WO2015147150A1

WO2015147150A1 - Operator monitoring device

Info

Publication number: WO2015147150A1
Application number: PCT/JP2015/059338
Authority: WO
Inventors: 青木　英明; 敏史平松
Original assignee: ヤンマー株式会社
Priority date: 2014-03-28
Filing date: 2015-03-26
Publication date: 2015-10-01
Also published as: JPWO2015147150A1; JP6162882B2

Abstract

　In order to make it possible to simply monitor the state of operation merely through a response in addition to a normal operation without the need for a diagnostics check, work is performed using a position calculation means for measuring the position of a vehicle body using a satellite positioning system, an autonomously traveling work vehicle (1) that performs work and travels automatically along a set travel route, and an accompanying travel work vehicle (100) that performs work while traveling so as to accompany the autonomous travel work vehicle at a position located a predetermined distance away from the autonomously traveling work vehicle; intercommunication between a remote operation device (112) provided to the accompanying travel work vehicle (100) and a control device (30) on the autonomously traveling work vehicle (1) is enabled through a communication means; and when an operation performed by an operator onboard the accompanying travel work vehicle (100) deviates from a control performed when the autonomously traveling work vehicle travels through a position located a predetermined distance away, the autonomously traveling work vehicle and the accompanying travel work vehicle are stopped from traveling and a warning is issued.

Description

Operator monitoring device

The present invention monitors the operation of an operator who travels accompanying an autonomous traveling work vehicle that enables autonomous traveling along a set traveling route using a satellite positioning system, rides on the associated traveling work vehicle, and operates to travel. And a technique for ensuring the safety of the operator.

Conventionally, in order to safely drive movable heavy equipment, trains, cars, etc., health data measured for each normal management item of the operator in charge is recorded on an IC card and hosted from the IC card before operation. Register it on the computer. Then, when operating, a health condition detection terminal is attached to the operator, and it is detected whether there is any abnormality compared to the health data measured for each normal management item, and when an abnormality is detected, an alarm is issued, A technique for stopping the operation is known (for example, see Patent Document 1).

JP 2005-202899 A

In the above-described technology, it is necessary to obtain a normal health check and record the data on an IC card in advance before starting work. And in order to record the data acquired after receiving the diagnosis on the IC card, a dedicated device for recording is necessary, and anyone in the region who is engaged in farming can easily acquire the data and record it on the IC card. It is not possible. Further, when driving, the operator must wear a health condition detection terminal, which may interfere with the operation.

The present invention has been made in view of the above situation, and an object of the present invention is to provide a work vehicle that does not require a health checkup and can monitor an operation state by simply responding in addition to a normal operation.

The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

That is, the present invention includes a work vehicle including a timer, response requesting means, response request recognition means, an alarm device, travel stop means, and a control device that controls these, the control device being response requesting means. If the response is inappropriate, the work vehicle is stopped and a warning is issued.
The present invention includes a work vehicle including a timer, response requesting means, recognition means for the response request, an alarm device, a travel stop means, and a control device that controls these, and the control device is disabled by the response requesting means. A response is periodically requested, and if the response is inappropriate, the work vehicle is stopped and a warning is issued.
The present invention comprises a work vehicle equipped with a timer, a camera for photographing an operator, a means for recognizing and analyzing the image of the camera, an alarm device, a travel stop means, and a control device for controlling these, the control The device stops the traveling of the work vehicle and issues an alarm if the video captured by the camera captures the operator in a predetermined direction for a set time or more but is not suitable.

The present invention relates to a position calculation means for positioning the position of the aircraft using a satellite positioning system, an autonomous traveling work vehicle that automatically travels and works along a set traveling route, and the autonomous traveling work vehicle. The remote operation means provided in the accompanying traveling work vehicle and the control device for the autonomous traveling work vehicle mutually communicate with each other via the communication means. It is possible to communicate, and the operation by the operator boarding the accompanying traveling work vehicle is abnormal as compared with the control when the autonomous traveling working vehicle travels a position away from the predetermined distance. The travel of the traveling work vehicle is stopped and an alarm is issued.

In the present invention, if the alarm is not canceled for a set time or more, the control device requests a rescue.

By using the above-mentioned means, when the operator is old or ill, etc., and an inappropriate operation is performed, an alarm is issued and the operation is stopped. In the case of driving, it can be triggered by an alarm, and if it becomes inoperable due to illness, a rescue request can be made and work can be done with peace of mind.

The schematic side view which shows an autonomous traveling work vehicle, a GPS satellite, and a reference station. Control block diagram. The figure which shows the state of the work by an autonomous traveling work vehicle and an accompanying traveling work vehicle. The figure which shows a control flowchart. The figure which shows the control flowchart of another Example. The figure which shows the control flowchart of another Example.

An embodiment will be described in which an autonomous traveling work vehicle 1 capable of autonomous traveling using a satellite positioning system is used as a tractor, and a rotary tiller 24 is mounted as a work implement at the rear of the autonomous traveling work vehicle 1. However, the work vehicle is not limited to a tractor, and may be a combine. The work machine is not limited to a rotary tiller. A vertical machine, a mower, a rake, a seeder, a fertilizer, a wagon, etc. It may be.

1 and 2, the overall configuration of the tractor serving as the autonomous traveling work vehicle 1 will be described. An engine 3 is installed in the hood 2, a dashboard 14 is provided in a cabin 11 at the rear of the hood 2, and a steering handle 4 serving as a steering operation means is provided on the dashboard 14. The steering wheel 4 is rotated to rotate the front wheels 9 and 9 through the steering device. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 4 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the control device 30.

A driver's seat 5 is disposed behind the steering handle 4 and a mission case 6 is disposed below the driver's seat 5.

Rear axle cases

8 and 8 are connected to the left and right sides of the transmission case 6, and

rear wheels

10 and 10 are supported on the

rear axle cases

8 and 8 via axles. The power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the mission case 6 so that the

rear wheels

10 and 10 can be driven. The transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed. The speed change means 44 is connected to the control device 30. The rotational speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the control device 30 as the traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

The transmission case 6 houses a PTO clutch, a PTO transmission, and a braking device 46. The PTO clutch is turned on and off by a PTO on / off means 45, and the PTO on / off means 45 is connected to the control device 30 to power the PTO shaft. It is possible to control the connection / disconnection. The braking device 46 is connected to the control device 30, and can be braked during an operator's operation or automatic traveling. The control device 30 includes a CPU (central processing unit), a storage device 30m such as a RAM and a ROM, an interface, and the like, and a program and data for operating the autonomous traveling work vehicle 1 are stored in the storage device 30m.

A front axle case 7 is supported on a front frame 13 that supports the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the front wheels 9 and 9. It is configured. The front wheels 9, 9 are steered wheels, and can be turned by turning the steering handle 4, and the front wheels 9, 9 can be turned left and right by a steering actuator 40 comprising a power steering cylinder as a steering drive means. It is possible. The steering actuator 40 is connected to the control device 30 and is driven by automatic traveling control.

The controller 30 is connected to an engine controller 60 serving as an engine rotation control means, and the engine controller 60 is connected to an engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like so that the state of the engine can be detected. The engine controller 60 detects the load from the set rotational speed and the actual rotational speed and controls it so as not to be overloaded, and transmits the state of the engine 3 to the remote operation device 112 described later so that it can be displayed on the display 113. Yes.

The fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and is connected to the control device 30. The display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 has a fuel supply. A fuel gauge for displaying the remaining amount is provided and connected to the control device 30. Then, information regarding the remaining amount of fuel is transmitted from the control device 30 to the remote operation device 112, and the remaining fuel amount and workable time are displayed on the display 113 of the remote operation device 112.

On the dashboard 14, display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., a monitor indicating an abnormality, a set value, and the like are arranged.

In addition, a rotary tiller 24 is installed as a work implement on the rear side of the tractor body via the work implement mounting device 23 so as to be able to move up and down to perform the tilling work. An elevating cylinder 26 is provided on the transmission case 6, and the elevating arm 26 constituting the work implement mounting device 23 is rotated by moving the elevating cylinder 26 to extend and lower the rotary tiller 24. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the control device 30.

A mobile communication device 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile communicator 33 is provided with a position calculating means for transmitting latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (United States), high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonus satellite (Russia). In this embodiment, GPS is used. explain.

The autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining attitude change information of the airframe, and an orientation sensor 32 for detecting a traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the GPS position measurement, the direction sensor 32 can be omitted.
The gyro sensor 31 detects an angular velocity of a tilt (pitch) in the longitudinal direction of the autonomous traveling work vehicle 1, an angular velocity of a tilt (roll) in the lateral direction of the aircraft, and an angular velocity of turning (yaw). By integrating and calculating the three angular velocities, it is possible to obtain the tilt angle in the front-rear direction and the left-right direction and the turning angle of the body of the autonomous traveling work vehicle 1. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control device 30 and inputs information relating to the three angular velocities to the control device 30.

The direction sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. A specific example of the direction sensor 32 includes a magnetic direction sensor. The direction sensor 32 is connected to the control device 30 and inputs information related to the orientation of the aircraft to the control device 30.

In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the attitude / azimuth calculation means, and the attitude of the autonomous traveling work vehicle 1 (orientation, forward / backward direction of the body, left / right direction of the body, turning direction) )

Next, a method for acquiring the position information of the autonomous traveling work vehicle 1 using the GPS (global positioning system) will be described.
GPS was originally developed as a navigation support system for aircraft, ships, etc., and is composed of 24 GPS satellites (four on six orbital planes) orbiting about 20,000 kilometers above the sky. It consists of a control station that performs tracking and control, and a user communication device that performs positioning.
As a positioning method using GPS, there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used. However, in this embodiment, an RTK-GPS positioning system with high measurement accuracy is adopted, and this method will be described with reference to FIGS.

RTK-GPS (real-time kinematics-GPS) positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. Is transmitted in real time, and the position of the mobile station is obtained in real time based on the position result of the reference station.

In the present embodiment, a mobile communication device 33 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmission antenna. 39 is disposed at a predetermined position that does not interfere with the work in the field. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, the phase is measured (relative positioning) at both the reference station and the mobile station, and the data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39. Transmit to the data receiving antenna 38.

The mobile GPS antenna 34 disposed in the autonomous traveling work vehicle 1 receives signals from

GPS satellites

37, 37. This signal is transmitted to the mobile communication device 33 for positioning. At the same time, signals from

GPS satellites

37, 37... Are received by a fixed GPS antenna 36 serving as a reference station, measured by a fixed communication device 35, transmitted to the mobile communication device 33, and the observed data is analyzed and moved. Determine the station location. The position information obtained in this way is transmitted to the control device 30.

Thus, the control device 30 in the autonomous traveling work vehicle 1 includes automatic traveling means for automatically traveling. The automatic traveling means receives radio waves transmitted from the

GPS satellites

37, 37. The position information of the aircraft is obtained at time intervals, the displacement information and the orientation information of the aircraft are obtained from the gyro sensor 31 and the orientation sensor 32, and along the set route R preset by the aircraft based on the position information, the displacement information, and the orientation information. The steering actuator 40, the speed change means 44, the lifting / lowering actuator 25, the PTO on / off means 45, the engine controller 60, etc. are controlled so as to automatically run and work automatically. Note that the position information of the outer periphery of the farm field H that is the work range is also set in advance by a well-known method and stored in the storage device. Further, since it is possible to travel on the road outside the farm field H, the left and right brake pedals are connected by an actuator when the road can be recognized outside the farm field on the map.

Also, the autonomous traveling work vehicle 1 is provided with an obstacle sensor 41 and a camera 42 as obstacle detection means and is connected to the control device 30 so as not to contact the obstacle. For example, the obstacle sensor 41 is composed of an infrared sensor or an ultrasonic sensor, and is arranged at the front, side, or rear part of the aircraft and connected to the control device 30, and there are obstacles at the front, side, or rear of the aircraft. If an obstacle is detected, an alarm is issued and control is performed to reduce or stop the traveling speed.

In addition, the autonomous traveling work vehicle 1 is mounted with a camera 42 that photographs the front and the work implement and is connected to the control device 30. The video imaged by the camera 42 is displayed on the display 113 of the remote control device 112 provided in the accompanying traveling work vehicle 100.

The remote control device 112 sets the set travel route R of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1, and the operating state of the work implement. Or work data.

That is, the remote operation device 112 is detachable from the operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while attached to the dashboard of the accompanying traveling work vehicle 100, or can be taken out of the accompanying traveling work vehicle 100 to be carried and operated, or attached to the dashboard of the autonomous traveling work vehicle 1. Can be operated. The remote operation device 112 can be configured by, for example, a notebook or tablet personal computer. In this embodiment, a tablet computer is used.

Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with

transceivers

110 and 111 for communication, respectively. ing. The transceiver 111 is configured integrally with the remote operation device 112. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote operation device 112 is provided with a display 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a transceiver 111, a CPU, a storage device, a battery, and the like are housed in the housing.

The autonomous traveling work vehicle 1 can be remotely operated by the remote operation device 112. For example, the autonomous traveling work vehicle 1 can be operated for emergency stop, temporary stop, re-start, change of vehicle speed, change of engine speed, raising / lowering of the work machine, turning on / off of the PTO clutch, and the like. That is, the operator can easily operate the autonomous traveling work vehicle by controlling the accelerator actuator, the shifting means 44, the braking device 46, the PTO on / off means 45, etc. from the remote control device 112 via the transceiver 111, the transceiver 110, and the control device 30. 1 can be remotely controlled.

The display 113 can display surrounding images taken by the camera 42, the state of the autonomous traveling work vehicle 1, the state of work, information on GPS, an operation screen, and the like so that the operator can monitor.

The state of the autonomous traveling work vehicle 1 includes a traveling state, an engine state, a working machine state, and the like. The traveling state includes a shift position, a vehicle speed, a fuel remaining amount, a battery voltage, and the like. Is the engine speed, load factor, etc., and the state of the work machine is the type of work machine, PTO rotation speed, work machine height, etc., which are displayed on the display 113 with numbers, level meters, etc.

The work status includes: work route (target route or set travel route R), work process, current position, distance to the headland calculated from the process, remaining route, number of processes, current work time, remaining Working hours, etc. The remaining paths can be easily recognized by filling the existing work paths from the entire work paths. Further, by displaying the next stroke from the current position with an arrow, it is possible to easily recognize the next stroke such as the turning direction from the current time.
The information regarding GPS includes longitude and latitude at which the autonomous traveling work vehicle 1 is actually located, the number of satellites supplemented, radio wave reception intensity, an abnormality in the positioning system, and the like.

In the present embodiment, the operator gets on the accompanying traveling work vehicle 100 to drive and operates the autonomous traveling working vehicle 1 by mounting the remote operation device 112 on the accompanying traveling work vehicle 100. As shown in FIG. 3, the accompanying traveling work vehicle 100 travels while working diagonally behind the autonomous traveling work vehicle 1, and monitors and operates the autonomous traveling work vehicle 1. However, there is a case in which the accompanying traveling work vehicle 100 travels behind the autonomous traveling work vehicle 1 to perform work depending on the work mode, and the present invention is not limited thereto. In the present embodiment, an example in which the accompanying traveling work vehicle 100 travels while working diagonally behind the autonomous traveling work vehicle 1 will be described.

Next, a description will be given of the control when an abnormality occurs in the operator, such as when the operator performs an inappropriate operation during the work.
The basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1.
Since the accompanying traveling work vehicle 100 is manually operated, operation detecting means for comparing with the normal operation is provided in the accompanying traveling working vehicle 100 in order to detect the operation state of the accompanying traveling working vehicle 100 by the operator. When the operation state is detected by the operation detection means and the allowable range is exceeded as compared with the normal operation, the control device 130 provided in the accompanying traveling work vehicle 100 determines that the abnormality is present.

As operation detection means, a steering sensor 120 that detects an operation of a steering handle provided in the accompanying traveling work vehicle 100, a vehicle speed sensor 127 that detects a traveling speed of the accompanying traveling work vehicle 100, and a shift position sensor that detects an operation angle of a shift lever. 128, an accelerator lever position sensor 129 for detecting the rotation position of the accelerator lever, a PTO lever position sensor 145 for detecting the shift position of the PTO shift lever, and a position lever position sensor for detecting the rotation position of the position lever for raising and lowering the work implement. 146, a brake pedal position sensor 147 for detecting the rotation of the brake pedal, and a main clutch pedal position sensor 148 for detecting the rotation of the main clutch pedal are provided, and are connected to the control device 130, respectively.

Whether the operation state is normal or abnormal is compared according to the running state and the working state. If the operator is operating the accompanying traveling work vehicle 100 in a normal traveling state, the accompanying traveling working vehicle 100 travels obliquely behind the autonomous traveling working vehicle 1, and therefore the accompanying traveling work vehicle 100 also has the same traveling direction at substantially the same speed. In the normal work state, the work is stopped at the headland in the field, and a fixed work is performed in the work mode set at the start of the work except for the headland.
Therefore, by storing the traveling state and the working state at an arbitrary position where the autonomous traveling working vehicle 1 has traveled, and comparing the traveling state of the accompanying traveling working vehicle 100 when traveling on the side of the arbitrary position, the operator Determines whether it is performing normal operation or not in an abnormal state.

Specifically, in FIG. 3, the autonomous traveling work vehicle 1 compares the traveling state and working state at the G position, and the traveling state and working state at the g position of the accompanying traveling working vehicle 100. The traveling state includes the traveling direction and traveling speed, and the working state includes the rotational speed (work load) of the PTO shaft and the height of the working machine.

For example, if the autonomous traveling work vehicle 1 goes straight in the G position and the traveling speed is v, the controller 130 detects the detected value from the steering sensor 120 when the accompanying traveling work vehicle 100 reaches the g position. Are compared with each other, and the detection value of the speed sensor 127 is compared with v to determine whether it is within the allowable range. At the same time, it is determined whether the rotational speed has been changed to PTO or the height of the work implement has not been changed. If the traveling state and the working state of the accompanying traveling work vehicle 100 are within an allowable range, the operator determines that the operator is working normally. If the traveling state or working state of the accompanying traveling work vehicle 100 exceeds the allowable range, it is determined that an abnormality has occurred in the operator. Also, it is determined that an abnormality has occurred when the brake operation or the clutch operation is performed on the accompanying traveling work vehicle 100 even though it is not performed on the autonomous traveling work vehicle 1. If the control device 130 determines that the operation is abnormal, an alarm is issued from the speaker 151 serving as an alarm device, and if the alarm release operation is not performed within a predetermined time, the speed change means 144 and the braking device provided in the accompanying traveling work vehicle 100 Is operated to stop the traveling, and the autonomous traveling work vehicle 1 is also stopped by operating the speed change means 44 and the braking device 46. The alarm device is not limited to the speaker 151 provided in the accompanying traveling work vehicle 100, but can be configured by a speaker, a horn, a light, a speaker provided in the remote operation device 112, or the like provided in the autonomous traveling work vehicle 1. .

The traveling speed of the autonomous traveling working vehicle 1 and the traveling speed of the accompanying traveling working vehicle 100 may be simultaneously compared. However, since the autonomous traveling working vehicle 1 departs first and arrives at the field end first, Since comparison is sometimes impossible, it is necessary to prepare separate comparison data at the time of departure and arrival. Further, when the accompanying traveling work vehicle 100 travels and works behind the autonomous traveling work vehicle 1, the traveling direction and traveling speed when the autonomous traveling work vehicle 1 passes through an arbitrary position (for example, G position), the accompanying What is necessary is just to compare the advancing direction and traveling speed when the traveling work vehicle 100 passes the same position (G position). Further, if the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are the same manufacturer and the same model and the same class, it may be configured to compare whether the accelerator lever position, the shift position, etc. are the same value. . The accompanying traveling work vehicle 100 includes a GPS mobile communication device 33 and a moving GPS antenna 34. When the accompanying traveling work vehicle 100 moves away from the autonomous traveling work vehicle 1 by a set distance or more, it stops and issues an alarm. It is also possible to configure as described above.

If the alarm continues for a set time or longer, it is determined that the operator is in an inoperable state, and the remote operation device 112 is used from the remote control device 112 to a home, a store, a service station, a management center, etc. Make a rescue request. In this way, it is possible to work with peace of mind even when working alone. The rescue request is made by an automatic call, e-mail or the like through a mobile phone line network or the Internet network. By reporting the position and posture of the autonomous traveling work vehicle 1, the accompanying traveling work vehicle 100, or the remote control device 112 at the time of the rescue request, the rescue can be performed quickly. In addition, it is possible to prevent the user from being left unattended by performing confirmation at two or more locations of the home, the store, the service station, and the management center.

Specific control will be described with reference to FIG.
When the autonomous traveling work vehicle 1 travels on the set traveling route R and the accompanying traveling work vehicle 100 travels obliquely backward, the traveling state (traveling) when the autonomous traveling work vehicle 1 travels the predetermined position (G). (Direction / traveling speed) and the working state, and the traveling state (traveling direction / traveling speed) when the accompanying traveling work vehicle 100 travels on the side position (g) of the predetermined position (G) and the working machine state are compared. Then, it is determined whether the difference is within an allowable range (S1). If it is within the allowable range, it will continue to run and work.
If the allowable range is exceeded, it is determined that there is an abnormality and an alarm is issued (S2), and the timer is activated to count (S3). When it is recognized that the operator has performed an abnormal operation by this alarm, the alarm is released by operating the alarm release switch 152 provided on the accompanying traveling work vehicle 100 or the remote operation device 112 (S4), and the original operation state is restored. The timer is reset (S5), and the process returns to step S1.

If the alarm is not released, it is determined whether the first set time has elapsed (S6). The first set time is a time that can be easily canceled by the operator. If the alarm is not canceled within the first set time, it is determined that the abnormal state continues and a trouble has occurred in the operator, and the traveling and work of the autonomous traveling work vehicle 1 and the accompanying traveling working vehicle 100 are stopped (S7). ), A rescue request is made (S8). At this time, since the alarm is in a state of being notified, it is possible to notify the surroundings that an abnormality has occurred.

It is also possible to detect whether an abnormality has occurred in the operator who operates the accompanying traveling work vehicle 100 with the control device 119 of the remote operation device 112. Alternatively, a response can be obtained from the autonomous traveling work vehicle 1 or the accompanying traveling work vehicle 100 via the communication device. That is, a display for periodically requesting a response is displayed on the display 113 of the remote operation device 112 (which may be the display device 149 provided on the accompanying traveling work vehicle 100) as a response requesting means mounted on the accompanying traveling work vehicle 100, or The remote control device 112 (or the accompanying traveling work vehicle 100) is provided with a recognition switch 115 for responding. In this way, for example, at 5 minute intervals from the remote control device 112, the display switches and informs the user of "Is there an abnormality?" Or "... Is it OK?" Press 115. If there is no response to pressing the recognition switch 115 within a predetermined time with respect to the question, it is determined that the operator is in an unresponsive state due to an abnormality, and the autonomous traveling work vehicle 1 and the accompanying traveling working vehicle Stop driving and work 100 and issue an alarm. If the alarm is not released by the alarm release switch 152 within a predetermined time after the stop, a rescue request is made to the home, a store, a service station, or the like in the same manner as described above. Moreover, you may make it alert | report by the horn, the siren, the speaker 151, etc. that abnormality has generate | occur | produced around. However, the response request is not limited to regular (every predetermined time), but can be requested irregularly to have a change. In other words, by randomly performing the response request time interval, there is an effect that sleepiness is awakened by requesting a response request unexpectedly without becoming rutted.

Specific control will be described with reference to FIG.
At the same time as starting the operation, the control device 130 activates and counts the timer (S10). When the second set time elapses (S11), a message “Is there any abnormality?” Is displayed on the display 113 and a response is requested by voice (S12). The second set time is a time that does not cause an accident by largely deviating from the runway due to falling asleep. If the operator presses the recognition switch 115 and responds, it is determined that there is no abnormality, the timer is reset, and the process returns to step S10 (S14). That is, a response is periodically requested at intervals of the second set time, and the operator's reaction is observed and monitored. If there is no response, it is determined whether the third set time has elapsed (S15). The third set time is a time during which an operator can easily respond from a response request. When the third set time elapses, it is determined that the abnormal state continues and a trouble has occurred in the operator. Therefore, an alarm is issued and the traveling and work of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are stopped (S16). When the operator wakes up from dozing or notices an abnormality and returns to the normal state by this alarm, an alarm canceling operation is performed, so it is determined whether the alarm has been canceled (S17). When the alarm is released, the process proceeds to step S14, and the timer is reset. If the alarm is not released, it is determined whether the fourth set time has elapsed (S18). This fourth set time is a time that can be dealt with enough time to recognize and cancel the alarm, and does not make a rescue request at the same time as the alarm. When the fourth set time elapses, the operator may not be able to move so that the alarm cannot be canceled, and therefore, a rescue request is made to the dealer or the like (S19).

Thus, the control device 130 of the autonomous traveling work vehicle 1 is provided with the timer and the response requesting means, the recognition switch 115 serving as a recognition means for the response request to the autonomous traveling work vehicle, the transmission means and the braking device serving as the travel stopping means, And a control device 130 for controlling them. The control device 130 periodically requests a response by response request means, and stops the traveling of the autonomous traveling work vehicle 1 when the response is inappropriate, that is, when there is no response. Thus, an alarm is issued to ensure the safety of the operator.

In addition, the operator operating the accompanying traveling work vehicle 100 is photographed by the remote operation device 112 or the camera 242 provided in the accompanying traveling working vehicle 100 (not shown) to detect the abnormality of the operator. Is also possible. For example, an operator is photographed by the camera 242, the image is analyzed by the control device 119, it is detected whether the orientation of the operator's face (line of sight is more preferable) is in a predetermined direction, and directions other than the predetermined direction are detected. If the time to turn continues for more than the set time, it is determined that there is an abnormality, an alarm is issued in the same manner as described above, and if the alarm release switch 152 is not operated in response to the alarm, the home, dealer, service station, management center, etc. A rescue request is made. In addition, the said predetermined direction is the direction of the autonomous traveling work vehicle 1, the front, or the direction of the control unit. If the direction other than the above is directed for a set time or longer during the work, This may be the case of operating, looking away, feeling lost, or being unable to operate due to sudden illness.

Specific control will be described with reference to FIG.
At the same time as starting the operation, the control device 130 photographs the operator with the camera 242 (S30). It is determined whether the operator is facing a predetermined direction (S31). If the operator is not facing the predetermined direction, counting is started (S32). It is determined whether or not the fifth set time has elapsed in a time not facing the predetermined direction (S33). If the operator turns in the predetermined direction within the fifth set time, the timer is reset (S34) and the process returns to step 30. If the abnormal state continues in step 33, it is determined that a trouble has occurred to the operator, an alarm is issued, and the traveling and work of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are stopped (S35). When the operator wakes up from dozing or notices an abnormality and returns to the normal state by this alarm, an alarm canceling operation is performed, so it is determined whether the alarm has been canceled (S36). When the alarm is released, the timer is reset (S34) and the process returns to step 30. If the alarm is not released, it is determined whether the sixth set time has elapsed (S37). When the sixth set time elapses, the operator may not be able to move so that the alarm cannot be canceled. Therefore, in the same manner as described above, a rescue request is made to the dealer or the like (S38).
Thus, the accompanying traveling work vehicle 100 includes the timer, the camera 242 for photographing the operator, the means for recognizing and analyzing the image of the camera 242, the alarm device, the travel stopping means, and the control device 130 for controlling them. The controller 130 stops the traveling of the autonomous traveling work vehicle 1 and the accompanying traveling working vehicle 100 when the image captured by the camera 242 captures the operator in a predetermined direction for a set time or more but is not suitable. , Alert

It is also possible to detect from the attitude of the remote operation device 112 whether an abnormality has occurred in the operator who operates the accompanying traveling work vehicle 100. That is, the gyro sensor 231 is provided in the remote operation device 112 and connected to the control device 119 to detect the attitude of the remote operation device 112. If the attitude of the remote operation device 112 becomes abnormal, for example, if the face-down state continues for a set time or longer, it is determined that an abnormality has occurred, not the state in which the operator can visually recognize and operate the remote operation device 112. is there. In this case, an alarm is issued in the same manner as described above, and if the alarm cancel switch 152 is not operated in response to the alarm, a rescue request is made to the home, a store, a service station, a management center, or the like.

The present invention can be used for a construction machine, an agricultural work vehicle, or the like in which a work vehicle performs work in a predetermined farm field or the like using a satellite positioning system.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling working vehicle 30 Control apparatus 100 Accompanying traveling working vehicle 112 Remote operation apparatus

Claims

The work vehicle is provided with a timer, response requesting means, recognition means for response request, alarm device, travel stop means, and control device for controlling these, and the control device periodically responds by the response requesting means. An operator monitoring device characterized in that when the response is unsuitable, the operation vehicle is stopped and a warning is issued.
The work vehicle is provided with a timer, response requesting means, recognition means for the response request, an alarm device, a travel stop means, and a control device for controlling these, and the control device responds irregularly by the response requesting means. If the response is unsuitable, the operator monitoring device is characterized by stopping the work vehicle and issuing an alarm.
A work vehicle is provided with a timer, a camera for photographing an operator, a means for recognizing and analyzing an image of the camera, an alarm device, a travel stop means, and a control device for controlling them, the control device comprising a camera An operator monitoring device characterized in that when the video taken by the camera shoots an operator in a predetermined direction for a set time or more but is not suitable, the operation of the work vehicle is stopped and an alarm is issued.
Position calculating means for positioning the position of the aircraft using a satellite positioning system, an autonomous traveling work vehicle that automatically travels and works along a set traveling route, and a predetermined distance away from the autonomous traveling work vehicle Working with an accompanying traveling work vehicle that performs work while traveling along the associated position so that the remote control device provided in the accompanying traveling working vehicle and the control device for the autonomous traveling work vehicle can communicate with each other via communication means In addition, if the operation by the operator boarding the accompanying traveling work vehicle is abnormal as compared with the control when the autonomous traveling working vehicle travels a position away from the predetermined distance, the autonomous traveling work vehicle and the accompanying traveling working vehicle An operator monitoring device characterized by stopping traveling and issuing an alarm.
The operator monitoring device according to any one of claims 1 to 4, wherein if the alarm is not canceled for a set time or more, the control device makes a rescue request.