Work management system for a work vehicle

Abstract

To provide a work management system of a work vehicle capable of improving workability by allowing a work manager to easily recognize an occurrence of a place left undone.SOLUTION: A work management system of a work vehicle comprises the work vehicle, a positioning device, a control device, a laser sensor and an information terminal. The work vehicle includes a lawn mower and works with the lawn mower, while traveling. The positioning device measures a self-position of the work vehicle. The control device uses the measurement result of the positioning device and controls the work vehicle to travel for work along a preset planned work path. The laser sensor detects a position and shape of an object present behind the work vehicle. The information terminal displays a detection result of the laser sensor. The control device detects a left-undone place where work by the work vehicle is left undone based on the detection result of the laser sensor, and when detecting the place left undone, stores the position and shape of the place left undone so as to be displayed on the information terminal.SELECTED DRAWING: Figure 21

Description

Technical Field

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

Background Art

[0002] Conventionally, in a work vehicle having a working machine that performs ground work such as lawn mowing, a technique of performing work (hereinafter referred to as autonomous work) while autonomously traveling along a preset planned work route within an area to be worked (hereinafter referred to as a work area) is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology as described above, when a deviation occurs between the planned work route and the travel trajectory data of the work vehicle, a work remaining place (in the case of a lawn mower, a place where grass is left uncut) may occur, but since it may be just an error in the data, it was necessary for the work manager to visually confirm whether a work remaining place actually occurred.

[0005] An object of the present invention is to provide a work management system for a work vehicle that allows a work manager to easily confirm the occurrence of a work remaining place and can improve work efficiency.

Means for Solving the Problems

[0006] In order to solve the above-described problems and achieve the object, a work management system for a work vehicle according to the present invention includes a lawn mowing device that performs lawn mowing work, a work vehicle that works with the lawn mowing device while traveling, a positioning device that measures the self-position of the work vehicle, a control device that controls the work vehicle to travel along a preset planned work route using the measurement result of the positioning device, a laser sensor that detects the position and shape of an object existing behind the work vehicle, and an information terminal that displays the detection result of the laser sensor. The control device detects a remaining work location where work by the work vehicle remains based on the detection result of the laser sensor, and when the remaining work location is detected, stores the position and shape of the remaining work location for display on the information terminal.

Effect of the Invention

[0007] According to the work management system for a work vehicle according to the present invention, a work manager can easily confirm the occurrence of a remaining work location, and work efficiency can be improved.

Brief Description of the Drawings

[0008]

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MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, embodiments of the 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 by the embodiments shown below.

[0010] <First Embodiment> First, with reference to FIG. 1, the overall configuration of the work management system 1 for a work vehicle according to the first embodiment will be described. FIG. 1 is a diagram showing the overall configuration of the work management system 1 for a work vehicle according to the first embodiment. Hereinafter, a "lawn mowing work vehicle" will be described as an example of the work vehicle 10. The lawn mowing work vehicle 10 performs a work of mowing lawn grass (hereinafter referred to as lawn grass) in a predetermined work area A W (see FIG. 3) set in a work site F (see FIG. 3) such as a riverbank, a park, or a stadium.

[0011] In addition to performing work while traveling within the work area A by the operation of the operator, the lawn mowing work vehicle 10 performs work (autonomous work) while autonomously traveling within the work area A by the control of each part by a control system centered on a control device 100 (see FIG. 2) described later. W W

[0012] Note that FIG. 1 shows a three-dimensional orthogonal coordinate system including a Z axis with the vertically upward (upward) direction as the positive direction. Hereinafter, for convenience of explanation, the positive direction of the X axis is defined as the left direction, the negative direction of the X axis is defined as the right direction, the positive direction of the Y axis is defined as the front direction, and the negative direction of the Y axis is defined as the rear direction. For this reason, hereinafter, the X-axis direction is referred to as the left-right direction, the Y-axis direction is referred to as the front-rear direction, and the Z-axis direction is referred to as the up-down direction. Such a three-dimensional orthogonal coordinate system may also be shown in other figures.

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

[0014] The lawn mowing work vehicle 10 is operated by an operator sitting in the driver's seat 241 provided on the traveling vehicle body 20 described later. In the following, the lawn mowing work vehicle 10 may be referred to as the "airframe" in some cases. The lawn mowing work vehicle 10 includes a traveling vehicle body 20, a lawn mowing device 30 which is a work implement for performing ground work, and a grass collecting 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 unit 24 at its front part. The control unit 24 includes the above-mentioned 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 vehicle body frame 21. The floor step 242 is provided in front of the driver's seat 241. The steering column 243 is erected at the front part of the floor step 242. The steering wheel 244 is provided at the upper part of the steering column 243. Note that various operation pedals and the like are provided on the floor step 242. Also, in addition to the steering wheel 244, an operation panel, various operation levers, various operation switches, etc. are provided on the steering column 243.

[0017] Also, at the rear part of the control unit 24, an arch-shaped safety bar 245 is provided so as to be tiltable in the front-rear direction when viewed from the front of the airframe.

[0018] The lawn mowing device (also referred to as a mower device) 30 is disposed at the lower front part of the traveling vehicle body 20. The lawn mowing device 30 includes a cutting blade (not shown) that rotates around a vertical axis along the vertical direction to cut the lawn grass, and a motor (not shown) that drives the cutting blade. The lawn mowing device 30 is provided so as to be liftable via a lifting device 31 (see FIG. 2). Note that the lawn mowing device 30 may be of a type disposed between the front wheels 22 and the rear wheels 23 below the traveling vehicle body 20.

[0019] The collector 40 accommodates the turf cut by the turf cutting device 30 and is provided so as to be movable up and down via a collector elevating mechanism.

[0020] The positioning device 50 is provided on the upper part of the traveling vehicle body 20, measures the position of the traveling vehicle body 20 at a predetermined cycle, and acquires information (for example, latitude and longitude) on the self-position P1 (see FIG. 5) of the traveling vehicle body 20. The positioning device 50 is, for example, a GNSS (Global Navigation Satellite System), can receive radio waves from the navigation satellite S orbiting in the sky, can measure the self-position P1 of the traveling vehicle body 20 (turf cutting work vehicle 10), and can measure time.

[0021] The control device 100 (see FIG. 2) is composed of a control unit 110 (see FIG. 2) mounted on the turf cutting work vehicle 10 and an information terminal 120 described later. Note that the control device 100 may be composed of only one of the control unit 110 and the information terminal 120. For example, when the control device 100 is composed of only the control unit 110 of the turf cutting work vehicle 10, the processing performed by the information terminal 120 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 by, for example, a wireless LAN (Local Area Network).

[0023] Further, the information terminal 120 includes, for example, a control unit (storage unit) 121 (see FIG. 2) composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and a display unit 122 (see FIG. 2) composed of a touch panel and also functioning as an operation unit. Note that various keys, buttons, etc. may be separately provided as the operation unit of the information terminal 120. Further, the information terminal 120 may include a processing unit having a CPU (Central Processing Unit) or the like so as to be able to control each part by electronic control.

[0024] Further, the work management device is, for example, a computer having a processing device having a CPU or the like, a storage device such as a ROM, a RAM, and an HDD (Hard Disk Drive), and further an input / output device.

[0025] The lawn mowing work vehicle 10 can set the lawn mowing work at a specific work site F by operating the information terminal 120 by the work manager W.

[0026] Next, with reference to FIG. 2, the work management system 1 of the work vehicle according to the first embodiment, that is, the control system of the lawn mowing work vehicle 10 centered on the control device 100 will be described. FIG. 2 is a block diagram showing the control configuration of the work management system 1 of the work vehicle according to the first embodiment. As shown in FIG. 2, the control device 100 is composed of a control unit 110 of the lawn mowing work vehicle 10 and the information terminal 120.

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

[0028] The engine ECU 111 controls the rotational speed of the engine E. The traveling system ECU 112 controls the traveling speed of the traveling vehicle body 20 (see FIG. 1) by controlling the rotation of the rear wheels 23 (see FIG. 1), which are the drive wheels, for example. The work implement lifting system ECU 113 controls the lifting device 31 to drive the lifting of the lawn mowing device 30, which is the work implement.

[0029] Note that the control unit 110 can control each part by electronic control, and includes a processing unit having a CPU and the like, various programs, and a planned working path R (to be described later) of the traveling vehicle body 20 preset for each field. W (see FIG. 3) and includes a storage unit composed of a hard disk, ROM, RAM, etc., in which necessary data such as this is stored.

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

[0031] The azimuth 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°, "west" is 270°). The azimuth sensor 71 detects the absolute azimuth angle at regular intervals and transmits the detected absolute azimuth angle to the control unit 110 and the like.

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

[0033] Information on the position (self-position) P1 of the traveling vehicle body 20 at the work site F (see FIG. 3) from the positioning device 50, the absolute azimuth angle of the traveling vehicle body 20 from the azimuth 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 position from the shift sensor 74, and the steering angle of the front wheels 22 from the steering angle sensor 75 are respectively input to the control unit 110.

[0034] When the control unit 110 causes the traveling vehicle body 20 to perform autonomous driving (autonomous work), as described above, by using the detection value of the steering angle sensor 75, the steering cylinder connected to the steering wheel 244 (see FIG. 1) is controlled while feeding back the steering angle of the front wheels 22, thereby controlling the steering of the steering wheel 244.

[0035] In addition, in the control unit 110, the engine ECU 111 is connected to the engine E, the traveling system ECU 112 is connected to the transmission 61 and the steering device 62, and the work implement lifting system ECU 113 is connected to the lifting device 31. The work implement lifting system ECU 113 raises and lowers the lawn mowing device 30 via the lifting device 31.

[0036] In addition, in the control unit 110, when the traveling vehicle body 20 performs autonomous driving (autonomous work), a planned work route R W is determined in advance for each work site F, converted into data, and stored in the storage unit.

[0037] Based on the measurement result of the positioning device 50, the control unit 110 controls the engine E, the transmission 61, the steering device 62, the lifting device 31, etc. so as to perform work while traveling along the planned work route R W stored in the storage unit. The planned work route R W is set according to the shape and size of the work site F, etc. In addition, the control unit 110 presets the turning radius when the lawn mowing work vehicle 10 (traveling vehicle body 20) moves.

[0038] In addition, as described above, the control unit 110 is wirelessly connected to, for example, an information terminal 120 that can be carried by a work manager W (see FIG. 3). The control unit 110 controls each part of the lawn mowing work vehicle 10 based on an instruction signal from the information terminal 120 by the operation of the work manager W. Note that the control unit 110 may be configured to have a machine information database of the lawn mowing work vehicle 10 and be able to exchange information such as the model from the information terminal 120 and the like.

[0039] Next, the autonomous operation of the work vehicle (lawn mowing work vehicle 10) will be described with reference to FIGS. 3 and 4. FIG. 3 is an explanatory diagram of the autonomous operation of the work vehicle (lawn mowing work vehicle 10). FIG. 4 is an explanatory diagram of the remaining work location in the autonomous operation of the work vehicle (lawn mowing work vehicle 10). Note that FIGS. 3 and 4 schematically show the work site F as viewed from above.

[0040] For example, in the case of the lawn mowing work vehicle 10 that performs autonomous operation in response to the operation of the information terminal 120 by the work manager W, the control device 100 (see FIG. 2) is based on information including, for example, the overall length, overall width, tread of the lawn mowing work vehicle 10, the capacity of the lawn mowing device 30 (see FIG. 1), the shape and area of the work site F, etc., and a planned work path R with appropriate turning positions and mowing heights of the lawn grass defined W is created.

[0041] The lawn mowing work vehicle 10, for example, within the work area A W set within the work site F, from the preset work start point P S to the work end point P E performs the lawn mowing work while repeating straight running and turning along the planned work path R W .

[0042] The planned work path R W has a straight running path R W1 and a turning path R W2 . The straight running path R W1 is set within the work area A W of the lawn mowing work vehicle 10 and is a path for performing the lawn mowing process (straight running process) while the lawn mowing work vehicle 10 runs straight. The turning path R W2 is a path connecting the ends of adjacent straight running paths R W1 and is a path for performing the turning process for the lawn mowing work vehicle 10 to move from the straight running path R W1 to the next straight running path R W1 .

[0043] Here, as shown in FIG. 3, for example, if a deviation occurs between the planned work path R W and the travel locus data of the lawn mowing work vehicle 10, etc., the planned work path RW When it deviates from the actual travel route R of the lawn mowing work vehicle 10, there may be a work remaining area A2 (a place where the lawn grass is left uncut) that becomes an unworked area separately from the already worked area A1 among the places (areas) where the lawn mowing work has ended.

[0044] As shown in FIG. 4, when the work remaining areas A2 (A21, A22) occur, a rework route R1 described later for performing rework on the work remaining areas A21 and A22 is created, and based on the created rework route R1, the lawn mowing work vehicle 10 performs autonomous work for rework. Note that the area A20 among the work remaining areas A2 shown in FIG. 4 is an area that was not determined to be a work remaining area A2 by the work manager W. In this way, for example, it is possible to determine the work remaining area A2 by visual inspection or the like by the work manager W.

[0045] Also, as shown in FIG. 4, for example, when the work manager W confirms the work remaining area A2, a screen may be displayed on the display unit 122 (see FIG. 2) of the information terminal 120 that designates by surrounding the position and area of the work remaining area A2 in the work field F by the work manager W with a rectangle (rectangle).

[0046] Also, a screen for confirming whether or not to start rework may be displayed on the display unit 122 of the information terminal 120 when the work by the lawn mowing work vehicle 10 is completed.

[0047] As shown in FIGS. 3 and 4, the work remaining area A2 is an unworked area closed at the edge of the already worked area A1 or between the already worked area A1 adjacent thereto. Note that the determination of whether or not it is the work remaining area A2 is made, for example, by visual inspection by the work manager W. W In addition, the rework route R1 is, as described above, the planned work route R

[0048] Also, as described above, the rework route R1 is the planned work route R WThis is the path for the lawn mowing work vehicle 10 to automatically rework the remaining work area A2 after the work along it is completed. When creating the rework path R1, the information terminal 120 receives, from the display unit 122 (see FIG. 2), the input operation by the work manager W of the information on the remaining work area A2 (hereinafter referred to as the remaining work area information) and the designation operation of the remaining work area A2. The information terminal 120 outputs the input remaining work area information and the designated remaining work area A2 to the control device 100.

[0049] Then, the control device 100 creates the rework path R1 based on the remaining work area information from the information terminal 120 and the designated remaining work area A2. Note that, among the rework path R1, the actual work path R1a for actually performing the ground operation (lawn mowing work) is set to be longer in the traveling direction of the lawn mowing work vehicle 10 than the remaining work area A2 in the shortest path mode described later. Also, in the aesthetics mode described later, the actual work path R1a is a straight path R having the remaining work area A2 W1 is set as a whole.

[0050] Next, with reference to FIGS. 5 to 7, the rework path (R1) creation process by the control device 100 will be described. FIG. 5 is an explanatory diagram of the left turn circle and the right turn circle of the work vehicle (lawn mowing work vehicle 10). Note that FIG. 5 schematically shows the lawn mowing work vehicle 10 as viewed from above. FIGS. 6 and 7 are explanatory diagrams of the creation of the rework path (R1). Note that FIG. 6 schematically shows an example of the movement locus from the rework start point P2 of the lawn mowing work vehicle 10 as viewed from above, and FIG. 7 schematically shows another example of the movement locus from the rework start point P2 of the lawn mowing work vehicle 10 as viewed from above.

[0051] As described above, the control device 100 (see FIG. 2) creates the rework path R1 of the lawn mowing work vehicle 10 so that the lawn mowing work vehicle 10 can move to the rework start point P2 along an appropriate path when performing rework.

[0052] As shown in Fig. 5, the control device 100 presets a circle C1 with a turning radius that touches the azimuth vector V1 acquired by the azimuth sensor 71 (see Fig. 2) and the current position (self-position P1) acquired by the positioning device 50. That is, the control device 100 determines, from the current position (self-position P1) and orientation of the lawn mowing vehicle 10, a first right-turn circle C1 that is the turning trajectory when the lawn mowing vehicle 10 starts moving while turning R and a first left-turn circle C1 L and sets them.

[0053] As shown in Fig. 6, the control device 100 sets a circle C2 with a turning radius that touches the vector V2 on the rework path R1 and the rework start point P2. That is, the control device 100 determines, for the case where the lawn mowing vehicle 10 enters the rework start point P2 at the work remaining location A2 where the lawn mowing vehicle 10 first performs rework, a second right-turn circle C2 that is the turning trajectory R and a second left-turn circle C2 L and sets them.

[0054] In addition, the control device 100 sets a tangent line L1 for the circles C1 and C2 with two turning radii. Then, the control device 100 creates a plurality of paths based on the two circles C1 and C2 with turning radii and the tangent line L1, and for example, sets the shortest path among the plurality of paths as the rework path R1. In this way, when setting the shortest path (rework path R11 described later), the control device 100 selects from four types of paths: right turn - straight - right turn, right turn - straight - left turn, left turn - straight - right turn, and left turn - straight - left turn.

[0055] In addition, when the distance from the current position (self-position P1) of the lawn mowing vehicle 10 to the rework start point P2 is short, for example, as shown in Fig. 7, when the distance d from the center O1 of the first right-turn circle C1 R to the center O2 of the second left-turn circle C2 L is equal to or less than four times the turning radius r, the control device 100 further sets a connecting circle C with a turning radius that touches the two circles C1 and C2 with turning radii. Then, the control device 100 determines three circles C1, C2, and C with turning radii J and sets them. JCreate the shortest path. In this way, when setting the shortest path (the rework path R11 described later), the control device 100 selects from six paths including two types: right turn - left turn - right turn and left turn - right turn - left turn.

[0056] In creating the rework path R1, the control device 100 has a shortest path mode and an aesthetic mode. When creating the rework path R1, the control device 100 executes either the shortest path mode or the aesthetic mode. On the display unit 122 (see Fig. 2) of the information terminal 120, a screen is displayed for the work manager W to select whether to perform rework in either the shortest path mode or the aesthetic mode when performing rework.

[0057] Next, the shortest path mode will be described with reference to Figs. 8 and 9. Figs. 8 and 9 are explanatory diagrams of the shortest path mode. Note that Figs. 8 and 9 schematically show the work site F as viewed from above. Fig. 8 shows the rework path R11 in the shortest path mode, and Fig. 9 shows the movement path (post - completion movement path) R12 after the completion of rework in the shortest path mode.

[0058] As described above, the control device 100 (see Fig. 2) has a shortest path mode that connects the current position (self - position P1) of the lawn mowing work vehicle 10 to the work - left - unfinished location A2 by the shortest path. In the shortest path mode, the rework at the work - left - unfinished location A2 can be performed along the shortest path.

[0059] As shown in Fig. 8, in the shortest path mode, the control device 100 sets a first right - turn circle C1 R and a first left - turn circle C1 L as the turning trajectories when the lawn mowing work vehicle 10 starts while turning. Next, the control device 100 sets a second right - turn circle C2 R and a second left - turn circle C2 L as the turning trajectories when the lawn mowing work vehicle 10 enters the rework start point P2 of the work - left - unfinished location A21 where it will first perform rework.

[0060] Next, the control device 100 sets the first right - turn circle C1 Ror the first left-turn circle C1 L and the second right-turn circle C2 R or the second left-turn circle C2 L and the first right-turn circle C1 R or the first left-turn circle C1 L and the second right-turn circle C2 R or the second left-turn circle C2 L The lawn mowing work vehicle 10 is controlled to move along the rework path R11 created by the tangent line L1 (see Fig. 6) with the above and perform rework at the rework remaining location A21 along the rework path R11.

[0061] Next, the control device 100 determines the third right-turn circle C3 R and the third left-turn circle C3 L which are the turning trajectories when the lawn mowing work vehicle 10 turns from the rework end point P3 of the rework remaining location A21 where rework is first performed. Next, the control device 100 determines the fourth right-turn circle C4 R and the fourth left-turn circle C4 L which are the turning trajectories when the lawn mowing work vehicle 10 enters the rework start point P4 at the rework remaining location A22 where rework is to be performed next.

[0062] Next, the control device 100 determines the third right-turn circle C3 R or the third left-turn circle C3 L and the fourth right-turn circle C4 R or the fourth 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 the fourth left-turn circle C4 L The lawn mowing work vehicle 10 is controlled to move along the rework path R11 created by the tangent line and perform rework at the rework remaining location A22 along the rework path R11.

[0063] That is, in the shortest path mode, when there are multiple work leaving locations A2 (A21, A22), the control device 100 controls the lawn mowing vehicle 10 to move from the self-position P1 to the rework start point P2 of the work leaving location A21 along the shortest path and perform rework at the work leaving location A21. Next, the control device 100 controls the lawn mowing vehicle 10 to move from the rework end point P3 of the work leaving location A21 to the rework start point P4 of the work leaving location A22 along the shortest path and perform rework at the work leaving location A22.

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

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

[0066] Also, in the shortest path mode, the control device 100 presets an end standby position P6 for moving the lawn mowing vehicle 10 after the rework by the lawn mowing vehicle 10 is completed. In the shortest path mode, the lawn mowing vehicle 10 moves along the end movement path R12, which is the shortest path, from the rework end point P5 of the last work leaving location A2 (in the illustrated example, the work leaving location A22) to the end standby position P6.

[0067] As shown in FIG. 9, in the shortest path mode, the control device 100 sets a fifth right turn circle C5 R and a fifth left turn circle C5 L which are the turning trajectories when the lawn mowing vehicle 10 turns from the rework end point P5 of the work leaving location A22 where the lawn mowing vehicle 10 last reworked. Next, the control device 100 sets the fifth right turn circle C5R or the fifth left-turn circle C5 L After the tangent line of is terminated and the vehicle reaches the standby position P6 after completion, a movement path R12 after completion is created. Then, the control device 100 controls the lawn mowing vehicle 10 to move along the movement path R12 after completion and reach the standby position P6 after completion.

[0068] As shown in FIG. 9, in the shortest path mode, the control device 100 is the sixth right-turn circle C6 that touches at the standby position P6 with respect to the vector V6 of the orientation (azimuth angle) of the lawn mowing vehicle 10 at the standby position P6 after completion R and the sixth left-turn circle C6 L may be further set. In this case, the control device 100 is the fifth right-turn circle C5 R or the fifth left-turn circle C5 L and the sixth right-turn circle C6 R or the sixth left-turn circle C6 L and the fifth right-turn circle C5 R or the fifth left-turn circle C5 L and the sixth right-turn circle C6 R or the sixth left-turn circle C6 L The control device 100 controls the lawn mowing vehicle 10 to move along the movement path R12 after completion created by the tangent lines between them.

[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. Note that FIGS. 10 to 12 schematically show the work site F viewed from above. FIG. 10 shows the rework path R13 in the aesthetic mode, FIG. 11 shows the movement path (movement path after completion) R14 after the rework is completed in the aesthetic mode, and FIG. 12(a) shows a straight path R having a work remaining location A2 W1 when the number of is odd, and FIG. 12(b) shows the case where the number of straight paths R having a work remaining location A2 W1 is even.

[0070] When creating the rework path R1, for example, the control device 100 (see FIG. 2) has an aesthetic mode suitable for reworking the remaining work location A2 at a work site F that emphasizes appearance, such as a park, stadium, or golf course. In the aesthetic mode, the rework of the remaining work location A2 can be performed to achieve a more beautiful finish.

[0071] As shown in FIG. 10, in the aesthetic mode, when creating the rework path R13, the control device 100 makes the specified remaining work location A2 (A21, A22) a path along which the work vehicle can travel straight and does not intersect the straight path R W1 to create the rework path R13. W1

[0072] Also, the control device 100 performs the shortest path mode even in the aesthetic mode. That is, in the aesthetic mode, the control device 100 performs the rework of the remaining work location A2 along the shortest path while achieving a more beautiful finish.

[0073] As shown in FIG. 10, in the aesthetic mode, when the lawn mowing work vehicle 10 starts while turning, the control device 100 sets the first right turn circle C1 R and the first left turn circle C1 L which are the turning trajectories. Next, the control device 100 sets the second right turn circle C2 W1 and the second left turn circle C2 R which are the turning trajectories when the lawn mowing work vehicle 10 enters the entry end (rework start point P2) of the straight path R having the remaining work location A21 that the lawn mowing work vehicle 10 will rework first. L

[0074] Next, the control device 100 uses the first right turn circle C1 R or the first left turn circle C1 L and the second right turn circle C2 R or the second left turn circle C2 L and the first right turn circle C1 R or the first left turn circle C1 L and the second right turn circle C2 R or the second left turn circle C2 LWhile moving the rework path R13 created by the tangent line L1 (see Fig. 6) and performing rework at the rework remaining location A21 along the rework path R13, the lawn mowing work vehicle 10 is controlled.

[0075] Next, the control device 100 determines the third right turn circle C3 W1 which is the turning trajectory when the lawn mowing work vehicle 10 turns from the exit end (rework end point P3) of the straight path R having the rework remaining location A21 where the rework is first performed. R and the third left turn circle C3 L and sets them. Next, the control device 100 determines the fourth right turn circle C4 W1 which is the turning trajectory when the lawn mowing work vehicle 10 enters the entry end (rework start point P4) of the straight path R having the rework remaining location A22 where the rework is to be performed next. R and the fourth left turn circle C4 L and sets them.

[0076] Next, the control device 100 controls the lawn mowing work vehicle 10 to move along the rework path R13 created by the tangent line between the third right turn circle C3 R or the third left turn circle C3 L and the fourth right turn circle C4 R or the fourth left turn circle C4 L and performs rework at the rework remaining location A22 along the rework path R13. R or the third left turn circle C3 L and the fourth right turn circle C4 R or the fourth left turn circle C4 L and performs rework at the rework remaining location A22 along the rework path R13.

[0077] That is, in the aesthetic mode, when there are a plurality of rework remaining locations A2 (A21, A22), the control device 100 moves the lawn mowing work vehicle 10 from the self-position P1 to the entry end (rework start point P2) of the straight path R having the rework remaining location A21 along the shortest path, and controls the lawn mowing work vehicle 10 to perform rework at the rework remaining location A21 along the straight path R. W1 Next, the control device 100 moves from the rework end point P3 to the entry end (rework start point P4) of the straight path R having the rework remaining location A22 along the shortest path, and moves along the straight path R W1 and controls the lawn mowing work vehicle 10 to perform rework at the rework remaining location A21 along the straight path R. Next, the control device 100 moves from the rework end point P3 to the entry end (rework start point P4) of the straight path R having the rework remaining location A22 along the shortest path, and moves along the straight path R W1 and controls the lawn mowing work vehicle 10 to perform rework at the rework remaining location A22 along the straight path R.W1 Control the lawn mowing work vehicle 10 to perform rework at the rework remaining location A22 along [the specified path].

[0078] Also, in the aesthetic mode, the control device 100 preset an end standby position P6 for moving the lawn mowing work vehicle 10 after the completion of the rework by the lawn mowing work vehicle 10. Also in the aesthetic mode, similar to the shortest path mode, a straight path R having the last reworked remaining work location A2 (rework remaining location A22) W1 From the exit end (rework end point P5) of [the path] to the end standby position P6, the lawn mowing work vehicle 10 moves along the end movement path R14 which is the shortest path.

[0079] As shown in FIG. 11, in the aesthetic mode, the control device 100 [specifies] a fifth right turn circle C5 W1 which is the turning locus when turning from the exit end (rework end point P5) of the straight path R having the rework remaining location A22 where the lawn mowing work vehicle 10 last performed rework R and a fifth left turn circle C5. L Then, the control device 100 creates the end movement path R14 by making the tangent of the fifth right turn circle C5 R or the fifth left turn circle C5 L reach the end standby position P6. Then, the control device 100 controls the lawn mowing work vehicle 10 to move along the end movement path R14 and reach the end standby position P6.

[0080] Note that, as shown in FIG. 11, in the aesthetic mode, the control device 100 [specifies] a sixth right turn circle C6 R which touches at the end standby position P6 with respect to the vector V6 of the orientation (azimuth) of the lawn mowing work vehicle 10 at the end standby position P6 L and a sixth left turn circle C6. R In this case, the control device 100 [specifies] the fifth right turn circle C5 L or the fifth left turn circle C5 R and the sixth right turn circle C6 L or the sixth left turn circle C6 R or the fifth left turn circle C5 L and the sixth right turn circle C6 Ror the sixth left-turn circle C6 L Control the lawn mowing vehicle 10 to move along the post-operation movement path R14 created by the tangent line to it.

[0081] In addition, when there are multiple remaining work locations A21 and A22, the control device 100 selects the straight path R W1 among them that is the farthest from the post-operation standby position P6, and starts rework by the lawn mowing vehicle 10 from the remaining work location A21 on this straight path R. W1 Start rework by the lawn mowing vehicle 10 from the remaining work location A21 on this straight path R.

[0082] As shown in FIG. 12, in the aesthetic mode, the control device 100 changes the entry direction of the lawn mowing vehicle 10 into the straight path R W1 where the lawn mowing vehicle 10 first enters, depending on whether the number of straight paths R W1 having the remaining work location A2 is odd or even.

[0083] As shown in FIG. 12(a), when the number of straight paths R W1 having the remaining work location A2 (A21, A22, A23) is odd, the control device 100 creates a path for the lawn mowing vehicle 10 to enter from the side opposite to the side where the post-operation standby position P6 is set, with respect to the straight path R W1 where the lawn mowing vehicle 10 first enters. The control device 100 controls the lawn mowing vehicle 10 to enter the straight path R W1 from the side opposite to the side where the post-operation standby position P6 is set and perform rework.

[0084] Also, as shown in FIG. 12(b), when the number of straight paths R W1 having the remaining work location A2 (A21, A22, A23) is even, the control device 100 creates a path for the lawn mowing vehicle 10 to enter from the same side as the side where the post-operation standby position P6 is set, with respect to the straight path R W1 where the lawn mowing vehicle 10 first enters. The control device 100 controls the lawn mowing vehicle 10 to enter the straight path R W1 from the same side as the side where the post-operation standby position P6 is set and perform rework.

[0085] In the aesthetic mode, when the control device 100 creates the rework path R13 or the post-operation movement path R14, if the path for moving to the rework start point P2 or the post-operation movement path R14 enters the work area A W for example, when entering the rectangular work area A W a detour circle with the four corners of the rectangle as vertices may be set, and a path passing through this detour circle may be created.

[0086] According to the work management system 1 of the work vehicle according to the first embodiment described above, by creating the rework path R1 for the lawn mowing work vehicle 10 to rework the remaining work location A2 after the work, even when remaining work occurs in the work vehicle 10 that automatically performs work by autonomous driving, since the rework path R1 for reworking the remaining work location A2 is automatically created, the rework of the remaining work location A2 can be easily performed. Thereby, work efficiency can be improved.

[0087] Also, when creating the rework path R1, by having the shortest path mode, it is effective when performing work that does not emphasize the appearance after work, such as lawn mowing work on a riverbank, without taking time, and the work efficiency can be improved.

[0088] Also, by having the work manager W determine the order of the remaining work locations A21 and A22 to be reworked, the computational amount for calculating the shortest path in the control device 100 can be reduced. Also, according to the preference of the work manager W, it is possible to create the shortest path based on the order of the remaining work locations A21 and A22 to be reworked and the work directions for each of the remaining work locations A21 and A22, so it becomes user-friendly.

[0089] Also, the first right turn circle C1 R or the first left turn circle C1 L and the second right turn circle C2 R or the second left turn circle C2 L and the first right turn circle C1 R or the first left turn circle C1 L and the second right turn circle C2 R or the second left turn circle C2 LBy including the shortest path among the paths created by the tangent line L1 to [object] in the shortest path, when creating the shortest path in the shortest path mode, a path that enables trace without waste can be created.

[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 the fourth 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 the fourth left-turn circle C4 L By including the shortest path among the paths created by the tangent line to [object] in the shortest path, when creating the shortest path in the shortest path mode, a path that enables trace without waste can be created in the rework of multiple work leaving locations A12, A22.

[0091] Also, by having an aesthetic mode that creates a path so as not to intersect with the straight path R W1 it is possible to easily perform rework at the work leaving location A2 in a place where appearance is also emphasized, such as lawn mowing work in a park or stadium (a place where you want to finish neatly).

[0092] Also, in the aesthetic mode, by ending near the standby position P6 after the rework by the work vehicle 10 is completed, the work vehicle 10 can be moved to the standby position P6 after completion so as not to damage the work area A W

[0093] Also, depending on whether the number of straight paths R having the work leaving location A2 W1 is odd or even, by changing the entry direction of the work vehicle 10 to the straight path R W1 the rework by the work vehicle 10 can be ended near the standby position P6 after completion, and thereby the work vehicle 10 can be moved to the standby position P6 after completion so as not to damage the work area A W

[0094] Also, the first right-turn circle C1​​R or the first left-turning circle C1 L and the second right-turning circle C2 R or the second left-turning circle C2 L and the first right-turning circle C1 R or the first left-turning circle C1 L and the second right-turning circle C2 R or the second left-turning circle C2 L By including the shortest path among the paths created by the tangent line L1 with it, even in the case of the aesthetic mode, the shortest path can be created, and when creating the shortest path, a path that enables waste-free tracing can be created. As a result, while easily reworking the remaining work area A2 in a place where appearance is also emphasized, the work efficiency can also be improved.

[0095] Also, the third right-turning circle C3 R or the third left-turning circle C3 L and the fourth right-turning circle C4 R or the fourth left-turning circle C4 L and the third right-turning circle C3 R or the third left-turning circle C3 L and the fourth right-turning circle C4 R or the fourth left-turning circle C4 L By including the shortest path among the paths created by the tangent line with it, even in the case of the aesthetic mode, when creating the shortest path, a path that enables waste-free tracing can be created in the rework of a plurality of remaining work areas A21, A22. As a result, while easily reworking the remaining work area A2 in a place where appearance is also emphasized, the work efficiency can also be improved.

[0096] In addition, in the above first embodiment, the work vehicle 10 is a "lawn mowing work vehicle", but it is not limited to this. For example, the work vehicle 10 may be an "agricultural tractor". When the work vehicle 10 is an agricultural tractor, a tiller is provided as the work implement 30, and a rework path R1 for reworking the remaining tilling work area A2 within the work area A W set within the work field (farmland) F is created.

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

[0098] FIGS. 14 to 16 are explanatory views of the detection of the work remaining location (A2) using the camera 76. Note that FIG. 14 schematically shows the work remaining location A2 as viewed from the side, FIG. 15 schematically shows the work remaining location A2 as viewed from above. FIG. 16 shows the image G acquired by the camera 76 and shows the procedure for processing the image G in order from the left side in the figure.

[0099] FIGS. 17 to 19 are explanatory views of the rework display screen. Note that FIGS. 17 to 19 show the work site F displayed on the display unit 122 of the information terminal 120. FIGS. 17 and 18 show examples of the display of the work remaining location A2 after the completion of the work along the planned work route R W and FIG. 19 shows an example of the display of the rework route R1.

[0100] Note that the second embodiment described below is different in configuration from the first embodiment in that the camera 76 is provided, and other configurations are the same as those of the first embodiment. Also, in the following description, the same reference numerals are given to the same (or equivalent) parts as those of the first embodiment, and the description of the parts with the same reference numerals is omitted.

[0101] As shown in FIG. 13, a camera 76 that photographs the rear of the lawn mowing work vehicle 10(10A) within the work area A W (see FIG. 3) is connected to the control device 100(control unit 110). The video (for example, image) captured by the camera 76 is displayed on the display unit 122 of the information terminal 120. When the traveling locus of the lawn mowing work vehicle 10A deviates from the planned work route R W , the control device 100 stores the image captured by the camera 76 in at least one of the storage units (not shown) of the control unit 110 and the information terminal 120.

[0102] Further, the control device 100 records the already-worked area A1 by the lawn mowing work vehicle 10A from the traveling locus of the lawn mowing work vehicle 10A and the working width of the lawn mowing device 30.

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

[0104] Thus, in the second embodiment, the remaining work area A2 can be detected by monitoring with the camera 76 provided in the lawn mowing work vehicle 10A. When the remaining work area A2 is detected by the camera 76, monitoring by the camera 76 is started when it is detected that the lawn mowing work vehicle 10A has deviated from the planned work route R, and the work manager W checks the image, and the work manager W determines whether it is the remaining work area A2. W After that, the control device 100 saves an image of the remaining work area A2 taken by the camera 76, and transmits a notification signal to the information terminal 120. When the information terminal 120 receives the notification signal transmitted from the control device 100, the information terminal 120 notifies by a notification unit (not shown). In this way, by notifying in the notification unit, the work manager W can be prompted to check the image. Note that the notification unit may be, for example, a lamp or a buzzer, or a screen (notification screen) displayed on the display unit 122.

[0105] As shown in FIGS. 14 and 15, the camera 76 is provided behind the lawn mowing work vehicle 10A (detection area A for detecting the remaining work area A2).

[0106] As shown in FIGS. 14 and 15, the camera 76 is provided behind the lawn mowing work vehicle 10A (detection area A for detecting the remaining work area A2). S) is provided at the rear of the lawn mowing work vehicle 10A facing rearward for taking pictures. Further, the camera 76 is provided facing obliquely downward so that the work manager W can more surely recognize the state of the lawn grass (the state before and after mowing the lawn grass) and the color.

[0107] A light (not shown) is provided near the camera 76. By turning on the light according to the brightness of the work site F, it becomes possible to determine, for example, whether it is the work remaining location A2 even in a dim time zone.

[0108] Further, the camera 76 can change the shooting interval according to the speed (vehicle speed) of the lawn mowing work vehicle 10A. By making it possible to change the shooting interval according to the vehicle speed in this way, the work manager W can obtain images for each desired distance, for example, every 1 m or every 5 m.

[0109] Further, the control device 100 (see FIG. 13) constantly acquires the self-position P1, orientation (absolute azimuth angle), and vehicle body information (such as whether it is currently working) of the lawn mowing work vehicle 10A while the lawn mowing work vehicle 10A is traveling, and synchronizes it with the shooting by the camera 76.

[0110] Further, the control device 100 causes the information terminal 120 (see FIG. 13) to display the work remaining location A2 together with the traveled route so that the image can be referred to in association with the traveled route of the lawn mowing work vehicle 10A. Further, the control device 100 sets a flag for the image determined by the work manager W as the work remaining location A2 or the image determined to be reworked during or after the travel of the lawn mowing work vehicle 10A. When the flag on the traveled route of the lawn mowing work vehicle 10A is selected, the control device 100 causes the information terminal 120 to display the image of this location.

[0111] As shown in FIG. 16, for example, the work manager W writes a rectangle RE1 on the image G by regarding the work remaining location A2 as a rectangle (a rectangle) on the display unit 122 (see FIG. 13) of the information terminal 120. In this way, by the work manager W writing the rectangle RE1 on the image G, the position and size of the work remaining location A2 can be taught to the control device 100, and the position and size of the work remaining location A2 by the control device 100 can be estimated by the four points of the rectangle RE1.

[0112] Also, as shown in FIG. 16 (right side), the control device 100 performs a process of setting a threshold value considering the working width (mowing width) for a plurality of work remaining locations A2 taught by the work manager W and integrating the points at a short distance. By performing such a process, when one work remaining location A2 is displayed over a plurality of images G, or when a plurality of work remaining locations A2 are close to each other, the work manager W can easily recognize that there is one work remaining location A2.

[0113] Also, the control device 100 creates a rectangle RE2 again with a size that can accommodate the work remaining location A2 and with two sides parallel to the direction (absolute azimuth angle) of the lawn mowing work vehicle 10A, and sets the four points of the newly created rectangle RE2 as the outer shape of the work remaining location A2.

[0114] And the control device 100 W creates a rework path R1 for the lawn mowing work vehicle 10A to automatically rework the work remaining location A2 after the work along the planned work path R.

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

[0116] The control device 100 creates a rework path R1 based on the work leaving location information from the information terminal 120 and the designated work leaving location A2. Among the rework path R1, the actual work path R1a (see Fig. 4) for actually performing the ground work (lawn mowing work) is set, for example, in the shortest path mode, to be longer in the traveling direction of the lawn mowing vehicle 10A than the work leaving location A2. Also, for example, in the aesthetic mode, the actual work path R1a is set as a straight path R that has the work leaving location A2 W1 set as a whole.

[0117] Also, on the display unit 122 of the information terminal 120, the planned work path R W is displayed in synchronization with the work leaving location A2 (rectangle RE2) and the rework path R1.

[0118] When performing rework on the work leaving location A2, as shown in Fig. 17, the planned work path R W and the work leaving location A2 are displayed on the display unit 122. As shown in Fig. 18, when the work leaving location A2 for which rework is to be performed is instructed by the work manager W, the work leaving location A2 is displayed as the rectangle RE2. In addition, for example, when it is desired to check the details of the work leaving location A2 (for example, the rectangle RE2 within the area indicated by the dashed line in the figure), by the work manager W selecting the rectangle RE2, the image before being displayed as the rectangle RE2 of the work leaving location A2 is enlarged and displayed.

[0119] When the work leaving location A2 (rectangle RE2) for which rework is to be performed is determined, the work manager W instructs the lawn mowing vehicle 10A to perform rework from the information terminal 120. Note that since the control device 100 also acquires the image G (see Fig. 16) captured by the camera 76 (see Figs. 14 and 15) and the self-position P1 of the lawn mowing vehicle 10A (see Fig. 5) even during rework, comparison with before rework is possible.

[0120] As shown in Fig. 19, the rework path R1 from the current self-position P1 of the lawn mowing vehicle 10A to the post-operation standby position P6 (for example, see Fig. 9) is displayed on the display unit 122.

[0121] Incidentally, the rework path R1 may be selected, for example, to be parallel to the working direction (lawn mowing direction) around the work leaving location A2 (rectangle RE2). Also, the lawn mowing direction utilizes the information saved by synchronizing the self-position P1 and the direction during the travel of the lawn mowing work vehicle 10A, and at the same time refers to the traveled path. Further, the rework path R1 is created, for example, as the shortest path excluding the work leaving location A2 (rectangle RE2). At the work leaving location A2 (rectangle RE2), it is also possible to change the working accuracy, such as whether to finish with one mowing or perform 1.5 round-trip mowing.

[0122] According to the work management system 1(1A) of the work vehicle according to the second embodiment described above, in addition to the same effects as the first embodiment, when the travel locus of the work vehicle 10A deviates from the planned work path R W the work manager W can view the video behind the work vehicle 10A on the information terminal, so the work manager W can easily confirm from the information terminal 120 whether the work leaving location A2 actually exists. In this way, by enabling the work manager W to easily confirm the occurrence of the work leaving location A2, work efficiency can be improved.

[0123] Also, when detecting the occurrence of an unworked area A2 (area where there is a possibility of leaving work) that can become the work leaving location A2, the work manager W can view the entire such area A2 where there is a possibility of leaving work and confirm whether the work leaving location A2 has occurred.

[0124] Also, since it notifies the work manager W when detecting the occurrence of the unworked area A2, it is possible to prompt the work manager W to immediately confirm whether the work leaving location A2 has occurred.

[0125] Incidentally, in the above second embodiment, the work vehicle 10A is a "lawn mowing work vehicle", but it is not limited to this. 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 work implement 30, and the work area A set within the work site (field) F WCreate a rework path R1 for reworking the remaining tillage work area A2 inside.

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

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

[0128] FIGS. 23 to 25 are explanatory diagrams of the rework display screen. Note that FIGS. 23 to 25 show the work site F displayed on the display unit 122 of the information terminal 120. FIGS. 23 and 24 show W an example of the display of the remaining work area A2 after the work along the planned work path R, and FIG. 25 shows an example of the display of the rework path R1.

[0129] Note that the third embodiment described below differs in configuration from the first and second embodiments in that it includes a laser sensor 77, and other configurations are the same as those of the first and second embodiments. Also, in the following description, the same reference numerals are given to the same (or equivalent) parts as those of the first and second embodiments, and the description of the parts with the same reference numerals is omitted.

[0130] As shown in FIG. 20, a laser sensor 77 for detecting the position and shape of an object existing behind the lawn mowing work vehicle 10(10B) in the work area A W (see FIG. 3) is connected to the control device 100 (control unit 110). The detection result of the laser sensor 77 is 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 result of the laser sensor 77.

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

[0132] Note that a 2D laser sensor is used for the laser sensor 77. In this case, the 2D laser sensor is designed so that the 3D laser sensor or 3D information can obtain the uncut portions by the lawn mowing vehicle 10B. As an advantage of the laser sensor 77, since it is not affected by brightness, it can detect an object even in a dark place.

[0133] Further, the control device 100 has mowing height setting information set as the height of the lawn after mowing. Then, when the laser sensor 77 detects an object OB higher than the mowing height setting information remaining in the work area A W the control device 100 detects it as the work remaining location A2, and stores the position and shape of this work remaining location A2 in at least one of the storage units of the control unit 110 and the information terminal 120.

[0134] Further, the control device 100 records the already-worked area A1 by the lawn mowing vehicle 10A from the travel locus of the lawn mowing vehicle 10B and the working width of the lawn mowing device 30.

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

[0136] When the straight path R W1 (see Figure 3) adjacent to the determined side is the straight path R of the already-worked area W1 the control device 100 detects the object OB detected by the laser sensor 77 as the work remaining location A2, and stores the position and shape of this work remaining location A2 in at least one of the storage units of the control unit 110 and the information terminal 120. Or, the control device 100 determines that the determined side is the work area A WWhen it is the edge part of , the object OB detected by the laser sensor 77 is detected as the leaving work location A2, and the position and shape of this leaving work location A2 are stored in the storage unit of at least one of the control unit 110 and the information terminal 120.

[0137] In this way, in the third embodiment, the leaving work location A2 can be detected by the laser sensor 77 provided in the lawn mowing work vehicle 10B. When detecting the leaving work location A2 with the laser sensor 77, for example, when the lawn mowing work vehicle 10B detects that it has deviated from the planned work route R W the detection by the laser sensor 77 is started from when it is detected that the vehicle has deviated, the work manager W confirms the leaving work location A2 detected based on the detection result in the control device 100, and a determination is made as to whether it is the leaving work location A2 by the work manager W.

[0138] In addition, when the control device 100 stores the information of the leaving 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 notifies by a notification unit (not shown). In this way, by notifying in the notification unit, the work manager W can be prompted to confirm. Note that the notification unit may be, for example, a lamp or a buzzer, or a screen (notification screen) displayed on the display unit 122.

[0139] As shown in FIGS. 21 and 22, the laser sensor 77 is provided facing rearward at the rear part of the lawn mowing work vehicle 10B in order to detect the rear (detection area A for detecting the object OB) of the lawn mowing work vehicle 10B. Note that the position and angle of the laser sensor 77 are appropriately set so that the state of the lawn (the state before and after mowing the lawn) can be determined. S In addition, the laser sensor 77 constantly irradiates a laser during the travel of the lawn mowing work vehicle 10B and acquires surrounding information. The control device 100 stores the acquired information at regular intervals.

[0140]

[0141] ​Further, the control device 100 (see FIG. 13) constantly acquires the self-position P1 (see FIG. 5), orientation (absolute azimuth angle), and vehicle body information (such as whether it is currently in operation) of the lawn mowing work vehicle 10B while the lawn mowing work vehicle 10B is running, and stores them in synchronization with the detection by the laser sensor 77.

[0142] Further, the control device 100 sets a detection area A S with the laser sensor 77 as a reference, and determines the determination range of the unworked area A2 based on the point cloud information of the laser sensor 77. In this case, when the control device 100 converts the acquired point cloud information into Xn, Yn, Zn information and determines that there is an object OB higher than the mowing height setting information from the Xn, Yn, Zn information, it determines that the area has been left uncut, that is, it is the unworked area A2. Note that the control device 100 performs grouping processing on the point cloud determined as one object OB.

[0143] In this case, first, after the lawn mowing work vehicle 10B has traveled a certain area, the control device 100 integrates the positions of the unworked areas A2 obtained from the Xn, Yn, Zn information, sets a threshold value, and groups 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 unworked areas A2 at the same or nearby points can be grouped into one.

[0144] Then, the control device 100 creates a rework route R1 for the lawn mowing work vehicle 10B to automatically rework the unworked area A2 after the work along the planned work route R W is completed.

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

[0146] The control device 100 creates a rework path R1 based on the work leaving location information from the information terminal 120 and the designated work leaving location A2. Among the rework path R1, the actual work path R1a (see FIG. 4) for actually performing the ground work (lawn mowing work) is set, for example, in the shortest path mode, to be longer in the traveling direction of the lawn mowing vehicle 10A than the work leaving location A2. Also, for example, in the aesthetic mode, the actual work path R1a is a straight path R having the work leaving location A2 W1 set as a whole.

[0147] Also, on the display unit 122 of the information terminal 120, the planned work path R W the work leaving location A2 (rectangle RE2), and the rework path R1 are displayed synchronously.

[0148] When performing rework on the work leaving location A2, as shown in FIG. 23, on the display unit 122, the planned work path R W and the work leaving location A2 are displayed. As shown in FIG. 24, the work leaving location A2 is displayed as a rectangle RE by the processing of the control device 100.

[0149] When the work leaving location A2 (rectangle RE) for performing rework is determined, the work manager W instructs from the information terminal 120 for the lawn mowing vehicle 10B to perform rework. Since the control device 100 acquires information such as the mowing height of the lawn during rework, comparison with before rework is possible.

[0150] As shown in FIG. 25, on the display unit 122, the rework path R1 from the current self-position P1 of the lawn mowing vehicle 10B to the standby position P6 after completion (see FIG. 9 for example) is displayed.

[0151] Incidentally, the rework path R1 may be selected, for example, to be parallel to the working direction (lawn mowing direction) around the work leaving location A2 (rectangle RE). Also, for the lawn mowing direction, information saved by synchronizing the self-position P1 and the orientation during the travel of the lawn mowing work vehicle 10B is used, and the traveled path is also referred to simultaneously. Further, the rework path R1 is created, for example, as the shortest path other than the work leaving location A2 (rectangle RE). At the work leaving location A2 (rectangle RE), it is also possible to change the working accuracy, such as whether to finish with a single mowing or perform 1.5 round-trip mowing.

[0152] According to the work management system 1(1B) of the work vehicle according to the third embodiment described above, in addition to the same effects as the first embodiment, when the work leaving location A2 is detected based on the detection result of the laser sensor 77, the work manager W can easily confirm from the information terminal 120 whether the work leaving location A2 actually exists. In this way, by enabling the work manager W to easily confirm the occurrence of the work leaving location A2, the work efficiency can be improved.

[0153] Also, by saving an object OB higher than the mowing height setting information as the work leaving location A2, the work manager W can easily confirm the occurrence of the work leaving location A2.

[0154] Also, if there is an object OB higher than the mowing height setting information on the straight travel path R of the adjacent already-completed work W1 side, it is determined to be the work leaving location A2, so the work manager W can easily confirm the occurrence of the work leaving location A2. Also, in this case, the uncut lawn grass of the work leaving (unmowed) can be distinguished from the uncut lawn grass.

[0155] According to the above-described embodiments, the following work management system 1(1B) of the work vehicle is realized.

[0156] (1) It has a lawn mowing device 30 that performs lawn mowing operations, a work vehicle 10(10B) that works with the lawn mowing device 30 while traveling, a positioning device 50 that measures the self-position P1 of the work vehicle 10B, and a preset planned work route R using the measurement result of the positioning device 50 W A control device 100 that controls the work vehicle 10B to travel along the work, a laser sensor 77 that detects the position and shape of an object OB existing behind the work vehicle 10B, and an information terminal 120 that displays the detection result of the laser sensor 77. The control device 100 detects a remaining work area A2 where work by the work vehicle 10B remains based on the detection result of the laser sensor 77. When the remaining work area A2 is detected, it stores the position and shape of the remaining work area A2 in order to display them on the information terminal 120. A work management system 1B of the work vehicle.

[0157] According to such a work management system 1B of the work vehicle, when the remaining work area A2 is detected based on the detection result of the laser sensor 77, the work manager W can easily confirm from the information terminal 120 whether the remaining work area A2 actually exists. In this way, by enabling the work manager W to easily confirm the occurrence of the remaining work area A2, the work efficiency can be improved.

[0158] (2) In the above (1), the planned work route R W is set within the work area A W of the work vehicle 10B and has a straight - ahead route R W1 for performing a straight - ahead process by the work vehicle 10B. The control device 100 has mowing height setting information set as the height after mowing the lawn grass. When the laser sensor 77 detects an object OB higher than the mowing height setting information remaining within the work area A W it stores the position and shape of the remaining work area A2 as the remaining work area A2 in order to display them on the information terminal 120. A work management system 1B of the work vehicle.

[0159] According to the work management system 1B of such a work vehicle, in addition to the effect of (1) above, by storing an object OB higher than the mowing height setting information as the leaving work location A2, the work manager W can easily confirm the occurrence of the leaving work location A2.

[0160] (3) In (2) above, when the control device 100 detects an object OB higher than the mowing height setting information remaining in the work area A by the laser sensor 77, it determines whether the object OB detected by the laser sensor 77 is on either the left or right side of the work vehicle 10B, and determines the straight - ahead path R adjacent to the determined side. W If the detected object OB is on either the left or right side of the work vehicle 10B, and the straight - ahead path R adjacent to the determined side is the straight - ahead path R of the already - worked area or the determined side is the edge of the work area A, the work management system 1B of the work vehicle stores the object OB detected by the laser sensor 77 as the leaving work location A2 in order to display the position and shape of the leaving work location A2 on the information terminal 120. W1 If the detected object OB is on either the left or right side of the work vehicle 10B, and the straight - ahead path R adjacent to the determined side is the straight - ahead path R of the already - worked area or the determined side is the edge of the work area A, the work management system 1B of the work vehicle stores the object OB detected by the laser sensor 77 as the leaving work location A2 in order to display the position and shape of the leaving work location A2 on the information terminal 120. W1 If the detected object OB is on either the left or right side of the work vehicle 10B, and the straight - ahead path R adjacent to the determined side is the straight - ahead path R of the already - worked area or the determined side is the edge of the work area A, the work management system 1B of the work vehicle stores the object OB detected by the laser sensor 77 as the leaving work location A2 in order to display the position and shape of the leaving work location A2 on the information terminal 120. W If the detected object OB is on either the left or right side of the work vehicle 10B, and the straight - ahead path R adjacent to the determined side is the straight - ahead path R of the already - worked area or the determined side is the edge of the work area A, the work management system 1B of the work vehicle stores the object OB detected by the laser sensor 77 as the leaving work location A2 in order to display the position and shape of the leaving work location A2 on the information terminal 120.

[0161] According to the work management system 1B of such a work vehicle, in addition to the effect of (2) above, if there is an object OB higher than the mowing height setting information on the side of the adjacent already - worked straight - ahead path R, it is determined that it is the leaving work location A2, so that the work manager W can easily confirm the occurrence of the leaving work location A2. Also, in this case, the uncut lawn grass of the leaving work (unmowed grass) can be distinguished from the uncut lawn grass. W1 According to the work management system 1B of such a work vehicle, in addition to the effect of (2) above, if there is an object OB higher than the mowing height setting information on the side of the adjacent already - worked straight - ahead path R, it is determined that it is the leaving work location A2, so that the work manager W can easily confirm the occurrence of the leaving work location A2. Also, in this case, the uncut lawn grass of the leaving work (unmowed grass) can be distinguished from the uncut lawn grass.

[0162] Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments described and represented as above. Accordingly, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Explanation of Signs

[0163] 1, 1B Work management system 10, 10B Work vehicle (lawn mowing work vehicle) 30 Weeding device 50 Positioning device 77 Laser sensor 100 Control device 120 Information terminal (tablet terminal) A W Working area A1 Completed working area A2 Unworked area (area left unworked) OB Object P1 Self-position R W Scheduled working route R W1 Straight-ahead route

Claims

【Claim 1】 A work vehicle having a lawn mowing device for performing a lawn mowing operation, the work vehicle operating with the lawn mowing device while traveling, A positioning device for measuring the self-position of the work vehicle, A control device for controlling the work vehicle to travel for work along a preset planned work route using the measurement result of the positioning device, A laser sensor for detecting the position and shape of an object existing behind the work vehicle, An information terminal for displaying the detection result of the laser sensor comprising The control device detects a remaining work location where work by the work vehicle remains based on the detection result of the laser sensor, and when detecting the remaining work location, saves the position and shape of the remaining work location for display on the information terminal, The planned work route is set within the work area of the work vehicle and has a straight travel route for performing a straight travel process by the work vehicle, The control device has mowing height setting information set as the height after mowing the lawn grass, when the laser sensor detects an object higher than the mowing height setting information remaining in the work area, saves the position and shape of the remaining work location for display on the information terminal as the remaining work location, The control device when the laser sensor detects an object higher than the mowing height setting information remaining in the work area, determines on which side (left or right) of the work vehicle the object detected by the laser sensor is located, when the straight travel route adjacent to the determined side is a straight travel route of the already-worked area or the determined side is an edge portion of the work area, saves the position and shape of the object detected by the laser sensor as the remaining work location for display on the information terminal A work management system for a work vehicle, characterized by the above.

Images