Work vehicle work management system

Abstract

To provide a work management system for a work vehicle that allows a work manager to easily check the occurrence of an unfinished work place, and thereby can improve workability.SOLUTION: A work management system for a work vehicle according to an embodiment comprises a work vehicle, a positioning device, a control unit, a camera, and an information terminal. The work vehicle has a work machine that performs ground work and performs the work by using the work machine while traveling. The positioning device measures the self position of the work vehicle. The control unit controls the work vehicle to travel and perform the work along a scheduled work route set in advance by using a result of measurement performed by the positioning device. The camera photographs the rear of the work vehicle. The information terminal displays a video photographed by the camera. When the travel track of the work vehicle is deviated from the scheduled work route, the control unit stores the video photographed by the camera to display it on the information terminal.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to a work management system for a work vehicle. [Background technology]

[0002] Conventionally, a technology has been known in which a work vehicle having a work machine that performs ground work such as mowing the lawn performs work (hereinafter referred to as autonomous work) while autonomously traveling along a predetermined planned work route within an area to be worked on (hereinafter referred to as a work area) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-320045 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology described above, if a discrepancy occurs between the planned work route and the work vehicle's driving trajectory data, areas where work remains unfinished (in the case of a lawnmower, areas where grass remains uncut) may occur. However, since this may simply be an error in the data, the work manager needs to visually check whether or not there are actually areas where work remains unfinished.

[0005] An object of the present invention is to provide a work management system for a work vehicle that enables a work manager to easily check the existence of areas where work has been left unfinished and improves workability. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the work management system for a work vehicle of the present invention comprises a work vehicle having a work machine that performs ground work and performs work using the work machine while traveling, a positioning device that measures the work vehicle's own position, a control device that uses the measurement results of the positioning device to control the work vehicle to travel along a predetermined planned work route, a camera that photographs the rear of the work vehicle, and an information terminal that displays images captured by the camera, and is characterized in that if the travel trajectory of the work vehicle deviates from the planned work route, the control device stores the images captured by the camera for display on the information terminal. Effect of the Invention

[0007] According to the work management system for a work vehicle of the present invention, the work manager can easily check the existence of areas where work has been left unfinished, thereby improving workability. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the overall configuration of a work management system for a work vehicle according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the control configuration of the work management system for the work vehicle according to the first embodiment. [Diagram 3] FIG. 3 is an explanatory diagram of the autonomous work of the work vehicle. [Figure 4] FIG. 4 is an explanatory diagram of remaining work locations during autonomous work by a work vehicle. [Diagram 5] FIG. 5 is an explanatory diagram of left and right turning circles for a work vehicle. [Figure 6] FIG. 6 is an explanatory diagram (part 1) of creating a rework path. [Figure 7] FIG. 7 is an explanatory diagram (part 2) of rework path creation. [Figure 8] FIG. 8 is an explanatory diagram (part 1) of the shortest path mode. [Figure 9] FIG. 9 is an explanatory diagram (part 2) of the shortest path mode. [Figure 10] FIG. 10 is an explanatory diagram (part 1) of the aesthetic mode. [Figure 11] FIG. 11 is an explanatory diagram (part 2) of the aesthetic mode. [Figure 12] FIG. 12 is an explanatory diagram (part 3) of the aesthetic mode. [Figure 13] FIG. 13 is a block diagram showing the control configuration of a work management system for a work vehicle according to the second embodiment. [Figure 14] FIG. 14 is an explanatory diagram (part 1) of detection of remaining work locations using a camera. [Figure 15] FIG. 15 is an explanatory diagram (part 2) of detection of remaining work locations using a camera. [Figure 16] FIG. 16 is an explanatory diagram (part 3) of detection of remaining work locations using a camera. [Figure 17] FIG. 17 is an explanatory diagram (part 1) of the rework display screen. [Figure 18] FIG. 18 is an explanatory diagram (part 2) of the rework display screen. [Figure 19] FIG. 19 is an explanatory diagram (part 3) of the rework display screen. [Figure 20] FIG. 20 is a block diagram showing the control configuration of a work management system for a work vehicle according to the third embodiment. [Figure 21] FIG. 21 is an explanatory diagram (part 1) of detection of remaining work areas using a laser sensor. [Figure 22] FIG. 22 is an explanatory diagram (part 2) of detection of remaining work areas using a laser sensor. [Figure 23] FIG. 23 is an explanatory diagram (part 1) of the rework display screen. [Figure 24] FIG. 24 is an explanatory diagram (part 2) of the rework display screen. [Diagram 25] FIG. 25 is an explanatory diagram (part 3) of the rework display screen. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of a work management system for a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] First Embodiment First, the overall configuration of a work management system 1 for a work vehicle according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing the overall configuration of a work management system 1 for a work vehicle according to the first embodiment. In the following, a "lawnmower vehicle" will be used as an example of the work vehicle 10. The lawnmower vehicle 10 is, for example, a lawnmower vehicle that is used to operate a work area A set within a work site F (see Fig. 3) such as a riverbed, park, or stadium. W (See Figure 3) The work of cutting grass and other plants (hereinafter referred to as grass) is carried out within the facility.

[0011] In addition, the lawnmower vehicle 10 is driven by the operator to move around the work area A W In addition, the control system, centered on the control device 100 (see FIG. 2) described later, controls each part of the work area A. W The vehicle travels autonomously within the building and performs work (autonomous work).

[0012] FIG. 1 shows a three-dimensional Cartesian coordinate system including a Z-axis with the positive direction being vertically upward (upward). For ease of explanation, the positive direction of the X-axis is defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the forward direction, and the negative direction of the Y-axis as the backward direction. Therefore, in the following, the X-axis direction is referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction. Such three-dimensional Cartesian coordinate systems may also be shown in other figures.

[0013] As shown in FIG. 1, the work management system 1 includes a lawnmowing vehicle 10, a positioning device 50, a control device 100 (see FIG. 2), and an information terminal 120.

[0014] The lawnmowing work vehicle 10 is operated by a driver seated in a driver's seat 241 disposed in a traveling body 20 described below. Note that hereinafter, the lawnmowing work vehicle 10 may be referred to as the "machine." The lawnmowing work vehicle 10 comprises the traveling body 20, a lawnmower 30 which is a work machine that performs ground work, and a grass collection container (hereinafter referred to as a collector) 40.

[0015] The traveling vehicle body 20 includes a vehicle body frame 21, a pair of left and right front wheels 22, and a pair of left and right rear wheels 23. The traveling vehicle body 20 also includes a control section 24 at its front. The control section 24 includes the driver's seat 241, a floor step 242, a steering column 243, and a steering wheel 244 which is an operating tool for steering.

[0016] The driver's seat 241 is provided above the body frame 21. The floor step 242 is provided in front of the driver's seat 241. The steering column 243 is erected in front of the floor step 242. The steering wheel 244 is provided on the upper part of the steering column 243. Various operation pedals and the like are provided on the floor step 242. Furthermore, in addition to the steering wheel 244, the steering column 243 is provided with an operation panel, various operation levers, various operation switches, and the like.

[0017] In addition, a safety bar 245 that is arch-shaped when viewed from the front of the aircraft is provided at the rear of the control unit 24 and can be tilted in the forward / backward direction.

[0018] The lawnmower (also called mower device) 30 is disposed at the front lower part of the traveling body 20. The lawnmower 30 is equipped with a cutting blade (not shown) that rotates about a vertical axis along the up-down direction to cut grass, and a motor (not shown) that drives the cutting blade. The lawnmower 30 is provided so as to be able to move up and down via a lifting device 31 (see FIG. 2). Note that the lawnmower 30 may be of a type that is disposed below the traveling body 20 between the front wheels 22 and the rear wheels 23.

[0019] The collector 40 stores grass cut by the lawnmower 30, and is provided so as to be freely liftable and lowerable via a collector lifting mechanism.

[0020] The positioning device 50 is provided on top of the traveling body 20, and measures the position of the traveling body 20 at a predetermined cycle to obtain information (e.g., latitude and longitude) of the traveling body 20's own position P1 (see FIG. 5). The positioning device 50 is, for example, a Global Navigation Satellite System (GNSS), and is capable of receiving radio waves from a navigation satellite S orbiting in the sky to measure the position of the traveling body 20 (lawnmower vehicle 10)'s own position P1 and of measuring time.

[0021] The control device 100 (see FIG. 2) is made up of a control unit 110 (see FIG. 2) mounted on the lawnmower work vehicle 10, and an information terminal 120, which will be described later. The control device 100 may be made up of only either the control unit 110 or the information terminal 120. For example, if the control device 100 is made up of only the control unit 110 of the lawnmower work vehicle 10, the processing performed by the information terminal 120, which will be described below, will also be performed by the control unit 110.

[0022] The information terminal 120 is, for example, a tablet terminal that can be carried by a work manager W (see FIG. 3). The information terminal 120 can be connected to a communication network such as the Internet, and can be connected to a work management device (not shown) via the communication network. In this case, the work management device is a system capable of so-called cloud computing. The information terminal 120 and the work management device are connected, for example, via a wireless LAN (Local Area Network).

[0023] Moreover, the information terminal 120 includes a control unit (storage unit) 121 (see FIG. 2) that is configured with, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and a display unit 122 (see FIG. 2) that is configured with a touch panel and also functions as an operation unit. Note that the information terminal 120 may also be provided with various keys, buttons, etc. as separate operation units. The information terminal 120 may also include a processing unit having a CPU (Central Processing Unit) or the like so that each unit can be controlled by electronic control.

[0024] The task management device is a processing device having a CPU and the like, a storage device such as a ROM, a RAM, and an HDD (Hard Disk Drive), and further a computer provided with an input / output device.

[0025] The lawnmowing vehicle 10 can set up the lawnmowing work in a specific work site F by the work manager W operating the information terminal 120.

[0026] Next, the work vehicle work management system 1 according to the first embodiment, i.e., the control system of the lawnmower work vehicle 10 centered around the control device 100, will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the control configuration of the work management system 1 for the work vehicle according to the first embodiment. As shown in Fig. 2, the control device 100 is made up of a control unit 110 of the lawnmower work vehicle 10 and the information terminal 120.

[0027] The control unit 110 includes an engine ECU (Electronic Control Unit) 111 , a travel system ECU 112 , and a work implement lifting system ECU 113 .

[0028] The engine ECU 111 controls the rotation speed of the engine E. The travel system ECU 112 controls the travel speed of the travelling body 20 (see FIG. 1), for example, by controlling the rotation of the rear wheels 23 (see FIG. 1), which are drive wheels. The work machine lifting system ECU 113 controls the lifting device 31 to drive the lawnmower 30, which is a work machine, to lift and lower it.

[0029] The control unit 110 is capable of controlling each part by electronic control, and includes a processing unit having a CPU and the like, various programs, and a planned work route R (to be described later) of the traveling vehicle body 20 that is preset for each farm field. W The computer has a storage unit that includes a hard disk, ROM, RAM, etc., in which necessary data such as the above (see Figure 3) is stored.

[0030] 2, the control unit 110 is connected to a positioning device (GNSS) 50, an azimuth angle sensor 71, an engine rotation sensor 72, a vehicle speed sensor 73, a gear shift sensor 74, a turning angle sensor 75, etc. Also connected to the control unit 110 are an engine E, a gear shift device 61, a steering device 62, a lifting device 31, etc.

[0031] The azimuth angle sensor 71 detects, for example, the absolute azimuth angle of the traveling direction of the traveling vehicle body 20 (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The azimuth angle sensor 71 detects the absolute azimuth angle at regular time intervals and transmits the detected absolute azimuth angle to the control unit 110 or the like.

[0032] The engine revolution sensor 72 detects the revolution speed of the engine E. The vehicle speed sensor 73 detects the traveling speed (vehicle speed) of the traveling vehicle body 20. The gear shift sensor 74 detects which of a plurality of gear shift stages is in the transmission 61. The turning angle sensor 75 detects, for example, the turning angle of the front wheels 22 (see FIG. 1), which are steered wheels.

[0033] The control unit 110 receives inputs of information on the position (self-position) P1 of the traveling vehicle body 20 in the work site F (see Figure 3) from the positioning device 50, the absolute azimuth of the traveling vehicle body 20 from the azimuth angle sensor 71, the rotation speed of the engine E from the engine rotation sensor 72, the vehicle speed of the traveling vehicle body 20 from the vehicle speed sensor 73, the current gear shift stage from the gear shift sensor 74, and the turning angle of the front wheels 22 from the turning angle sensor 75.

[0034] When the control unit 110 causes the traveling vehicle body 20 to travel autonomously (operate autonomously), as described above, it uses the detection value of the turning angle sensor 75 to control the steering cylinder connected to the steering wheel 244 (see Figure 1) while feeding back the turning angle of the front wheels 22, thereby controlling the steering of the steering wheel 244.

[0035] In the control unit 110, the engine ECU 111 is connected to the engine E, the travel system ECU 112 is connected to the transmission 61 and the steering system 62, and the work machine lifting system ECU 113 is connected to the lifting device 31. The work machine lifting system ECU 113 raises and lowers the lawnmower 30 via the lifting device 31.

[0036] In addition, when the traveling vehicle body 20 is made to travel autonomously (operate autonomously), the control unit 110 determines a planned work route R according to the work (lawn mowing work) to be performed by the lawnmower 30. W is determined in advance for each work site F, converted into data, and stored in the memory unit.

[0037] The control unit 110 calculates the planned work route R stored in the memory unit based on the measurement results of the positioning device 50. W The engine E, the transmission 61, the steering device 62, the lifting device 31, etc. are controlled so that the vehicle can perform work while traveling along the planned work route R. W is set according to the shape and size of the work site F. The control unit 110 also sets in advance the turning radius of the lawnmower work vehicle 10 (traveling body 20) when moving.

[0038] As described above, the control unit 110 is wirelessly connected to an information terminal 120 that can be carried by the work manager W (see FIG. 3), for example. The control unit 110 controls each part of the lawnmowing work vehicle 10 based on command signals from the information terminal 120 operated by the work manager W. The control unit 110 may have a machine information database for the lawnmowing work vehicle 10, and may be configured to allow the transfer of information such as model number from the information terminal 120, for example.

[0039] Next, the autonomous operation of the work vehicle (lawnmowing work vehicle 10) will be described with reference to Figures 3 and 4. Figure 3 is an explanatory diagram of the autonomous operation of the work vehicle (lawnmowing work vehicle 10). Figure 4 is an explanatory diagram of the remaining work location during the autonomous operation of the work vehicle (lawnmowing work vehicle 10). Figures 3 and 4 show a schematic diagram of the work site F as viewed from above.

[0040] For example, in the case of a lawnmower vehicle 10 that performs autonomous work in response to the operation of an information terminal 120 by a work manager W, the control device 100 (see FIG. 2) determines a planned work route R in which appropriate turning positions and grass cutting heights are specified, based on information including, for example, the overall length, overall width, and tread of the lawnmower vehicle 10, the capacity of the lawnmower 30 (see FIG. 1), and the shape and area of ​​the work area F. W Create a.

[0041] The lawnmower vehicle 10 is, for example, a work area A set in a work site F. W Within the preset work start point P S From the work end point P E Planned work route R W The grass is mowed by repeatedly moving straight and turning along the path.

[0042] Planned work route R W is a straight route R W1 and turning path R W2 Straight route R W1 The lawnmower vehicle 10 has a working area A. W The turning path R is set within the turning path R, and is a path along which the lawnmowing vehicle 10 performs the lawnmowing process (straight forward process) while traveling straight. W2 is the adjacent straight route R W1 The straight path R W1 Next straight route R from W1 This is a path that performs a turning process to move to.

[0043] Here, as shown in FIG. 3, for example, a planned work route R W and the travel path data of the lawnmower vehicle 10, the planned work route RW If there is a deviation from the actual travel path R of the lawnmowing vehicle 10, a remaining work area (area where grass remains uncut) A2 may be generated that is an unworked area separate from the already worked area A1 among the locations (areas) where lawnmowing work has been completed.

[0044] As shown in Figure 4, when an unfinished work area A2 (A21, A22) occurs, a re-work route R1 (described later) is created to re-work the unfinished work areas A21, A22, and the lawnmower work vehicle 10 performs the autonomous work for the re-work based on the created re-work route R1. Note that area A20 of the unfinished work area A2 shown in Figure 4 is an area that was not determined by the work manager W to be the unfinished work area A2. In this way, the unfinished work area A2 can be determined, for example, by visual inspection by the work manager W.

[0045] Also, as shown in FIG. 4, for example, when the work manager W checks the remaining work area A2, the display unit 122 of the information terminal 120 (see FIG. 2) may display a screen in which the work manager W specifies the position and area of ​​the remaining work area A2 in the work area F by enclosing it in a rectangle (oblong).

[0046] Furthermore, when work using the lawnmower vehicle 10 has finished, a screen may be displayed on the display unit 122 of the information terminal 120 for confirming whether or not to restart the work.

[0047] As shown in Figs. 3 and 4, the remaining work area A2 is the area where the work has been completed. W The unworked area A2 is an area enclosed between the edge of the area A1 or the adjacent already-worked area A1. The determination as to whether the area A2 is an unworked area or not is made by, for example, visual inspection by the work manager W.

[0048] In addition, the rework route R1 is, as described above, the planned work route R WThis is a route for the lawnmowing vehicle 10 to automatically re-work the remaining work area A2 after work along the road has been completed. When creating the re-work route R1, the information terminal 120 accepts, from the work manager W, an input operation of information about the remaining work area A2 (hereinafter referred to as remaining work area information) and an operation to specify the remaining work area A2 via the display unit 122 (see FIG. 2). The information terminal 120 outputs the input remaining work area information and the specified remaining work area A2 to the control device 100.

[0049] The control device 100 then creates a rework route R1 based on the remaining work location information from the information terminal 120 and the specified remaining work location A2. Of the rework route R1, an actual work route R1a along which ground work (lawn mowing work) is actually performed is set to be longer in the direction of travel of the lawnmower vehicle 10 than the remaining work location A2 in the shortest route mode described below. Also, in the aesthetic mode described below, the actual work route R1a is set to be a straight route R1a that includes the remaining work location A2. W1 is set as a whole.

[0050] Next, the process of creating a rework path (R1) by the control device 100 will be described with reference to Figs. 5 to 7. Fig. 5 is an explanatory diagram of a left turn circle and a right turn circle of a work vehicle (lawnmower work vehicle 10). Fig. 5 shows a schematic diagram of the lawnmower work vehicle 10 as viewed from above. Figs. 6 and 7 are explanatory diagrams of creating a rework path (R1). Fig. 6 shows a schematic example of a movement trajectory of the lawnmower work vehicle 10 to the rework start point P2 as viewed from above, and Fig. 7 shows a schematic example of another movement trajectory of the lawnmower work vehicle 10 to the rework start point P2 as viewed from above.

[0051] As described above, the control device 100 (see FIG. 2) creates a rework route R1 for the lawnmowing vehicle 10 so that when the lawnmowing vehicle 10 performs rework, it can move along an appropriate route to the rework start point P2.

[0052] 5, the control device 100 pre-sets a circle C1 with a turning radius that is tangent to the azimuth angle vector V1 acquired by the azimuth angle sensor 71 (see FIG. 2) and the current position (own position P1) acquired by the positioning device 50. That is, the control device 100 determines, from the current position (own position P1) and direction of the lawnmower vehicle 10, a first right-turn circle C1, which is a turning trajectory when the lawnmower vehicle 10 starts off while turning. R and the first left turn circle C1 L Set.

[0053] As shown in Fig. 6, the control device 100 sets a circle C2 having a turning radius that is tangent to the vector V2 on the rework path R1 and the rework start point P2. That is, the control device 100 sets a second right turn circle C2 which is a turning trajectory when the lawnmower vehicle 10 first approaches the rework start point P2 at the remaining work area A2 where rework is to be performed. R and the second left turn circle C2 L Set.

[0054] The control device 100 also sets a tangent line L1 to the circles C1 and C2 of the two turning radii. The control device 100 then creates multiple routes based on the circles C1 and C2 of the two turning radii and the tangent line L1, and sets the shortest route from the multiple routes as the rework route R1, for example. In this way, when setting the shortest route (the rework route R11 described below), the control device 100 selects from four routes: turn right-go straight-turn right, turn right-go straight-turn left, turn left-go straight-turn right, and turn left-go straight-turn left.

[0055] In addition, when the distance from the current position (own position P1) of the lawnmowing vehicle 10 to the restart start point P2 is short, for example, as shown in FIG. R From the center O1 to the second left turn circle C2 L When the distance d to the center O2 of the turning radius is four times the turning radius r or less, the control device 100 calculates a connecting circle C J Then, the control device 100 sets three turning radius circles C1, C2, and C JIn this way, when setting the shortest route (rework route R11 described later), the control device 100 selects from six routes, including two routes: right turn-left turn-right turn and left turn-right turn-left turn.

[0056] The control device 100 has a shortest route mode and an aesthetic mode for creating the rework route R1. When creating the rework route R1, the control device 100 executes either the shortest route mode or the aesthetic mode. The display unit 122 (see FIG. 2) of the information terminal 120 displays a screen that allows the work manager W to select whether to use the shortest route mode or the aesthetic mode for rework when performing the rework.

[0057] Next, the shortest route mode will be described with reference to Fig. 8 and Fig. 9. Fig. 8 and Fig. 9 are explanatory diagrams of the shortest route mode. Fig. 8 and Fig. 9 show a schematic diagram of the work site F seen from above, Fig. 8 shows a rework route R11 in the shortest route mode, and Fig. 9 shows a moving route (moving route after completion) R12 after rework is completed in the shortest route mode.

[0058] As described above, the control device 100 (see FIG. 2) has a shortest route mode that connects the current position (own position P1) of the lawnmowing vehicle 10 to the remaining work location A2 via the shortest route. In the shortest route mode, re-work of the remaining work location A2 can be performed via the shortest route.

[0059] As shown in FIG. 8, in the shortest route mode, the control device 100 calculates a first right turn circle C1 which is a turning trajectory when the lawnmower vehicle 10 starts while turning. R and the first left turn circle C1 L Next, the control device 100 sets a second right turn circle C2 which is a turning trajectory when the lawnmower vehicle 10 enters the rework start point P2 of the remaining work area A21 where the lawnmower vehicle 10 will first be reworked. R and the second left turn circle C2 L Set.

[0060] Next, the control device 100 detects the first right turn circle C1 Ror 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 L and the first right turn circle C1 R or 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 L The lawnmower vehicle 10 is controlled so as to move along a re-work route R11 created by the line L1 (see FIG. 6) and a tangent L1 to the left side of the work area A21, and to re-work the remaining work area A21 along the re-work route R11.

[0061] Next, the control device 100 calculates a third right turn circle C3 which is a turning trajectory when the lawnmower vehicle 10 turns from the rework end point P3 of the remaining work area A21 where the lawnmower vehicle 10 will first be reworked. R and the third left turn circle C3 L Next, the control device 100 sets a fourth right turn circle C4 which is a turning trajectory when the lawnmower vehicle 10 approaches the rework start point P4 in the remaining work area A22 where the lawnmower vehicle 10 will next rework. R and the fourth left turn circle C4 L Set.

[0062] Next, the control device 100 detects the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L and the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L The lawnmower vehicle 10 is controlled so as to move along a rework route R11 created by a line tangent to the line and to rework the remaining work area A22 along the rework route R11.

[0063] That is, in the shortest route mode, when there are multiple remaining work locations A2 (A21, A22), the control device 100 controls the lawnmower work vehicle 10 to move from its own position P1 to a re-work start point P2 of the remaining work location A21 via the shortest route, and re-work the remaining work location A21. Next, the control device 100 controls the lawnmower work vehicle 10 to move from a re-work end point P3 of the remaining work location A21 via the shortest route to a re-work start point P4 of the remaining work location A22, and re-work the remaining work location A22.

[0064] In addition, in the shortest route mode, when there are multiple remaining work locations A2 (A21, A22), the control device 100 causes the information terminal 120 to display a screen for specifying the order of the remaining work locations A21, A22 to be reworked, and also causes the information terminal 120 to display a screen for specifying the work direction for each of the remaining work locations A21, A22.

[0065] In this way, the control device 100 prompts the work manager W via the information terminal 120 to specify the order of the remaining work locations A21, A22 to be reworked and the work direction for each of the remaining work locations A21, A22. When the order and work direction are specified by the work manager W, the control device 100 creates the shortest route (rework route R11) based on the specified order and work direction.

[0066] Furthermore, in the shortest route mode, the control device 100 sets in advance a post-rework standby position P6 to which the lawnmower work vehicle 10 is moved after rework is completed by the lawnmower work vehicle 10. In the shortest route mode, the lawnmower work vehicle 10 moves along a post-rework movement route R12, which is the shortest route, from a rework end point P5 at the remaining work area A2 where rework was last performed (remaining work area A22 in the illustrated example) to the post-rework standby position P6.

[0067] As shown in FIG. 9, in the shortest route mode, the control device 100 calculates a fifth right turn circle C5 which is a turning trajectory when the lawnmower vehicle 10 turns from the rework end point P5 of the remaining work area A22 where the lawnmower vehicle 10 last reworked. R and the fifth left turn circle C5 L Next, the control device 100 sets the fifth right turn circle C5R Or the 5th left turn circle C5 L The control device 100 then controls the lawnmower vehicle 10 to travel along the post-termination movement path R12 and reach the post-termination standby position P6.

[0068] As shown in FIG. 9, in the shortest route mode, the control device 100 calculates a sixth right turn circle C6 that is tangent at the post-termination waiting position P6 to the vector V6 of the direction (azimuth angle) of the lawnmower vehicle 10 at the post-termination waiting position P6. R and the sixth left turn circle C6 L In this case, the control device 100 further sets the fifth right turn circle C5 R Or the 5th left turn circle C5 L and the sixth right turn circle C6 R Or 6th left turn circle C6 L and the fifth right turn circle C5 R Or the 5th left turn circle C5 L and the sixth right turn circle C6 R Or 6th left turn circle C6 L The lawnmower vehicle 10 is controlled so as to move along a post-completion travel route R12 created by a tangent to the line R11 and the line R22.

[0069] Next, the aesthetic mode will be described with reference to Figs. 10 to 12. Figs. 10 to 12 are explanatory diagrams of the aesthetic mode. Figs. 10 to 12 are schematic diagrams of the work site F as viewed from above, Fig. 10 shows a rework path R13 in the aesthetic mode, Fig. 11 shows a movement path R14 after rework is completed in the aesthetic mode (movement path after completion), and Fig. 12(a) shows a straight path R13 having a remaining work area A2. W1 12(b) shows a case where the number of lines is odd. W1 This shows the case where the number of wires is even.

[0070] When creating the rework path R1, the control device 100 (see FIG. 2) has an aesthetic mode that is suitable for reworking the remaining work area A2 in a workplace F where appearance is also important, such as a park, stadium, or golf course. In the aesthetic mode, the reworking of the remaining work area A2 can be performed to produce a neater finish.

[0071] As shown in FIG. 10, in the aesthetic mode, when creating a rework route R13, the control device 100 maps the designated remaining work location A2 (A21, A22) onto a straight route R W1 A route along which work can be performed and a straight route R W1 A rework route R13 is created so that it does not intersect with the route.

[0072] The control device 100 also performs the above-mentioned shortest route mode in the aesthetic mode. That is, in the aesthetic mode, the control device 100 performs rework of the remaining work area A2 via the shortest route while achieving a neater finish.

[0073] As shown in FIG. 10, in the aesthetic mode, the control device 100 calculates a first right turn circle C1, which is a turning trajectory when the lawnmower vehicle 10 starts while turning. R and the first left turn circle C1 L Next, the control device 100 sets a straight route R W1 The second right turn circle C2, which is the turning trajectory when approaching the approach end (rework start point P2) of R and the second left turn circle C2 L Set.

[0074] Next, the control device 100 detects the first right turn circle C1 R or 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 L and the first right turn circle C1 R or 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 LThe lawnmower vehicle 10 is controlled so as to move along a re-work route R13 created by the line L1 and a tangent L1 (see FIG. 6) to the left side of the work area A21 and to re-work the remaining work area A21 along the re-work route R13.

[0075] Next, the control device 100 calculates a straight route R 1 having a remaining work area A21 where the lawnmower vehicle 10 will first re-work. W1 The third right turn circle C3 is the turning trajectory when turning from the exit end (rework end point P3) of R and the third left turn circle C3 L Next, the control device 100 sets a straight route R W1 The fourth right turn circle C4 is the turning trajectory when approaching the approach end (rework start point P4) of R and the fourth left turn circle C4 L Set.

[0076] Next, the control device 100 detects the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L and the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L The lawnmower vehicle 10 is controlled so as to move along a rework path R13 created by a line tangent to the line and to rework the remaining work area A22 along the rework path R13.

[0077] That is, in the aesthetic mode, when there are a plurality of remaining work locations A2 (A21, A22), the control device 100 selects a straight route R that is the shortest route from the self-position P1 and has the remaining work location A21. W1 Move to the entry end of (rework start point P2) and follow the straight path R W1 Next, the control device 100 controls the lawnmower vehicle 10 to perform rework of the remaining work area A21 along the straight route R W1 Move to the entry end of (rework start point P4) and follow the straight path RW1 The lawnmower vehicle 10 is controlled so as to re-work the remaining work area A22 along the line.

[0078] In the aesthetic mode, the control device 100 also presets a post-restart standby position P6 to which the lawnmower vehicle 10 is moved after rework is completed by the lawnmower vehicle 10. In the aesthetic mode, as in the shortest route mode, the straight route R W1 From the exit end (re-work end point P5) to the post-rework standby position P6, the lawnmower vehicle 10 moves along a post-rework movement route R14, which is the shortest route.

[0079] As shown in FIG. 11, in the aesthetic mode, the control device 100 detects a straight route R 1 including an unfinished work area A22 where the lawnmower vehicle 10 last re-tried work. W1 The fifth right turn circle C5 is the turning trajectory when turning from the exit end (rework end point P5) of R and the fifth left turn circle C5 L Next, the control device 100 sets the fifth right turn circle C5 R Or the 5th left turn circle C5 L The control device 100 then controls the lawnmower vehicle 10 to travel along the post-termination movement path R14 and reach the post-termination standby position P6.

[0080] As shown in FIG. 11, in the aesthetic mode, the control device 100 calculates a sixth right turn circle C6 that is tangent at the post-termination standby position P6 to the vector V6 of the direction (azimuth angle) of the lawnmower vehicle 10 at the post-termination standby position P6. R and the sixth left turn circle C6 L In this case, the control device 100 further sets the fifth right turn circle C5 R Or the 5th left turn circle C5 L and the sixth right turn circle C6 R Or 6th left turn circle C6 L and the fifth right turn circle C5 R Or the 5th left turn circle C5 L and the sixth right turn circle C6 ROr 6th left turn circle C6 L The lawnmower vehicle 10 is controlled so as to move along a post-completion travel route R14 created by a line tangent to the line R14.

[0081] In addition, when there are a plurality of remaining work locations A21 and A22, the control device 100 determines whether the straight route R W1 Among them, the straight route R is the farthest from the waiting position P6 after the end of the W1 Re-working by the lawnmower vehicle 10 is started from the remaining work area A21 above.

[0082] As shown in FIG. 12, in the aesthetic mode, the control device 100 determines whether the straight route R W1 Depending on whether the number of lines is odd or even, the straight route R W1 Change the direction of approach to the

[0083] As shown in FIG. 12(a), the control device 100 determines whether the straight route R W1 If the number of paths is odd, the straight route R W1 The control device 100 creates a straight path R W1 The lawnmower vehicle 10 is controlled so as to enter the area and perform the work again.

[0084] Also, as shown in FIG. 12(b), the control device 100 determines whether the straight route R W1 If the number of paths is even, the straight route R W1 The control device 100 creates a route that enters from the same side as the end waiting position P6. W1 The lawnmower vehicle 10 is controlled so as to enter the area and perform the work again.

[0085] In the aesthetic mode, when the control device 100 creates the rework path R13 or the post-completion movement path R14, the path for moving to the rework start point P2 and the post-completion movement path R14 are located in the work area A. W For example, when entering a rectangular work area A W Alternatively, a detour circle may be set with the four corners of the road as vertices, and a route may be created that passes through this detour circle.

[0086] According to the work management system 1 for a work vehicle according to the first embodiment described above, by creating a re-work path R1 for the lawnmowing work vehicle 10 to re-work the remaining work area A2 after work is completed, even if the work vehicle 10 performing work automatically by autonomous driving leaves work unfinished, the re-work path R1 for re-working the remaining work area A2 is automatically created, making it easy to re-work the remaining work area A2. This improves workability.

[0087] In addition, when creating a rework route R1, having the shortest route mode is effective when performing work quickly, such as mowing grass on a riverbed, where the appearance after the work is not important, thereby making the work more efficient.

[0088] Also, by having the work manager W decide the order of the remaining work locations A21, A22 to be reworked, it is possible to reduce the amount of calculation for calculating the shortest route in the control device 100. Also, since it is possible to create the shortest route based on the order of the remaining work locations A21, A22 to be reworked and the work direction for each of the remaining work locations A21, A22 according to the preference of the work manager W, it becomes easy to use.

[0089] Also, the first right turn circle C1 R or 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 L and the first right turn circle C1 R or 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 LBy including the shortest path among the paths created by the tangent L1 to the line L2 in the shortest path, it is possible to create a path that can be traced efficiently when creating the shortest path in the shortest path mode.

[0090] Also, the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L and the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L By including the shortest route among the routes created by the tangents to the line 12 and the line 13 in the shortest route, when creating the shortest route in the shortest route mode, it is possible to create a route that can be traced efficiently when reworking multiple remaining work locations A12, A22.

[0091] In addition, the straight route R W1 By having an aesthetic mode that creates a route so as not to intersect with the above, it is easy to rework the remaining work area A2 in places where appearance is important (places where a neat finish is desired), such as when mowing the lawn in a park or stadium.

[0092] In addition, in the aesthetic mode, the rework by the work vehicle 10 is completed near the standby position P6, so that the work area A W The work vehicle 10 can be moved to a standby position P6 after completion of the work so as not to disturb the work site.

[0093] In addition, the straight route R W1 Depending on whether the number of W1 By changing the approach direction to the work area A, the work vehicle 10 can finish the rework near the waiting position P6. W The work vehicle 10 can be moved to a standby position P6 after completion of the work so as not to disturb the work site.

[0094] Also, the first right turn circle C1R or 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 L and the first right turn circle C1 R or 1st left turn circle C1 L and the second right turn circle C2 R Or 2nd left turn circle C2 L By including the shortest route among routes created by the tangent line L1 to the tangent line L2, the shortest route can be created even in the aesthetic mode, and when creating the shortest route, a route that can be traced without waste can be created. This makes it easy to rework the remaining work area A2 in a place where appearance is important, while also improving work efficiency.

[0095] Also, the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L and the third right turn circle C3 R Or the third left turn circle C3 L and the fourth right turn circle C4 R Or 4th left turn circle C4 L By including the shortest route among routes created by the tangents to the line 1 and 2 in the shortest route, even in the aesthetic mode, a route that can be traced efficiently when reworking multiple remaining work locations A21 and A22 can be created. This makes it easy to rework the remaining work location A2 where appearance is important, while also improving work efficiency.

[0096] In the first embodiment, the work vehicle 10 is a "lawnmower vehicle", but is not limited thereto. For example, the work vehicle 10 may be an "agricultural tractor". When the work vehicle 10 is an agricultural tractor, it is equipped with a tiller as the working implement 30, and is adapted to move the work vehicle 10 along a work area A set within a work site (field) F. W A rework route R1 is created to rework the remaining tillage work area A2.

[0097] <Second embodiment> Next, a work management system 1 (1A) for a work vehicle according to a second embodiment will be described with reference to Figures 13 to 19. Figure 13 is a block diagram showing the control configuration of the work management system 1A for a work vehicle according to the second embodiment.

[0098] 14 to 16 are explanatory diagrams of detection of remaining work area (A2) using the camera 76. Fig. 14 shows the remaining work area A2 as viewed from the side, and Fig. 15 shows the remaining work area A2 as viewed from above. Fig. 16 shows an image G captured by the camera 76, and the procedure for processing the image G is shown in order from the left side of the figure.

[0099] 17 to 19 are explanatory diagrams of the display screen for the rework. Note that, in Figs. 17 to 19, the work area F displayed on the display unit 122 of the information terminal 120 is shown, and in Figs. 17 and 18, the planned work route R W 19 shows an example of a display of a remaining work location A2 after work has been completed along the route, and FIG. 20 shows an example of a display of a rework route R1.

[0100] The second embodiment described below is different from the first embodiment in that it includes a camera 76, but other configurations are the same as those of the first embodiment. In the following description, the same reference numerals are used to designate the same (or equivalent) parts as those in the first embodiment, and descriptions of the parts with the same reference numerals are omitted.

[0101] As shown in FIG. 13, the control device 100 (control unit 110) includes a work area A W A camera 76 is connected to the information terminal 120 to capture an image of the rear of the lawnmower vehicle 10 (10A) within the information terminal 120 (see FIG. 3). An image (e.g., a picture) captured by the camera 76 is displayed on the display unit 122 of the information terminal 120. The control device 100 is W When the travel path of the lawnmower vehicle 10A deviates from the target position, the image captured by the camera 76 is stored in a memory unit (not shown) of at least one of the control unit 110 and the information terminal 120.

[0102] The control device 100 also records the area A1 already worked by the lawnmower work vehicle 10A, based on the travel path of the lawnmower work vehicle 10A and the working width of the lawnmower 30.

[0103] When the control device 100 detects the occurrence of an unworked area A2 (see FIG. 3) that is an unworked area relative to the completed work area A1, the control device 100 stores an image of the unworked area A2 captured by the camera 76 after a predetermined time has elapsed since the occurrence of the unworked area A2. Alternatively, when the control device 100 detects the occurrence of the unworked area A2, W After the remaining work area A2 becomes a closed area between the edge of the remaining work area A1 or the adjacent already-worked area A1, an image of the remaining work area A2 taken by the camera 76 is saved.

[0104] In this way, in the second embodiment, the remaining work area A2 can be detected by monitoring with the camera 76 provided on the lawnmower work vehicle 10A. When the remaining work area A2 is detected by the camera 76, the lawnmower work vehicle 10A moves along the planned work route R W When it is detected that the worker has left the work area A2, monitoring by the camera 76 is started, and the work manager W checks the image and judges whether the image is the remaining work area A2 or not.

[0105] Furthermore, when the control device 100 saves the image of the remaining work location A2 captured by the camera 76, it transmits a notification signal to the information terminal 120. When the information terminal 120 receives the notification signal transmitted from the control device 100, it issues a notification using a notification unit (not shown). By issuing a notification in this manner, it is possible to prompt the work manager W to check the image. The notification unit may be, for example, a lamp or a buzzer, or may be a screen (notification screen) displayed on the display unit 122.

[0106] As shown in FIGS. 14 and 15, the camera 76 is positioned behind the lawnmower vehicle 10A (detection area A2 for detecting the remaining work area). S), the camera 76 is mounted facing backward at the rear of the lawnmowing vehicle 10A. The camera 76 is also mounted facing diagonally downward so that the work manager W can more reliably recognize the condition of the grass (the condition of the grass before and after mowing) and its color.

[0107] A light (not shown) is provided near the camera 76. By turning on the light depending on the brightness of the work area F, it becomes possible to determine whether the work area is the remaining work area A2 even during dim light hours, for example.

[0108] The camera 76 can also change the interval between images taken depending on the speed (vehicle speed) of the lawnmower vehicle 10A. By making it possible to change the interval between images taken depending on the vehicle speed in this way, the work manager W can obtain images at any desired distance, such as every 1 meter or every 5 meters.

[0109] In addition, the control device 100 (see FIG. 13) constantly acquires the lawnmower work vehicle 10A's own position P1, orientation (absolute azimuth), and vehicle information (such as whether or not it is currently working) while the lawnmower work vehicle 10A is traveling, and synchronizes this with the photography by the camera 76.

[0110] The control device 100 also displays the remaining work location A2 on the information terminal 120 (see FIG. 13) along with the route that has already been traveled by the lawnmower work vehicle 10A so that the images can be referenced in association with the route that has already been traveled by the lawnmower work vehicle 10A. The control device 100 also sets a flag on any image that the work manager W has determined to be a remaining work location A2 or an image that needs to be reworked while the lawnmower work vehicle 10A is traveling or after it has traveled. When a flag on a route that has already been traveled by the lawnmower work vehicle 10A is selected, the control device 100 causes the information terminal 120 to display an image of this location.

[0111] 16, for example, on the display unit 122 of the information terminal 120 (see FIG. 13), the work manager W regards the remaining work area A2 as a rectangle (oblong) in the image G for which a flag has been set, and writes a rectangle RE1 on the image G. In this way, by the work manager W writing the rectangle RE1 on the image G, the position and size of the remaining work area A2 can be taught to the control device 100, and the four points of the rectangle RE1 enable the control device 100 to estimate the position and size of the remaining work area A2.

[0112] 16 (right side), the control device 100 performs processing to integrate nearby points by setting a threshold value considering the work width (mowing width) for multiple remaining work areas A2 instructed by the work manager W. By performing such processing, the work manager W can easily recognize that there is only one remaining work area A2, for example, when one remaining work area A2 is displayed across multiple images G or when multiple remaining work areas A2 are close to each other.

[0113] The control device 100 also re-creates a rectangle RE2 large enough to accommodate the remaining work area A2 and with two sides parallel to the direction (absolute azimuth angle) of the lawnmowing vehicle 10A, and sets the four points of the re-created rectangle RE2 as the outline of the remaining work area A2.

[0114] Then, the control device 100 calculates the planned work route R W A re-work route R1 is created so that the lawnmower vehicle 10A can automatically re-work the remaining work area A2 after work along the road is completed.

[0115] When creating the rework route R1, the control device 100 accepts an input operation of remaining work location information and a designation operation of remaining work location A2 by the work manager W on the display unit 122 (see FIG. 13) of the information terminal 120. The information terminal 120 outputs the input remaining work location information and the designated remaining work location A2 to the control device 100.

[0116] The control device 100 creates a rework route R1 based on the remaining work location information from the information terminal 120 and the specified remaining work location A2. Of the rework route R1, an actual work route R1a (see FIG. 4) along which actual ground work (lawn mowing work) is performed is set, for example, in the shortest route mode to be longer in the direction of travel of the lawnmower vehicle 10A than the remaining work location A2. Also, for example, in the aesthetic mode, the actual work route R1a is set to be a straight route R W1 is set as a whole.

[0117] In addition, the display unit 122 of the information terminal 120 displays the planned work route R W The remaining work area A2 (rectangle RE2) and the rework path R1 are displayed in sync.

[0118] When re-working the remaining work area A2, as shown in FIG. 17, the display unit 122 displays a planned work route R W 18, when the remaining work place A2 where rework is to be performed is instructed by the work manager W, the remaining work place A2 is displayed as a rectangle RE2. Note that, for example, if the work manager W wants to check the details of the remaining work place A2 (for example, the rectangle RE2 within the area indicated by the dashed dotted line in the figure), the work manager W can select the rectangle RE2, and the previous image of the remaining work place A2 displayed in the rectangle RE2 will be enlarged and displayed.

[0119] Once the remaining work area A2 (rectangle RE2) where re-work is to be performed has been determined, the work manager W instructs the lawnmower work vehicle 10A to re-work using the information terminal 120. Note that even during re-work, the control device 100 is acquiring images G (see FIG. 16) taken by the camera 76 (see FIGS. 14 and 15) and the lawnmower work vehicle 10A's own position P1 (see FIG. 5), making it possible to compare the results with those before the re-work was performed.

[0120] As shown in FIG. 19, the display unit 122 displays a re-work route R1 from the current position P1 of the lawnmowing vehicle 10A to the post-work completion standby position P6 (see FIG. 9, for example).

[0121] The re-work route R1 may be selected, for example, so as to be parallel to the work direction (mowing direction) around the remaining work area A2 (rectangle RE2). The mowing direction is determined by using information stored by synchronizing the self-position P1 and orientation while the lawnmowing vehicle 10A is traveling, and also by simultaneously referencing routes that have already been traveled. The re-work route R1 is created, for example, as the shortest route outside the remaining work area A2 (rectangle RE2). It is also possible to change the work accuracy at the remaining work area A2 (rectangle RE2), for example by mowing in one pass or mowing 1.5 round trips.

[0122] According to the work management system 1 (1A) for a work vehicle according to the second embodiment described above, in addition to the same effects as those of the first embodiment, the planned work route R W In the event that the travel trajectory of the work vehicle 10A deviates from the normal trajectory, the work manager W can view an image of the rear of the work vehicle 10A on the information terminal, and therefore the work manager W can easily check whether or not an unfinished work area A2 has actually occurred from the information terminal 120. In this way, by allowing the work manager W to easily check the occurrence of an unfinished work area A2, workability can be improved.

[0123] In addition, when the occurrence of an unworked area (area where there is a possibility of work being left behind) A2 that may become a remaining work location A2 is detected, the work manager W can look at the entire area A2 where there is a possibility of work being left behind and confirm whether or not a remaining work location A2 has occurred.

[0124] In addition, when the occurrence of an unworked area A2 is detected, the work manager W is notified, so that the work manager W can be prompted to immediately check whether or not an unworked area A2 has occurred.

[0125] In the second embodiment, the work vehicle 10A is a "lawnmower vehicle", but is not limited thereto. For example, the work vehicle 10A may be an "agricultural tractor". When the work vehicle 10A is an agricultural tractor, it is equipped with a tiller as the working implement 30, and is adapted to move the work vehicle 10A over a work area A set in a work field (field) F. WA rework route R1 is created to rework the remaining tillage work area A2.

[0126] <Third embodiment> Next, a work management system 1 (1B) for a work vehicle according to a third embodiment will be described with reference to Figures 20 to 25. Figure 20 is a block diagram showing the control configuration of a work management system 1B for a work vehicle according to the third embodiment.

[0127] 21 and 22 are explanatory diagrams of detection of the remaining work area (A2) using the laser sensor 77. Note that Fig. 21 shows the remaining work area A2 as viewed from the side, and Fig. 22 shows the remaining work area A2 as viewed from above.

[0128] 23 to 25 are explanatory diagrams of the display screen of the rework. Note that, in Figs. 23 to 25, the work area F displayed on the display unit 122 of the information terminal 120 is shown, and in Figs. 23 and 24, the planned work route R W 25 shows an example of a display of a remaining work location A2 after work has been completed along the route, and FIG. 25 shows an example of a display of a rework route R1.

[0129] The third embodiment described below is different from the first and second embodiments in that it includes a laser sensor 77, but other configurations are the same as those of the first and second embodiments. In the following description, the same reference numerals are used to designate the same (or equivalent) parts as those in the first and second embodiments, and descriptions of the parts with the same reference numerals are omitted.

[0130] As shown in FIG. 20, the control device 100 (control unit 110) includes a work area A W A laser sensor 77 is connected to the information terminal 120, which detects the position and shape of an object present behind the lawnmower vehicle 10 (10B) within the lawnmower vehicle 10 (10C) (see FIG. 3). The detection results of the laser sensor 77 are displayed on the display unit 122 of the information terminal 120. The control device 100 detects the remaining work area A2 (see FIG. 3) based on the detection results of the laser sensor 77.

[0131] Furthermore, when the control device 100 detects the remaining work area A2, the control device 100 stores the position and shape of the remaining work area A2 in at least one of the storage units (not shown) of the control unit 110 and the information terminal 120.

[0132] A 2D laser sensor is used for the laser sensor 77. In this case, the 2D laser sensor is designed to obtain 3D information on any grass left uncut by the lawnmower vehicle 10B. The advantage of the laser sensor 77 is that it is not affected by brightness, so it can detect objects even in dark places.

[0133] The control device 100 also has mowing height setting information that is set as the height of the grass after mowing. W When an object OB that is higher than the remaining mowing height setting information is detected within the range, it is detected as an unfinished work area A2, and the position and shape of the unfinished work area A2 are stored in the memory unit of at least one of the control unit 110 and the information terminal 120.

[0134] The control device 100 also records the area A1 already worked by the lawnmower vehicle 10A, based on the travel path of the lawnmower vehicle 10B and the working width of the lawnmower 30.

[0135] Here, the control device 100 detects that the laser sensor 77 is in the working area A W If an object OB that is higher than the mowing height setting information remaining in the memory is detected, the laser sensor 77 determines whether the object OB detected by the laser sensor 77 is on the left or right side of the lawnmower vehicle 10B.

[0136] The control device 100 determines whether the straight route R W1 (See Figure 3) is the straight path R W1 If so, the control device 100 detects the object OB detected by the laser sensor 77 as the remaining work area A2, and stores the position and shape of the remaining work area A2 in the memory of at least one of the control unit 110 and the information terminal 120. Alternatively, the control device 100 determines whether the side that made the determination is the work area A2. WIf the object OB is an edge portion of the object OB, the object OB detected by the laser sensor 77 is detected as an unfinished work area A2, and the position and shape of the unfinished work area A2 are stored in at least one of the storage units of the control unit 110 and the information terminal 120.

[0137] In this way, in the third embodiment, the remaining work area A2 can be detected by the laser sensor 77 provided on the lawnmower work vehicle 10B. When the remaining work area A2 is detected by the laser sensor 77, for example, when the lawnmower work vehicle 10B is moving along the planned work route R W Detection by the laser sensor 77 begins when it is detected that the work has left the area, and the work manager W checks the remaining work area A2 detected based on the detection results in the control device 100 and determines whether or not it is the remaining work area A2.

[0138] Furthermore, when the control device 100 stores the information of the remaining work location A2 detected based on the detection result of the laser sensor 77, it transmits a notification signal to the information terminal 120. When the information terminal 120 receives the notification signal transmitted from the control device 100, it issues a notification using a notification unit (not shown). By issuing a notification in this manner, it is possible to prompt the work manager W to check. The notification unit may be, for example, a lamp or a buzzer, or may be a screen (notification screen) displayed on the display unit 122.

[0139] As shown in FIGS. 21 and 22, the laser sensor 77 is positioned behind the lawnmower vehicle 10B (detection area A for detecting an object OB). S The laser sensor 77 is mounted facing rearward at the rear of the lawnmower vehicle 10B in order to detect the state of the grass (the state of the grass before and after it has been mowed). The position and angle of the laser sensor 77 are appropriately set so that the state of the grass can be determined.

[0140] The laser sensor 77 constantly emits a laser while the lawnmower vehicle 10B is traveling, and acquires information about the surroundings. The control device 100 saves the acquired information at regular intervals.

[0141] In addition, the control device 100 (see FIG. 13) constantly acquires the lawnmower work vehicle 10B's own position P1 (see FIG. 5), orientation (absolute azimuth angle), and vehicle information (such as whether or not it is currently working) while the lawnmower work vehicle 10B is traveling, and stores these in synchronization with detection by the laser sensor 77.

[0142] In addition, the control device 100 detects the detection area A based on the laser sensor 77. S and determines the determination range of the remaining work area A2 based on the point cloud information of the laser sensor 77. In this case, the control device 100 converts the acquired point cloud information into Xn, Yn, Zn information, and when it determines from the Xn, Yn, Zn information that there is an object OB that is higher than the mowing height setting information, it determines that it is an unmowed area, i.e., a remaining work area A2. Note that the control device 100 performs a grouping process on the point cloud determined as one object OB.

[0143] In this case, first, after the lawnmowing vehicle 10B has traveled a certain area, the control device 100 integrates the positions of the remaining work areas A2 obtained from the Xn, Yn, Zn information, and sets a threshold value to group the same or nearby points. Next, the control device 100 creates a rectangle RE (see FIG. 24) that can completely cover the group. In this way, by creating a rectangle RE that covers the group, the remaining work areas A2 that are the same or nearby points can be grouped together into one.

[0144] Then, the control device 100 calculates the planned work route R W A re-work route R1 is created so that the lawnmower vehicle 10B can automatically re-work the remaining work area A2 after work along the road is completed.

[0145] When creating the rework route R1, the control device 100 accepts an input operation of remaining work location information and a designation operation of remaining work location A2 by the work manager W on the display unit 122 (see FIG. 13) of the information terminal 120. The information terminal 120 outputs the input remaining work location information and the designated remaining work location A2 to the control device 100.

[0146] The control device 100 creates a rework route R1 based on the remaining work location information from the information terminal 120 and the specified remaining work location A2. Of the rework route R1, an actual work route R1a (see FIG. 4) along which actual ground work (lawn mowing work) is performed is set, for example, in the shortest route mode to be longer in the direction of travel of the lawnmower vehicle 10A than the remaining work location A2. Also, for example, in the aesthetic mode, the actual work route R1a is set to be a straight route R W1 is set as a whole.

[0147] In addition, the display unit 122 of the information terminal 120 displays the planned work route R W The remaining work area A2 (rectangle RE2) and the rework path R1 are displayed in sync.

[0148] When re-working the remaining work area A2, as shown in FIG. 23, the display unit 122 displays a planned work route R W 24, the remaining work area A2 is displayed as a rectangle RE by the processing of the control device 100.

[0149] Once the remaining work area A2 (rectangle RE) where re-work is to be performed has been determined, the work manager W instructs the lawnmowing vehicle 10B to re-work using the information terminal 120. Note that because the control device 100 continues to acquire information such as the grass cutting height even during re-work, it is possible to compare the results with those before the re-work.

[0150] As shown in FIG. 25, the display unit 122 displays a re-work route R1 from the current position P1 of the lawnmowing vehicle 10B to the post-work completion standby position P6 (see FIG. 9, for example).

[0151] The re-work route R1 may be selected, for example, so as to be parallel to the work direction (mowing direction) around the remaining work area A2 (rectangle RE). The mowing direction is determined by using information stored by synchronizing the self-position P1 and orientation while the lawnmowing vehicle 10B is traveling, and also by simultaneously referencing routes that have already been traveled. The re-work route R1 is created, for example, as the shortest route outside the remaining work area A2 (rectangle RE). It is also possible to change the work accuracy in the remaining work area A2 (rectangle RE), for example by mowing once or mowing 1.5 round trips.

[0152] According to the work management system 1 (1B) for a work vehicle in the third embodiment described above, in addition to the same effects as in the first embodiment, when an unfinished work area A2 is detected based on the detection result of the laser sensor 77, the work manager W can easily check whether or not an unfinished work area A2 has actually occurred using the information terminal 120. In this way, by enabling the work manager W to easily check the occurrence of an unfinished work area A2, workability can be improved.

[0153] Furthermore, by storing an object OB that is higher than the cutting height setting information as an unworked area A2, the work manager W can easily confirm the occurrence of an unworked area A2.

[0154] In addition, the straight path R of the adjacent existing work W1 If there is an object OB higher than the mowing height setting information on the side, it is determined to be an unworked area A2, so the work manager W can easily confirm the occurrence of an unworked area A2. Also, in this case, the unworked (uncut) grass can be distinguished as uncut grass.

[0155] According to the embodiment described above, the following work management system 1 (1A) for a work vehicle is realized.

[0156] (1) A work vehicle 10 (10A) has a work implement 30 for performing ground work, and performs work using the work implement 30 while traveling. A positioning device 50 measures the self-position P1 of the work vehicle 10A. A previously set planned work route R is calculated using the measurement results of the positioning device 50. W The control device 100 controls the work vehicle 10A so that the work vehicle 10A travels along a planned work route R, a camera 76 captures an image of the rear of the work vehicle 10A, and an information terminal 120 displays an image G captured by the camera 76. The control device 100 controls the work vehicle 10A so that the work vehicle 10A travels along a planned work route R, W When the travel trajectory of the work vehicle 10A deviates from the target, the image G captured by the camera 76 is stored for display on the information terminal 120.

[0157] According to such a work management system 1A for a work vehicle, a planned work route R W In the event that the travel trajectory of the work vehicle 10A deviates from the original position, the work manager W can view the image G of the rear of the work vehicle 10A on the information terminal 120, and therefore the work manager W can easily check from the information terminal 120 whether or not an unfinished work area A2 has actually occurred. In this way, by enabling the work manager W to easily check the occurrence of an unfinished work area A2, workability can be improved.

[0158] (2) In the above (1), the planned work route R W is the work area A of the work vehicle 10A. W A straight path R for performing a straight process by the work vehicle 10A is set within the W1 The control device 100 records an area A1 already worked by the work vehicle 10A from the travel path of the work vehicle 10A and the working width of the work implement 30, and when it detects the occurrence of an area A2 not yet worked by the work vehicle 10A, after a predetermined time has elapsed since the occurrence of the area A2 not yet worked by the work vehicle 10A has been detected, or after the occurrence of the work area A W The work management system 1A for a work vehicle stores an image G of the unworked area A2 captured by a camera 76 for display on an information terminal 120 after the unworked area A2 becomes a closed area between the edge of the unworked area A2 or the adjacent worked area A1.

[0159] According to such a work management system 1A for a work vehicle, in addition to the effect (1) above, when the occurrence of an unworked area (area where there is a possibility of work being left behind) A2 that may become a location A2 where work is left behind is detected, the work manager W can look at the entire area A2 where there is a possibility of work being left behind and confirm whether or not a location A2 where work is left behind has occurred.

[0160] (3) In the above (2), the control device 100 transmits an alarm signal to the information terminal 120 when it saves the image G of the unworked area A2 captured by the camera 76, and the information terminal 120 has an alarm unit that issues an alarm when it receives the alarm signal transmitted from the control device 100, in a work management system 1A for a work vehicle.

[0161] According to such a work management system 1A for a work vehicle, in addition to the effect of (2) above, when an unworked area A2 is detected, an alert is sent to the work manager W, and the work manager W can be prompted to immediately check whether or not an unworked area A2 has occurred.

[0162] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0163] 1,1A Work Management System 10, 10A Work vehicle (lawn mowing vehicle) 30 Work equipment (lawn mower) 50 Positioning device 76 Camera 100 Control device 120 Information terminal (tablet terminal) A W Work Area A1 Existing work area A2 Remaining work area (unworked area) G Video (Image) P1 Self-position R W Planned work route R W1 Straight route

Claims

1. a work vehicle having a work implement for performing ground work and performing work using the work implement while traveling; A positioning device for measuring a self-position of the work vehicle; a control device that uses the measurement results of the positioning device to control the work vehicle so that the work vehicle travels along a predetermined planned work route; A camera that photographs the rear of the work vehicle; an information terminal that displays the image captured by the camera; Equipped with The control device includes: When the travel path of the work vehicle deviates from the planned work route, the image captured by the camera is stored for display on the information terminal. A work management system for a work vehicle.

2. The planned work route is: A straight path is set within a work area of ​​the work vehicle, and the straight path is used for performing a straight line process by the work vehicle. The control device includes: Recording a work area already worked by the work vehicle from a travel trajectory of the work vehicle and a work width of the work implement; When the occurrence of an unworked area by the work vehicle is detected, after a predetermined time has elapsed since the occurrence of the unworked area was detected, or after the unworked area becomes a closed area between the edge of the work area or the adjacent already-worked area, an image of the unworked area photographed by the camera is stored for display on the information terminal. The work management system for a work vehicle according to claim 1 .

3. The control device includes: When the image of the unworked area captured by the camera is saved, a notification signal is transmitted to the information terminal; The information terminal includes: A notification unit that issues a notification when the notification signal transmitted from the control device is received. The work management system for a work vehicle according to claim 2 .

Images