detection unit. The acceleration sensor 33 according to this embodiment is an embodiment of an acceleration detection unit. Moreover, the microphone 34 according to the present embodiment is an embodiment of a voice acquisition unit. The control means 35 according to this embodiment is an embodiment of an information input unit and a control unit. The communication section 36 according to the present embodiment is an embodiment of a first communication section. The battery 37 according to this embodiment is an embodiment of a power supply source. Moreover, the heart rate sensor 51 according to this embodiment is an embodiment of a biological information acquisition unit and a heart rate information acquisition unit. Moreover, the perspiration sensor 52 according to this embodiment is an embodiment of a biological information acquisition section and a perspiration information acquisition section. Moreover, the grip force sensor 53 according to this embodiment is an embodiment of a biometric information acquiring section and a grip force acquiring section.

[0155] Although the embodiment of the present invention has been described above, the present invention is not limited to the above configuration, and various modifications are possible within the scope of the invention described in the claims.

[0156] For example, in the present embodiment, the grip sensor 50 is configured to operate using power from the battery 37 of the terminal 30, but is not limited to this. For example, the grip sensor 50 may be configured to operate using power from various batteries, such as a battery provided in the walking type cultivation machine 10, an appropriate external battery, or a battery built into the grip sensor 50, or an alternator.

[0157] In the present embodiment, the grip sensor 50 is used to execute the biological information control S60, but the present invention is not limited to this. For example, as in a second embodiment shown in Fig. 12, a configuration in which the biological information control S60 can be executed using a wearable terminal 60 can be adopted.

[0158] The wearable terminal 60 shown in Fig. 12 is a terminal that can be worn on the body of a worker and can input and output various information. In this embodiment, the wearable terminal 60 is a wristwatch-type terminal that can be worn on the arm of a worker. The wearable terminal 60 includes a heart rate sensor 61, a sweat sensor 62, a control means 63, a communication unit 64, and a battery 65.

[0159] The heart rate sensor 61 is capable of acquiring heart rate information as biometric information, similarly to the heart rate sensor 61 of the grip sensor 50. The heart rate sensor 61 acquires heart rate information from the worker's arm.

[0160] The perspiration sensor 62 is capable of acquiring perspiration information as biological information, similar to the perspiration sensor 52 of the grip sensor 50. The perspiration sensor 62 acquires perspiration information from the arm of the worker.

[0161] The control means 63 is generally similar to the control means 35 of the terminal 30, and receives various information including information acquired by the heart rate sensor 61 and the sweat sensor 62 as input.

[0162] The communication unit 64 is generally similar to the communication unit 36 ​​of the terminal 30 and is capable of wirelessly communicating information input to the control means 63 .

[0163] The battery 65 is generally similar to the battery 37 of the terminal 30 and provides the power used to operate the wearable terminal 60 .

[0164] The wearable terminal 60 as described above can also acquire heart rate information and sweat information. The wearable terminal 60 can transmit the heart rate information and sweat information to the control means 35 of the terminal 30 via the communication unit 64. This allows the heart rate information control S61 and sweat information control S64 to be executed in a manner similar to the first embodiment.

[0165] As described above, the heart rate information control S61 and the sweat information control S64 may be executed using the control means 63 of the wearable terminal 60 without going through the terminal 30. In this case, a signal can be transmitted to the engine control unit 13a using the communication unit 64 of the wearable terminal 60.

[0166] According to the above embodiment, the wearable terminal 60 can be used to execute the heart rate information control S61 and the sweat information control S64 without attaching the grip sensor 50 to the steering wheel 23.

[0167] The wearable terminal 60 according to this embodiment is one form of the second terminal. Moreover, the heart rate sensor 61 according to this embodiment is an embodiment of a biological information acquisition unit and a heart rate information acquisition unit. Moreover, the perspiration sensor 62 according to this embodiment is an embodiment of a biological information acquisition section and a perspiration information acquisition section.

[0168] In addition, in each of the above embodiments, the priority control S10 is executed by the control means 35 of the terminal 30, but the present invention is not limited to this configuration. For example, the priority control S10 may be executed by an appropriate control means 35 provided in the walk-behind cultivation machine 10. Also, for example, the priority control S10 may be executed by an external control means capable of communicating with the terminal 30 and the walk-behind cultivation machine 10 (engine control unit 13a).

[0169] In addition, in each of the above-described embodiments, the engine control unit 13a and the communication unit 13b are provided integrally with the engine 13, but the present invention is not limited to this. For example, the engine control unit 13a and the communication unit 13b may be provided separately from the engine 13.

[0170] In addition, in each of the above embodiments, the driving source is the engine 13 driven by fuel, but the present invention is not limited to this. For example, a motor driven by electricity may be used as the driving source. In this case, the control means 35 can execute the priority control S10 by driving or stopping the motor and adjusting the rotation speed.

[0171] In addition, in each of the above embodiments, the cultivation machine control system 1 is configured to include all of the camera 31, tilt sensor 32, acceleration sensor 33, microphone 34, heart rate sensor 51 (heart rate sensor 61), sweat sensor 52 (sweat sensor 62), and grip force sensor 53 that acquire various information used to control the walk-behind cultivation machine 10, but is not limited to this configuration. The cultivation machine control system 1 may also be configured to include some of the devices that acquire the various information described above.

[0172] In addition, in each of the above embodiments, the management machine control system 1 is configured to be capable of executing all of the image control S20, tilt control S30, acceleration control S40, voice control S50 and bioinformation control S60 as priority control S10, but is not limited to this configuration, and some of the above controls may be executed as priority control S10.

[0173] In addition, in each of the above embodiments, the image control S20, the tilt control S30, the acceleration control S40, the voice control S50, and the bioinformation control S60 are configured to be executed as the priority control S10, but the present invention is not limited to this configuration. For example, each of the above controls may be executed not as the priority control S10, but simply as a control for controlling the operation of the walking type cultivation machine 10 based on information related to operation input to the control means 35 (images, tilt, acceleration, voice acquired by the terminal 30, and bioinformation acquired by the grip sensor 50).

[0174] Furthermore, the form of the walk-behind cultivation machine 10 in each of the above embodiments is not limited. For example, it may be a walk-behind snow removal machine or lawn mower.

[0175] In addition, in each of the above embodiments, an example has been shown in which the mounting portion 40 is provided on the steering handle 23, but the present invention is not limited to this. For example, the mounting portion 40 may be provided on the side portion 23a, or on the engine 13, the fuel tank 14, the bonnet 15, or the like. In other words, the position at which the mounting portion 40 is provided can be appropriately selected as long as the microphone 34 can pick up sound, or the front camera 31a and the rear camera 31b can capture an image of a target.

[0176] Further, in each of the above-described embodiments, an example has been described in which the communication unit 13b can receive information transmitted from outside the engine 13, but the present invention is not limited to such an embodiment. The communication unit 13b may be capable of transmitting information about the engine 13. The information about the engine 13 transmitted from the communication unit 13b can be received by the terminal 30, the control means 35, or the like. This makes it possible to manage information about the engine 13, such as information about the number of revolutions and operating time information about the engine 13, by the terminal 30, or the like. [Explanation of symbols]

[0177] 1. Cultivator control system 10 Walk-behind cultivator 13 Engine 30 Terminals 35 Control Means

Claims

1. A walking type management machine that can be operated based on an operation of an operation unit by an operator; An information input unit into which information regarding the operation of the walking type management machine is input; A control unit that can execute priority control to control the operation of the walking type cultivator based on information input to the information input unit, taking priority over the operation by the operation unit; An image capturing unit capable of capturing an image; Equipped with The information input unit includes: The image captured by the imaging unit is input as the information, The control unit is The priority control can be performed based on the image, In the priority control, the operation of the walk-behind cultivator can be controlled based on a first image of a worker who operates the walk-behind cultivator captured by the photographing unit, In the priority control, when the ratio of the image of the worker to the first image becomes equal to or less than a first value, the driving speed of the walking type cultivator is slowed down or the driving is stopped. Management machine control system.

2. A walk-behind management machine that can be operated based on the operation of an operating unit by an operator; An information input unit into which information regarding the operation of the walking type management machine is input; A control unit that can execute priority control to control the operation of the walking type cultivator based on information input to the information input unit, taking priority over the operation by the operation unit; An image capturing unit capable of capturing an image; Equipped with The information input unit includes: The image captured by the imaging unit is input as the information, The control unit is The priority control can be performed based on the image, In the priority control, it is possible to control the operation of the walking type management machine based on a second image of the ground captured by the photographing unit, In the priority control, when the ratio of the image of the ground to the second image becomes equal to or less than a second value, the walking type cultivator is controlled to slow down the driving speed or stop driving. Management machine control system.

3. A walk-behind management machine that can be operated based on the operation of an operating unit by an operator; An information input unit into which information regarding the operation of the walking type management machine is input; A control unit that can execute priority control to control the operation of the walking type cultivator based on information input to the information input unit, taking priority over the operation by the operation unit; A voice acquisition unit capable of acquiring the voice of the worker; Equipped with The information input unit includes: The voice acquired by the voice acquisition unit is input as the information, The control unit is The priority control can be executed based on the voice, In the priority control, when a voice of a predetermined volume or more is input by the voice acquisition unit, it is possible to control the driving speed of the walking type cultivator to be slowed down or the driving to be stopped. Management machine control system.

4. A walk-behind management machine that can be operated based on the operation of an operating unit by an operator, An information input unit into which information regarding the operation of the walking type management machine is input; A control unit that can execute priority control to control the operation of the walking type cultivator based on information input to the information input unit, taking priority over the operation by the operation unit; a biometric information acquisition unit capable of acquiring biometric information of the worker; Equipped with The information input unit includes: The biometric information acquired by the biometric information acquisition unit is input as the information, The control unit is The priority control can be executed based on the biological information, The biological information acquisition unit is a sweat information acquisition unit capable of acquiring at least information related to the sweat of the worker as the biological information; The priority control includes: A sweating information control unit controls the operation of the walking type care machine based on the sweating information acquired by the sweating information acquisition unit. The control unit is In the sweat information control, it is possible to control the driving speed of the walking type management machine to be slowed down or stopped based on the change in the amount of sweat acquired by the sweat information acquisition unit. Management machine control system.

5. The control unit: In the priority control, it is possible to control the operation of the drive source of the walking type management machine by giving priority to the operation by the operation unit. The cultivator control system according to any one of claims 1 to 4.

6. The control unit: In the priority control, it is possible to control the speed change by the speed change mechanism of the walking type management machine by giving priority to the operation by the operation unit. The cultivator control system according to any one of claims 1 to 5.

7. A tilt detection unit capable of detecting the tilt of the walking type cultivator relative to a predetermined reference direction, The information input unit includes: The inclination of the walking type management machine detected by the inclination detection unit is input as the information, The control unit is The priority control can be executed based on the inclination of the walking type management machine. The cultivator control system according to any one of claims 1 to 6.

8. An acceleration detection unit capable of detecting the acceleration of the walking type management machine, The information input unit includes: The acceleration of the walking type management machine detected by the acceleration detection unit is input as the information, The control unit is The priority control can be executed based on the acceleration of the walking type management machine. The cultivator control system according to any one of claims 1 to 7.

9. A first communication unit; a second communication unit capable of wireless communication with the first communication unit, The control unit is The priority control can be executed using wireless communication via the first communication unit and the second communication unit. The cultivator control system according to any one of claims 1 to 8.

10. The second communication unit, Provided on the driving source of the walking type management machine, The tiller control system according to claim 9.

11. a portable terminal having the information input unit and the first communication unit; The walking type cultivator is The terminal has a detachable mounting portion. The cultivator control system according to claim 9 or 10.

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