Information Notification System

Abstract

To provide a system that can accurately and easily determine an abnormality based on the degree of inclination of a moving body, and can notify information for prompting a warning.SOLUTION: This information notification system includes a backhoe 10 as a mobile body, a server 20 configured to be able to transmit and receive information about the backhoe 10, and a terminal device 30 configured to be able to transmit and receive information from the server 20. The backhoe 10 includes a tilt detection section 17c that detects a roll angle AR and a pitch angle AP, and an information transmission section 17d that transmits the roll angle AR and the pitch angle AP to the server 20. The server 20 includes an information notification unit 23b that notifies the terminal device 30 of information for prompting a warning based on the transmitted roll angle AR and pitch angle AP, and a pre-constructed information group ARa and APa of the degree of tilt.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present invention relates to an information notification system that is a system for notifying a terminal device of information for urging a warning based on the degree of tilt of a moving object. [Background technology]

[0002] Conventionally, there is known a technique for issuing a tipping warning for a work machine, which is a moving body. Generally, for self-propelled work machines, it is required to prevent the work machine from tipping over for safety reasons. The device disclosed in Patent Document 1 calculates the coordinates of the ZMP (Zero Moment Point) of the work machine based on position information, acceleration information, etc. Also, the coordinates of the ZMP (Zero Moment Point) of the work machine are calculated based on multiple contact points with the ground of the work machine. A support polygon formed by the ZMP is also calculated. If the ZMP is included in the warning region inside the periphery of the support polygon, a fall warning is issued. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5491627 (Claim 1, specification paragraph 0038, etc.) Summary of the Invention

[0004] The device in Patent Document 1 utilizes the fact that tipping begins when the ZMP exists on the support polygon, and compares the ZMP with the support polygon formed by the work machine and the ground surface. This makes it possible to determine stability. However, this type of work machine typically has many moving parts that affect the ZMP, and therefore requires a large number of sensors to accurately calculate the ZMP. This makes the device configuration for determining stability complex.

[0005] Therefore, it is difficult to easily determine stability, i.e., to easily detect abnormalities, with this device. For these reasons, there is a demand for technology that can accurately and easily determine abnormalities in a moving object and can notify information to prompt a warning.

[0006] In view of the above, an object of the present invention is to provide a system that can accurately and easily determine abnormalities in a moving body and can notify information to prompt a warning. [Means for solving the problem]

[0007] The technical means of the present invention for solving this technical problem is characterized as follows. The information notification system of the present invention comprises a mobile object, a server connected to the mobile object via an information and communication network and configured to be able to send and receive information about the mobile object, and a terminal device connected to the server via the information and communication network and configured to be able to send and receive information about the server, and is for notifying information from the server to the terminal device. In the information notification system of the present invention, the mobile object comprises a tilt detection unit that detects a tilt degree of the mobile object, and an information transmission unit that transmits the detected tilt degree of the mobile object to the server, and the server comprises an information notification unit that notifies the terminal device of information for issuing a warning based on the transmitted tilt degree of the mobile object and a pre-constructed group of information about the tilt degree of the mobile object.

[0008] According to the above configuration, when a moving object travels over undulating ground such as a farm field, the tilt degree of the moving object is detected and sequentially transmitted to the server. The server can use a group of tilt degree information previously constructed as a group of tilt degree information "within a safe range" as a comparison value. Here, when the terrain such as a farm field is rough, the tilt degree of the moving object that has run over the undulations often changes significantly from normal. In this case, the transmitted tilt degree and the information Based on the information group, an abnormality can be determined accurately and easily. Then, when an abnormality is determined by the information notifying unit, information for prompting a warning is notified from the server to the terminal device. Therefore, with the above configuration, information on the tilt degree of the moving body is utilized, making it possible to determine an abnormality accurately and easily, and to notify information for prompting a warning to the terminal device.

[0009] In the information notification system of the present invention, the information transmission unit of the moving body is configured to transmit a first tilt degree and a second tilt degree detected after the first tilt degree as the tilt degree of the moving body to be transmitted to the server, the server further includes an information group construction unit that constructs an information group of the tilt degree based on the transmitted first tilt degree of the moving body, and the information notification unit of the server is configured to notify the terminal device of information to prompt a warning based on the transmitted second tilt degree of the moving body and the information group constructed based on the first tilt degree.

[0010] In the information notification system of the present invention, the information notification unit of the server is configured to notify the traveling vehicle of information to prompt a warning when a difference between the second tilt degree and the average value of the first tilt degree in the information group is equal to or greater than a predetermined value.

[0011] In the information notification system of the present invention, the mobile body further includes a position measurement unit that measures the position of the mobile body, and an automatic driving control unit that controls the automatic driving of the mobile body based on the measured position of the mobile body, and the terminal device is located at a location separated from the mobile body. [Effects of the Invention]

[0012] According to the present invention, information on the degree of tilt of a moving body is utilized, making it possible to accurately and easily determine an abnormality and to notify information to prompt a warning. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is an overall schematic diagram of an information notification system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a side view of the moving body shown in FIG. [Figure 3] 2 is a front view of the moving body shown in FIG. 1, illustrating a state in which the moving body tilts around an axis along the front-rear direction. FIG. [Figure 4] 2 is a side view of the moving body shown in FIG. 1, illustrating a state in which the moving body tilts around an axis along the left-right direction. FIG. [Figure 5] FIG. 2 is a functional block diagram of the moving body shown in FIG. [Figure 6] 4 is a time chart for explaining the detection and transmission timing of a first tilt degree and a second tilt degree in the moving body shown in FIG. 1. [Figure 7] FIG. 2 is a functional block diagram of the server shown in FIG. [Figure 8] FIG. 2 is a functional block diagram of the terminal device shown in FIG. [Figure 9] 2 is a diagram showing an example of a mode of travel and position measurement when the moving body shown in FIG. 1 travels in a farm field. FIG. [Figure 10] FIG. 2 is a diagram showing an example of a database generated by the server shown in FIG. [Figure 11] 10 is a diagram for explaining a process of comparing a group of information on a first tilt degree constructed by the server shown in FIG. 1 with a second tilt degree transmitted from a moving body. FIG. [Figure 12] 2 is a flowchart showing the actual operation of the information notification system shown in FIG. 1. [Figure 13] FIG. 10 is a side view of a moving body according to a modified example of the embodiment of the present invention. [Figure 14] FIG. 10 is a side view of a moving body in a modified example of an embodiment of the present invention, illustrating a state in which the moving body tilts with the front end of the ground contact portion as a fulcrum. [Figure 15] 1 is a graph showing the relationship between the moment of the crane and the tilt angle, and a table defining the relationship between the threshold value of the tilt angle, the mass of the heavy load, and the angle between the movable operating device and the horizontal plane. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0015] <Information notification system> As shown in Fig. 1, an information notification system 100 according to an embodiment of the present invention is a system for notifying a terminal device 30 of information for issuing a warning. The information notification system 100 includes a mobile object 10, a server 20, and the terminal device 30. The server 20 is connected to the mobile object 10 and the terminal device 30 via an information communication network N. Information acquired by the mobile object 10 can be transmitted to the server 20 via wireless communication. Information obtained by calculation in the server 20 can be transmitted to the mobile object 10 and the terminal device 30 via wireless communication.

[0016] The server 20 is a cloud server or the like, and receives and stores information transmitted from the mobile object 10. The server 20 is located in a different location from the mobile object 10 and the terminal device 30. The server 20 is also configured to notify the terminal device 30 of information to issue a warning based on the stored information and information transmitted from the mobile object 10. The terminal device 30 is a mobile communication terminal such as a smartphone or laptop computer, and receives information transmitted from the server 20. The terminal device 30 is also capable of giving driving instructions to the mobile object 10 via the server 20.

[0017] <Mobile> As shown in Figures 2, 3, and 4, the mobile body 10 is configured to be able to move on the ground. For example, the mobile body 10 is one that is prone to tilting in response to the unevenness of the ground as it moves. The mobile body 10 may be, for example, a construction machine, an agricultural machine, an off-road truck, a mobile robot for disaster relief, or the like. The mobile body 10 may also be configured to be able to operate automatically, for example. In this embodiment, the mobile body 10 will be described as being a backhoe 10.

[0018] The backhoe 10 includes a vehicle body 11, a traveling device 12, a movable operating device 13, a positioning device 15, a tilt detection device 16, a control device 17, and a communication device 18. In this embodiment, the backhoe 10 travels tracklessly through a field F or the like while performing work such as field preparation using the movable operating device 13, and the traveling and work are controlled by automatic driving. Furthermore, one or more backhoes 10 may travel and work in one field F, and may be linked to one server 20.

[0019] The vehicle body 11 is disposed above the traveling device 12 and is mounted on the traveling device 12 so as to be rotatable about a vertical axis. The vehicle body 11 is equipped with a cabin 11a, a movable operating device 13, a positioning device 15, a tilt detection device 16, a control device 17, and a communication device 18. The cabin 11a is equipped with operating devices (e.g., levers, switches, pedals, a steering wheel, etc.), a driver's seat, etc. When the driver is seated in the cabin 11a, the directions corresponding to the front and rear of the driver, the left and right of the driver, and the top and bottom of the driver are defined as the front and rear, left and right, and top and bottom, respectively. The cabin 11a is disposed on the left side of the vehicle body 11, and the movable operating device 13 is disposed adjacent to the right of the cabin 11a. The tilt detection device 16, the control device 17, and the communication device 18 are provided below the cabin 11a. In this embodiment, the positioning device 15 is provided at the rear of the cabin 11a, but instead, it may be provided on the roof of the cabin 11a.

[0020] The traveling device 12 is a crawler type traveling device, and a dozer is provided in front of the crawler. The traveling device 12 is capable of moving forward and backward and turning via a prime mover, a transmission, a steering device, etc. (not shown). The traveling device 12 is driven by operating an operating device in the cabin 11a or by automatic driving control. The movable operating device 13 is composed of a boom, an arm, and a bucket, and one end is journaled to the vehicle body 11. The boom, arm, and bucket of the movable operating device 13 can each rotate around a left-right axis by driving a cylinder. The movable operating device 13 is driven by operating an operating device in the cabin 11a or by automatic driving control. When the traveling device 12 and the movable operating device 13 are controlled automatically, control instructions are given remotely from a terminal device 30.

[0021] The positioning device 15 is capable of detecting positioning information including latitude and longitude using a satellite positioning system such as GNSS. The positioning device 15 receives satellite signals transmitted from positioning satellites, including the position of the positioning satellite, the transmission time, correction information, etc. Based on the satellite signals, the positioning device 15 determines the latitude and longitude of the backhoe 10 traveling in the field F. The tilt detection device 16 is, for example, an IMU (Inertial Measurement Unit) composed of an acceleration sensor, a gyro sensor, etc.

[0022] As shown in FIGS. 3 and 4, in this embodiment, the tilt detection device 16 is configured to detect the roll angle AR and the pitch angle AP as the degree of tilt of the backhoe 10. Note that instead of detecting both the roll angle AR and the pitch angle AP, only one of them may be detected as the degree of tilt. The tilt detection device 16 may also be configured to detect the yaw angle in addition to the roll angle AR and the pitch angle AP. An axis KR and an axis KP are defined corresponding to the roll angle AR and the pitch angle AP. The axis KR extends along the fore-and-aft direction of the backhoe 10, and the roll angle AR is a rotation angle about the axis KR. The axis KP extends along the left-and-right direction of the backhoe 10, and the pitch angle AP is a rotation angle about the axis KP. The axes KR and KP are perpendicular to each other. An axis KY is also defined, perpendicular to both the axis KR and the axis KP.

[0023] The state shown by the dashed line in Figure 3, which is a front view, is a state in which the backhoe 10 is traveling on a reference horizontal plane. In this state, an intersection point P1 between the axis KY and the upper end of the movable operating device 13 is defined. When the backhoe 10 tilts from this state around the axis KR as shown by the solid line in Figure 3, the intersection point P1 moves to the intersection point P2 as the backhoe 10 rotates. The roll angle AR is the angle formed by the curved line connecting the intersection point P1, the axis KR, and the intersection point P2. The roll angle AR increases as the degree of tilt around the axis KR increases. This roll angle AR is detected by the tilt detection device 16.

[0024] The state shown by the dashed line in the side view of Figure 4 is a state in which the backhoe 10 is traveling on a reference horizontal plane. In this state, an intersection point P3 between the axis KR and the front end of the vehicle body 11 is defined. If the traveling vehicle tilts from this state around the axis KP as shown by the solid line in Figure 4, the intersection point P3 moves to the intersection point P4 as the vehicle rotates. The pitch angle AP is the angle formed by the curved line connecting the intersection point P3, the axis KP, and the intersection point P4. The pitch angle AP increases as the degree of tilt around the axis KP increases. This pitch angle AP is detected by the tilt detection device 16.

[0025] As shown in FIG. 5, the control device 17 is composed of a CPU, an electric circuit, etc., and is electrically connected to various devices. The control device 17 is equipped with an automatic driving control unit 17a, a position measurement unit 17b, a tilt detection unit 17c, and an information transmission unit 17d. The automatic driving control unit 17a controls the travel and work of the backhoe 10 according to the position of the backhoe 10 measured by the position measurement unit 17b. Specifically, the automatic driving control unit 17a controls the travel and work of the backhoe 10 so that the backhoe 10 travels along a predetermined travel route in the field F and works in the field F in a predetermined manner. The terminal device 30 controls the traveling device 12 and the movable operating device 13. In the automatic operation control of the traveling device 12, drive instructions are sent to the prime mover, transmission, steering device, etc. so that the measured position of the backhoe 10 follows the traveling route. In the automatic operation control of the movable operating device 13, drive instructions are sent to the cylinders of the boom, arm, bucket, etc. In this embodiment, the traveling route and work mode are set by the terminal device 30, and automatic operation instructions are sent to the backhoe 10 via the server 20.

[0026] The position measurement unit 17b instructs the positioning device 15 to measure the position of the backhoe 10. The tilt detection unit 17c instructs the tilt detection device 16 to detect the roll angle AR and pitch angle AP of the backhoe 10. In this embodiment, detection by the tilt detection device 16 is performed at predetermined time intervals while the backhoe 10 is traveling. That is, the tilt detection device 16 detects a plurality of tilt degrees (roll angle AR and pitch angle AP).

[0027] The information transmitting unit 17d instructs the communication device 18 to transmit information on the detected roll angle AR and pitch angle AP of the backhoe 10 to the server 20. The roll angle AR and pitch angle AP of the backhoe 10 are sequentially transmitted to the server 20 every time they are detected as described above.

[0028] As shown in FIG. 6, in this embodiment, the tilt degree (roll angle AR and pitch angle AP) detected and transmitted every predetermined period dt is defined as the first tilt degree T1. A position detected and transmitted after the detection of the first tilt degree T1 is defined as the second tilt degree T2. More specifically, as shown in FIG. 6(a), the latest tilt degree of the vehicle body 11 detected at time t is defined as the second tilt degree T2. The tilt degrees detected at times t-dt, t-2d, and so on, before time t, are defined as the first tilt degree T1. When time advances by the period dt from time t, as shown in FIG. 6(b), the latest tilt degree of the vehicle body 11 is detected as the second tilt degree T2 at time t+dt. The tilt degrees detected at times t, td, t-2d, and so on, before time t+dt, are defined as the first tilt degree T1.

[0029] That is, in this embodiment, the most recent tilt degree of the vehicle body 11 is the second tilt degree T2. On the other hand, the past tilt degrees of the vehicle bodies 11 are the first tilt degree T1. The first tilt degree T1 detected in this way is successively transmitted to the server 20 and accumulated, as will be described later. On the other hand, the second tilt degree T2 is transmitted to the server 20 and compared with the accumulated first tilt degree T1, as will be described later. Then, based on the comparison between the first tilt degree T1 and the second tilt degree T2, a determination is made as to whether or not to notify the terminal device 30 of warning information.

[0030] The communication device 18 is a communication module that communicates information with the communication device 21 of the server 20. The communication device 18 may communicate wirelessly, for example, via a wireless communication system of the IEEE802.11 series of communication standards, a fifth-generation communication system, a predetermined mobile phone communication network, or a data communication network. In response to an instruction from the information transmission unit 17d, the communication device 18 transmits information on the first tilting degree T1 and the second tilting degree T2 to the server 20 as described above. The communication device 18 also receives information transmitted from the server 20 to the backhoe 10. In this embodiment, information corresponding to a travel route and a work mode for automatic driving control is transmitted from the server 20 to the backhoe 10. This allows the backhoe 10 to be instructed to perform automatic driving.

[0031] <server> As shown in Fig. 7, the server 20 includes a communication device 21, a storage device 22, and a computing device 23. The communication device 21, the storage device 22, and the computing device 23 are connected to each other via a bus, an interface, The communication device 21 is electrically connected to the communication device 18 of the backhoe 10 and the communication device 31 of the terminal device 30 via an interface or the like. The communication device 21 is a communication module that communicates information with the communication device 18 of the backhoe 10 and the communication device 31 of the terminal device 30. The communication standard for this information communication is the same as that of the communication device 18 and the communication device 31. The communication device 21 receives the first tilt degree T1 and the second tilt degree T2 transmitted from the backhoe 10. The communication device 21 also receives information corresponding to the travel route and work mode for automatic driving control transmitted from the terminal device 30. Meanwhile, the communication device 21 transmits information corresponding to the travel route and work mode for automatic driving control to the backhoe 10. The communication device 21 also transmits information to the terminal device 30 to prompt a warning, so as to notify the terminal device 30.

[0032] The storage device 22 is a storage device, for example, a flash memory such as an SSD, or a magnetic disk such as an HDD. The storage device 22 is capable of storing various information received from the backhoe 10 and the terminal device 30 via the communication device 21. The storage device 22 also stores programs, parameters, etc. used for calculation processing by the calculation device 23. The various stored information, etc. can be updated and read by the calculation device 23 according to calculations.

[0033] The arithmetic device 23 is composed of a CPU, electric circuits, etc., and transmits and receives information via the communication device 21, constructs an information group of the tilt degree T1, stores the information in the storage device 22, and performs various calculations. The arithmetic device 23 includes an information group constructing unit 23a, an information notifying unit 23b, and an automatic driving instruction unit 23c.

[0034] The information group constructor 23a stores information on the tilt degree of the backhoe 10, which is transmitted from the information transmitter 17d of the backhoe 10 and received by the communication device 21, in the storage device 22. The stored information is organized as a database DB, which will be described later (see FIG. 10). Each time new information is transmitted from the backhoe 10, the information is sequentially added to the database DB. In the database DB, a plurality of first tilt degrees T1 (roll angle AR and pitch angle AP) and corresponding detection times are linked to one another.

[0035] The information notification unit 23b notifies the terminal device 30 of information for prompting a warning based on a comparison between the transmitted second tilt degree T2 of the backhoe 10 and the first tilt degree T1 in the database DB. The information notification to the terminal device 30 is executed via the communication device 21. For example, the "information for prompting a warning" may be a message such as "Abnormality Occurred" that, when displayed on the terminal device 30, allows the operator to visually recognize the abnormality and detect it, or an alarm may be sounded at the same time.

[0036] The automatic driving instruction unit 23c transmits information corresponding to the travel route and work mode set by the terminal device 30 to the backhoe 10, and instructs the backhoe 10 to perform automatic driving control. The information transmission to the backhoe 10 is executed via the communication device 21.

[0037] <Terminal Device> As shown in FIG. 8, the terminal device 30 includes a communication device 31, a display device 32, an input device 33, and a calculation device 34. In this embodiment, the terminal device 30 is located at a location remote from the backhoe 10. The communication device 31, the display device 32, the input device 33, and the calculation device 34 are electrically connected to each other via a bus, an interface, etc. The communication device 31 is a communication module that communicates information with the communication device 21 of the server 20. The communication standard for this information communication is the same as that of the communication device 21. The display device 32 is composed of a liquid crystal panel, a touch panel, or other panel, etc., and displays various information. If the display device 32 is a touch panel, the input device 33 may be a software keyboard displayed on the screen, etc. For example, the application program of the terminal device 30 When activated, the display device 32 displays an input screen in which characters, numbers, etc. can be input within a predetermined frame, and the operator inputs characters, numbers, etc. into the input screen via the input device 33. The arithmetic device 34 is composed of a CPU, electric circuits, etc., and performs various calculations such as sending and receiving information via the communication device 31, displaying information on the display device 32, and receiving input information from the input device 33.

[0038] Information regarding the travel route and work mode of the backhoe 10 is input to the terminal device 30, allowing the travel route and work mode to be set. For example, as shown in FIG. 9, information may be input to the terminal device 30 to automatically drive the backhoe 10 along a serpentine travel route L in a substantially rectangular field F. In this case, the travel route L may have a start point K1, an end point K2, a straight route length L1, a turning position L2, and a route width W1. The start point K1 and the end point K2 are located at different corners of the field F. The straight route length L1 is a portion that extends substantially parallel to the ridgeline of the field F, and the turning position L2 is the end of the straight route length L1 and corresponds to the end where the backhoe turns back. The route width W1 is defined as the width between each straight route length L1.

[0039] The travel route L is set by the operator inputting the positions (latitude, longitude, etc.) of the start point K1, end point K2, and turning position L2, as well as the numerical values ​​of the straight route length L1 and route width W1 on the input screen of the display device 32. Furthermore, commands to start / stop the backhoe 10, setting the vehicle speed, setting the work mode, etc. are also executed via the display device 32 and the input device 33.

[0040] Various information such as the travel route L inputted into the terminal device 30 is first transmitted to the server 20 by the communication device 31, and then reaches the backhoe 10 from the server 20. As a result, the backhoe 10 is automatically controlled to travel along the set travel route L. In addition, start / stop instructions, vehicle speed settings, work mode settings, etc. are also given to the backhoe 10 from the terminal device 30 via the server 20.

[0041] Furthermore, when the server 20 notifies the terminal device 30 of the above-mentioned "information for prompting a warning," the information is received by the communication device 31. Then, a message such as "Abnormality has occurred" is displayed on the display device 32, which allows the operator to visually recognize the abnormality and detect it.

[0042] <Warning notification using information on tilt degree> The server 20 constructs an information group on the first tilt degree T1 of the backhoe 10. In this embodiment, information for issuing a warning is sent to the terminal device 30 using the constructed information group on the first tilt degree T1 and the second tilt degree T2 of the backhoe 10. The construction of the information group and the notification of a warning using the information group will be described in detail below.

[0043] As shown in FIG. 9, the backhoe 10 travels along a travel route L. As the backhoe 10 travels from a start point K1 to an end point K2, the tilt degree T1 of the backhoe 10 is measured at predetermined intervals dt (see FIG. 6). Therefore, a large number of first tilt degrees T1 (roll angle AR and pitch angle AP) are detected from the start point K1 to the end point K2 of the travel route L, and a large number of the roll angles AR and pitch angles AP corresponding to each time are transmitted from the backhoe 10 to the server 20. This information is collected as a huge amount of big data in the server 20.

[0044] As shown in FIG. 10, the information collected in the server 20 is organized as a database DB by the information group constructing unit 23a and stored in the storage device 22. The database DB is composed of detection times and first tilt degrees T1 (roll angles AR and pitch angles AP). That is, a plurality of roll angles AR and pitch angles AP are linked to the corresponding detection times. In this state, the database DB is configured. Every time the first tilt degree T1 is transmitted to the server 20, information is accumulated in the database DB, and the database DB is updated as a whole.

[0045] 11 , in this embodiment, the information group constructor 23a generates an information group ARa of the roll angle AR with respect to time and an information group APa of the pitch angle AP with respect to time based on the database DB. The information group ARa includes information groups ARas, ARa1, ARa2, and so on. The information group ARas is made up of roll angles AR detected in a field F with known undulations. On the other hand, the information groups ARa1, ARa2, and so on are made up of roll angles AR detected in a field F with unknown undulations. The information group APa includes information groups APas, APa1, APa2, and so on. The information group APas is made up of pitch angles AP detected in a field F with known undulations. On the other hand, the information groups APa1, APa2, and so on are made up of pitch angles AP detected in a field F with unknown undulations.

[0046] In this embodiment, the information groups ARas and APas are constructed in advance using a reference field F before constructing the information groups ARa1, ARa2,... and the information groups APa1, APa2,... For example, if the field F has only very small undulations, the backhoe 10 will hardly tilt when traveling on the field. It is assumed that even if the backhoe 10 tilts due to the undulations on the field F, it is known that no danger or abnormality will occur during traveling or working, such as the backhoe 10 tipping over.

[0047] In this case, as shown in FIG. 11(a), the information group ARas of the roll angle AR changes very little over time. As shown in FIG. 11(b), the information group APas of the pitch angle AP changes very little over time. In addition, an average value ARavs of the information group ARas and an average value APavs of the information group APas are also calculated. Here, the average values ​​ARavs and APavs are, for example, the average values ​​of the multiple roll angles AR and the multiple pitch angles AP detected while traveling from the start point K1 to the end point K2, respectively. The average values ​​ARavs and APavs also change very little over time.

[0048] In this way, by selecting the above-mentioned field F as a reference, it is possible to construct in advance an information group ARas for the roll angle AR and an information group APas for the pitch angle AP. The calculated average values ​​ARavs and APavs correspond to roll angles AR and pitch angles AP that are "within a safe range," and are therefore used as "comparison" roll angles AR and pitch angles AP.

[0049] After the information groups ARas and APas are constructed, when the backhoe 10 is driven from the start point K1 to the end point K2 in a single field F with unknown topography, information groups ARa1 and APa1 are constructed, respectively. In this embodiment, the latest second tilt angle T2 (roll angle AR and pitch angle AP) is detected and transmitted by the information notification unit 23b, and compared with average values ​​ARavs and APavs, which are tilt angles for comparison. If the difference between the actually detected second tilt angle T2 and the tilt angle for comparison is equal to or greater than a predetermined value, information for issuing a warning is notified to the terminal device 30.

[0050] More specifically, for example, when either one of the following two conditions is met, it may be determined that an abnormality exists, and information for issuing a warning may be sent to the terminal device 30. In this way, a determination is made individually for the tilt at two angles, the roll angle AR and the pitch angle AP. This allows for accurate abnormality determination.

[0051] 1. When the absolute value of the difference between the average value for comparison ARavs and the actually detected roll angle AR is equal to or greater than the predetermined value dAR. 2. When the absolute value of the difference between the average value APavs for comparison and the actually detected pitch angle AP is equal to or greater than the predetermined value dAP.

[0052] After the information groups ARa1 and APa1 are constructed, when the backhoe 10 is driven from the start point K1 to the end point K2 in other fields F with unknown topography, information groups ARa2 and APa2 are constructed. When these information groups are constructed, similarly to the above, if the difference between the actually detected second tilt degree T2 and the average values ​​ARavs and APavs, which are the tilt degrees for comparison, is equal to or greater than a predetermined value, information for issuing a warning is notified to the terminal device 30.

[0053] The average values ​​ARavs and APavs may be updated sequentially as the information groups ARa1, ARa2, etc. and APa1, APa2, etc. are constructed. For example, if neither of the above two conditions is met, the detected second tilt degree T2 can be said to be a roll angle AR and pitch angle AP "within a safe range." Therefore, the second tilt degree T2 may be stored in the database DB as the first tilt degree T1 and then sequentially used to calculate the average values ​​ARavs and APavs. This allows for the collection of information on many tilt degrees in various driving situations and the generation of tilt degrees for comparison. This enables more accurate abnormality detection.

[0054] Here, the predetermined values ​​dAR and dAP are the maximum displacements of each angle that can ensure safety. The predetermined values ​​dAR and dAP may be constant, or may be set to different values ​​depending on the traveling state and operating mode of the backhoe 10. For example, the higher the vehicle speed of the backhoe 10 traveling along the traveling route L, the smaller the predetermined values ​​dAR and dAP may be set to. This is based on the fact that even when the undulations of the field F are small, it is preferable to increase the safety factor when the vehicle speed is high. Furthermore, although the "absolute value of the difference" between the roll angle AR and the pitch angle AP is used in the judgment, the respective ratios may be used instead.

[0055] <Actual operation> The actual operation of the information notification system 100, which includes the backhoe 10, server 20, and terminal device 30 configured as described above, will be described with reference to a series of flowcharts shown in Fig. 12. Here, it is assumed that information groups ARas and APas have been previously constructed in the server 20 using the backhoe 10's travel in a reference field F. The backhoe 10 travels and works in the field F, the topography of which is unknown, in an automatic manner. Note that the "field F, the topography of which is unknown" is a different field from the "reference field F."

[0056] First, in step ST1, the operator of the terminal device 30 inputs information regarding the travel route and work mode of the backhoe 10 via the display device 32 and the input device 33. This sets the travel route L, work mode, vehicle speed, etc., for when the backhoe 10 is automatically driven. In addition, a start command is executed when the backhoe 10 is to be started, and a stop command is executed when the backhoe 10 is to be stopped. At this point, a start command is executed to start the backhoe 10.

[0057] Next, in step ST2, the communication device 31 transmits the information set in step ST1 and a start instruction or a stop instruction from the terminal device 30 to the server 20.

[0058] Next, in step ST3, the automatic driving instruction unit 23c issues an automatic driving instruction to the backhoe 10 from the server 20 based on the information and instructions transmitted in step ST2. As a result, the backhoe 10 is instructed to automatically drive according to the set travel route L, work mode, vehicle speed, etc. for automatic driving.

[0059] Next, in step ST4, the automatic driving control unit 17a The backhoe 10 is automatically controlled to travel and work according to the automatic driving instructions received from the terminal device 30 and the position of the backhoe 10 measured by the position measuring unit 17b. As a result, the backhoe 10 is automatically driven from the start point K1 to the end point K2 according to the travel route L, work mode, vehicle speed, etc. set by the terminal device 30 (see FIG. 9).

[0060] Next, in step ST5, the tilt detection unit 17c detects the degree of tilt of the backhoe 10. The degree of tilt is the roll angle AR and pitch angle AP of the backhoe 10. The detection of the degree of tilt is performed after a period dt has elapsed since the timing of the previous measurement and detection. Here, the detected degree of tilt (roll angle AR and pitch angle AP) is the latest second degree of tilt T2 (see FIG. 6).

[0061] Next, in step ST6, the information transmitting unit 17d transmits the second tilt degree T2 (roll angle AR and pitch angle AP) detected in step ST5 from the backhoe 10 to the server 20.

[0062] Next, in step ST7, the information notification unit 23b determines whether the absolute value of the difference between the average value ARavs and the roll angle AR transmitted in step ST6 is equal to or greater than a predetermined value dAR. The average value ARavs is the average value of the information group ARa on the first tilt degree T1 (roll angle AR) constructed in advance by the information group constructor 23a (see FIG. 11(a)). If the absolute value of the difference is currently less than the predetermined value dAR, the determination in step ST7 is "No."

[0063] Next, in step ST8, the information notification unit 23b determines whether the absolute value of the difference between the average value APavs and the pitch angle AP transmitted in step ST6 is equal to or greater than a predetermined value dAP. The average value APavs is the average value of the information group APa of the first tilt degree T1 (pitch angle AP) constructed in advance by the information group construction unit 23a (see FIG. 11(b)). The predetermined value dAP may be set to a smaller value as the vehicle speed of the backhoe 10 increases. If the absolute value of the difference is currently less than the predetermined value dAP, the determination in step ST8 is "No."

[0064] Next, in step ST9, the information group constructor 23a adds the second tilt degree T2 transmitted in step ST6 to the database DB as a new first tilt degree T1 (roll angle AR and pitch angle AP) (see FIG. 10). As a result, the database DB is updated to include the newly added information.

[0065] Next, in step ST10, the information group constructing unit 23a generates information groups ARa and APa from the database DB updated in step ST9 (see FIG. 11). The information groups ARa and APa are composed of information groups ARas and APas that were constructed in advance and information groups ARa1 and APa1. The information groups ARa1 and APa1 include the roll angle AR and pitch angle AP that were newly added in step ST9.

[0066] Next, in step ST11, the information group constructor 23a calculates average values ​​ARavs and APavs of the information groups ARa and APa generated in step ST10. The average values ​​ARavs and APavs are updated taking into consideration the roll angle AR and pitch angle AP newly added in step ST9. The average values ​​ARavs and APavs updated in this way are used in the processes of steps ST7 and ST8 when the second tilt degree T2 is next transmitted.

[0067] Then, the process returns to step ST4, and as long as the determinations in steps ST7 and ST8 are both "No," the processes in steps ST4 to ST11 are repeatedly executed. The information notification unit 23b determines that there is no abnormality and does not notify the backhoe 10 of warning information. Furthermore, the first tilting degree T1 is accumulated in the database DB, and the information groups ARa, APa and the average values ​​ARavs, APavs are updated each time.

[0068] On the other hand, when the processing of steps ST4 to ST11 is repeatedly executed, if a "Yes" is judged in either step ST7 or ST8, the process proceeds to step ST12, and the information notification unit 23b notifies the terminal device 30 of information to prompt a warning.

[0069] Next, in step ST13, the display device 32 displays a warning, in accordance with the information notified in step ST12, so as to be visible to the operator of the terminal device 30. The displayed warning is a message such as "Abnormality Occurred" that the operator can visually recognize and detect the abnormality.

[0070] Then, returning to step ST1, the operator who visually recognizes the warning display in step ST14 issues a stop instruction and resets the travel route L, the work mode, and the vehicle speed via the display device 32 and the input device 33. Here, it is preferable that the vehicle speed be set in the deceleration direction.

[0071] Next, in step ST2, the communication device 31 transmits the information reset in step ST1 or a stop instruction from the terminal device 30 to the server 20.

[0072] Next, in step ST3, the automatic driving instruction unit 23c issues an automatic driving instruction to the backhoe 10 from the server 20 based on the information and instructions transmitted in step ST2. This causes the backhoe 10 to automatically stop or slow down, preventing it from tipping over. From the next step ST4 onwards, the same processing as described above is repeatedly executed.

[0073] <Effects of the embodiment> As described above, according to the information notification system 100 of the embodiment of the present invention, when the backhoe 10 travels as a mobile body in a field F or the like, the degree of tilt of the backhoe 10 is detected and sequentially transmitted to the server 20. The server 20 collects a large amount of information on the degree of tilt and organizes the information, for example, as a database DB. The information group construction unit can construct information groups ARa, APa of the degree of tilt T1 over time based on the database DB. The information notification unit can set the average values ​​ARavs, APavs of the information groups ARa, APa as the roll angle AR and pitch angle AP "within a safe range," and use these average values ​​ARavs, APavs as comparison values ​​to compare with the degree of tilt T2 transmitted from the backhoe 10.

[0074] Here, when the field F has large undulations, the degree of tilt of the backhoe 10 that has climbed over the undulations often changes significantly from normal. In this case, the above-mentioned comparison is performed, allowing for accurate and easy abnormality determination. When an abnormality is determined by the information notification unit, the server 20 notifies the terminal device 30 of information for prompting the issuance of a warning. Therefore, according to the information notification system 100, information on the degree of tilt of the backhoe 10 is utilized, allowing for accurate and easy abnormality determination, and for information for prompting the issuance of a warning to be notified to the terminal device 30.

[0075] Furthermore, particularly in the above embodiment, the information transmission unit transmits the first tilt degree T1 and the second tilt degree T2. The second tilt degree T2 is a value detected after the first tilt degree T1 is detected. Therefore, the many first tilt degrees T1 obtained in the past can be effectively used as information on a state in which no danger or abnormality occurs during driving or work. Furthermore, the many tilt degrees obtained in the past and the latest second tilt degree T2 can be used to determine an abnormality. Therefore, since the many pieces of information required for comparison can be efficiently collected, the information groups ARa and APa for abnormality determination can be constructed early.

[0076] Furthermore, particularly in the above embodiment, the information notification unit notifies the terminal device 30 of information for issuing a warning when the difference between the second tilt degree T2 and the average value of the first tilt degree T1 for comparison is equal to or greater than a predetermined value. This allows the predetermined value to be set to, for example, the maximum displacement of the tilt degree that can ensure safety. The predetermined value may be a constant value, or may be set to vary depending on, for example, the vehicle speed of the backhoe 10. Therefore, the predetermined value that serves as the judgment criterion can be easily and appropriately set depending on the traveling mode of the backhoe 10.

[0077] Furthermore, particularly in the above embodiment, the terminal device 30 is located at a location separated from the backhoe 10. In the backhoe 10, a position measurement unit measures the position of the backhoe 10, and an automatic driving control unit controls the traveling and work of the backhoe 10 automatically in accordance with the measured position and automatic driving instructions from the terminal device 30. According to this, even when the terminal device 30 remotely controls the automatic driving of the mobile object, information prompting a warning is transmitted to the terminal device 30, so that the operator can reliably check the warning. Furthermore, an operator who visually checks the warning can issue a stop instruction to the backhoe 10 from the terminal device 30 or set the vehicle speed in a deceleration direction to ensure safety.

[0078] [Variations] The information notification system 100 in the above embodiment is applied to a mobile object (backhoe 10) traveling in one field F, but instead, it may be applied to a plurality of mobile objects traveling in a plurality of different fields, etc. In this case, the degree of tilt may be transmitted from each mobile object traveling in a plurality of fields, etc. to one server 20. In this case, it is preferable that the server 20 constructs a group of information on the degree of tilt for each of the plurality of mobile objects, and performs abnormality determination for each of the plurality of mobile objects.

[0079] Furthermore, in the information notification system 100 of the above embodiment, two rotation angles, the roll angle AR and the pitch angle AP, are used as the tilt degree of the backhoe 10, but instead, one of these two may be used. That is, the server 20 may use one of the two rotation angles when determining whether or not to notify information to issue a warning.

[0080] Furthermore, in the information notification system 100 of the above embodiment, a backhoe is used as the mobile object 10. However, instead of this, for example, a construction crane 10 may be used. In this case, as shown in FIG. 13 , the crane 10 is configured to be able to lift a heavy load 14. Note that in the crane 10, components that are the same or equivalent to those in the above embodiment are given the same reference numerals. The tip of the movable operating device 13 of the crane 10 protrudes forward. The wire 13a of the crane 10 extends vertically downward from the tip of the movable operating device 13. A connector 13b is attached to the lower end of the wire 13a. The heavy load 14 is connected to the connector 13b.

[0081] The state shown in Figure 13 is a state in which crane 10 is grounded on a horizontal plane. Centers of gravity G1, G2, and G3 are defined for vehicle body 11, movable operating device 13, and heavy load 14, respectively. Point K, which is the ground contact point and corresponds to the front end, is defined at the bottom of crane 10. Line segments G1-K, G2-K, and G3-K connecting centers of gravity G1, G2, and G3 to point K form angles A1, A2, and A3 with the horizontal plane, respectively. In addition, in the state shown in Figure 13, the lengths of line segments G1-K, G2-K, and G3-K are distances D1, D2, and D3, respectively. The length from the tip of movable operating device 13 to center of gravity G3 of heavy load 14 is distance D4.

[0082] In this case, with point K as the fulcrum, the moment m1 at the rear side of point K and the moment m2 at the rear side of point K are A moment m2 at the front side is defined. Here, using the masses M1, M2, and M3 of the vehicle body 11, the movable operating device 13, and the heavy load 14, respectively, and the gravitational acceleration g, moments m1 and m2 are expressed by the following equations (1) and (2), respectively. For the crane 10 that is placed on a horizontal surface, the respective values ​​are set so that the relationship m1>m2 holds. This prevents the crane 10 from tipping forward when the heavy load 14 is lifted in front of it.

[0083] m1=(M1)g(D1)(cos(A1)) …(1) m2=(M2)g(D2)(cos(A2))+(M3)g(D3)(cos(A3)) …(2)

[0084] As shown in Figure 14, for example, assume that crane 10 is placed on the ground so as to tilt slightly forward. Assume that it has tilted forward by tilt angle A from the state shown in Figure 13, with point K as the center. The degree of tilt in this case corresponds to tilt angle A from point K as the center. In this case, moments m1 and m2 are expressed by the following equations (3) and (4), respectively, by reflecting tilt angle A in the above equations (1) and (2).

[0085] m1=(M1)g(D1)(cos(A1+A)) …(3) m2=(M2)g(D2)(cos(A2-A))+(M3)g((D3)+2(D4)(sin(A / 2)))(cos(A3-A)) …(4)

[0086] As shown in FIG. 15(a), according to equation (3) above, the larger the tilt angle A, the smaller the value of moment m1 (see solid line). According to equation (4) above, the larger the tilt angle A, the larger the value of moment m2 (see dashed line). The tilt angle A corresponding to the intersection of moments m1 and m2 is defined as threshold Ath. When tilt angle A is smaller than threshold Ath, the relationship m1 > m2 holds, and the crane 10 is prevented from tipping forward. On the other hand, when tilt angle A is equal to or greater than threshold Ath, the relationship m1 ≦ m2 holds, and the crane 10 is more likely to tip forward. In other words, threshold Ath can be used as a criterion for determining danger or abnormality.

[0087] As shown in FIG. 15(a), according to the above formula (4), the moment m2 increases as the mass M3 of the heavy load 14 increases. Furthermore, the moment m2 increases as the angle A2 decreases (i.e., as the tip of the movable operating device 13 approaches horizontal). Therefore, the threshold Ath decreases as the mass M3 increases or the angle A2 decreases. Based on this, a table may be created that defines the relationship between the threshold Ath, the mass M3, and the angle A2, as shown in FIG. 15(b). In this table, the threshold Ath is determined to decrease as the mass M3 increases or the angle A2 decreases.

[0088] For example, the above-mentioned table may be created as a group of pre-constructed information on the degree of tilt, and threshold value Ath may be determined according to angle A2 of movable operating device 13 of crane 10 and mass M3 of heavy load 14. Tilt angle A may be detected by tilt detection device 16 of crane 10, and the determined threshold value Ath may be compared with the detected tilt angle A. If Ath > A, no information prompting a warning may be issued, and if Ath ≦ A, information prompting a warning may be issued. This modification also enables accurate and easy abnormality determination and enables information prompting a warning to be issued to terminal device 30.

[0089] The above-described embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is defined by the claims, not the above description, and all modifications within the meaning and scope of the claims are intended to be included. , intended. [Explanation of symbols]

[0090] 10...backhoe, 10...crane, 13...movable operating tool, 14...heavy load, 15...positioning device, 16...tilt detection device, 17...control device, 17a...automatic driving control unit, 17b...position measurement unit, 17c...tilt detection unit, 17d...information transmission unit, 20...server, 22...storage device, 23...arithmetic device, 23a...information group construction unit, 23b...information notification unit, 23c...automatic driving instruction unit, 30...terminal device, 32...display device Position, 100...information notification system, A...tilt angle, AR...roll angle, AP...pitch angle, ARa, APa...information group, ARas, APas...information group, ARa1, APa1...information group, ARa2, APa2...information group, ARavs, APavs...average value, Ath...threshold, DB...database, F...field, L...travel route, N...information and communication network, T1...first tilt degree, T2...second tilt degree

Claims

1. A moving object and a server connected to the mobile unit via an information and communication network and configured to be able to transmit and receive information about the mobile unit; a terminal device connected to the server via an information communication network and configured to be able to transmit and receive information from the server; In an information notification system for notifying information from the server to the terminal device, The moving body is a tilt detection unit that detects the degree of tilt of the moving body; an information transmitting unit that transmits the detected tilt degree of the moving object to the server; Equipped with The information transmission unit of the mobile body a first tilt degree and a second tilt degree detected after the first tilt degree are transmitted to the server as the tilt degree of the moving object, The server an information notification unit that notifies the terminal device of information for issuing a warning based on the transmitted tilt degree of the moving body and a pre-constructed information group of tilt degrees of the moving body; an information group constructing unit that constructs an information group of the tilt degree based on the transmitted first tilt degree of the moving object; Equipped with The information notification unit of the server and when a difference between the transmitted second tilt degree of the moving body and an average value of the first tilt degree in the information group constructed based on the first tilt degree is equal to or greater than a predetermined value, notifying the terminal device of information for prompting a warning, the information group constructing unit adds the second tilt degree, the difference of which from the average value is less than the predetermined value, as a new first tilt degree to the database of the server, and updates the average value in consideration of the newly added first tilt degree. Information notification system.

2. 2. The information notification system according to claim 1, The predetermined value is set to a smaller value as the vehicle speed of the moving body increases. Information notification system.

3. In the information notification system according to claim 1 or 2, the first tilt degree and the second tilt degree each have a roll angle and a pitch angle, The information notification unit of the server an information notification system that notifies the terminal device of information for issuing a warning when either of the following two conditions is met; 1. When the absolute value of the difference between the average value of the roll angle in the information group and the roll angle of the second tilt degree is equal to or greater than the predetermined value, 2. The absolute value of the difference between the average value of the pitch angle in the information group and the pitch angle of the second tilt degree is equal to or greater than the predetermined value.

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