JP7640343B2 - Cultivator control system - Google Patents

Description

The present invention relates to a cultivation machine control system technology that controls the operation of a walk-behind cultivation machine.

Conventionally, technology for walk-behind tillers that can be operated by operators has been publicly known, as described, for example, in Patent Document 1.

Patent document 1 discloses a walk-behind tiller equipped with a steering handle.

The walk-behind cultivator described in Patent Document 1 can be operated by the operator using a handle. Such walk-behind cultivators are often used by people of all ages and genders, not only by agricultural workers who are accustomed to operating machinery, but also by housewives and elderly people who do home gardening as a hobby. There is a need to further improve the convenience of operating walk-behind cultivators, even for users who are unfamiliar with operating such machinery.

JP 2020-18243 A

The present invention was made in consideration of the above situation, and the problem it aims to solve is to provide a tiller control system that can improve the convenience of operating a walk-behind tiller.

The problem that the present invention aims to solve is as described above, and the means for solving this problem will be explained next.

In other words, in claim 1, the device comprises a biometric information acquisition unit capable of acquiring biometric information of an operator operating a walk-behind cultivation machine, and a control unit capable of executing biometric information control to control the operation of the walk-behind cultivation machine based on the biometric information acquired by the biometric information acquisition unit, the biometric information acquisition unit having a perspiration information acquisition unit capable of acquiring at least information regarding the operator's perspiration as the biometric information, the biometric information control including perspiration information control to control the operation of the walk-behind cultivation machine based on the information regarding perspiration acquired by the perspiration information acquisition unit, and the control unit is capable of controlling the slowing down of the drive speed of the walk-behind cultivation machine or stopping its drive based on the amount of change in the amount of perspiration per specified time acquired by the perspiration information acquisition unit in the perspiration information control .

In claim 2, the biometric information acquisition unit has a heart rate information acquisition unit capable of acquiring at least information related to the worker's heart rate as the biometric information, and the biometric information control includes heart rate information control that controls the operation of the walk-behind cultivation machine based on the information related to the heart rate acquired by the heart rate information acquisition unit.

In claim 3, the control unit is capable of controlling the heart rate information control to reduce the drive speed of the walking type cultivator or stop the drive when the heart rate acquired by the heart rate information acquisition unit becomes equal to or greater than a first value.

In claim 4 , the control unit is capable of controlling the walking type cultivation machine to slow down its operating speed or stop its operation when the amount of sweat acquired by the sweat information acquisition unit becomes equal to or greater than a second value in the perspiration information control.

In claim 5 , the biometric information acquisition unit has a grip force acquisition unit that can acquire at least the grip force with which the worker grips the handle of the walk-behind cultivation machine as the biometric information, and the biometric information control includes grip force control that controls the operation of the walk-behind cultivation machine based on the grip force acquired by the grip force acquisition unit.

In claim 6 , the control unit is capable of controlling the walking type cultivator to slow down its drive speed or stop its drive when the gripping force acquired by the gripping force acquisition unit becomes a third value or greater in the gripping force control.

In claim 7 , the walking type management machine is provided with a first communication unit and a second communication unit provided in a driving source of the walking type management machine and capable of wireless communication with the first communication unit, and the control unit is capable of executing the bioinformation control using wireless communication via the first communication unit and the second communication unit.

In claim 8 , the device includes a portable first terminal having the first communication unit and a power supply source, and the biometric information acquisition unit operates using power from the power supply source of the first terminal.

In a ninth aspect , the biometric information acquisition unit is provided on a handle of the walk-behind type cultivation machine.

In a tenth aspect of the present invention , the apparatus further comprises a second terminal having the biometric information acquiring section and the first communication section and capable of being worn on the body of the worker.

The effects of the present invention are as follows:

In claim 1, the convenience of operating the walk-behind cultivator can be improved. Also, in claim 1, the convenience of operating the walk-behind cultivator can be improved by executing sweat information control based on information about the sweat of the worker.

In claim 2, the convenience of operating the walk-behind cultivator can be improved by executing heart rate information control based on information about the worker's heart rate.

In claim 3, the convenience of operating the walk-behind cultivator can be further improved.

In claim 4 , the convenience of operating the walk-behind cultivator can be further improved.

In claim 5 , by executing gripping force control based on the gripping force of the operator, the convenience of operating the walk-behind cultivator can be improved.

In claim 6 , the convenience of operating the walk-behind tiller can be further improved.

In the seventh aspect , the biological information control can be executed via the first communication section and the second communication section.

In the eighth aspect , the biometric information can be communicated using a terminal such as a smartphone.

In the ninth aspect , the biometric information acquiring unit can be installed at a position where the biometric information of the worker can be easily acquired.

In the tenth aspect , the second terminal that can be attached to the body of the worker can be used to acquire the worker's biological information.

1 is a side view showing a cultivation machine control system according to a first embodiment of the present invention; The same enlarged plan view. Also the block diagram. FIG. 4 is a block diagram showing control that can be executed by the cultivation machine control system. 13A is a flowchart showing a first image control, and FIG. 13B is a flowchart showing a second image control. 1A is a schematic diagram showing a state in which the proportion of the image of the worker in the first image exceeds a predetermined value, and FIG. 1B is a schematic diagram showing a state in which the proportion of the image of the worker in the first image is equal to or smaller than a predetermined value. 1A is a schematic diagram showing an embodiment in which priority control is executed based on the inclination of an image of a worker as image control, and FIG. 1B is a schematic diagram showing an embodiment in which priority control is executed based on the facial expression of the image of the worker as image control. 13A is a flow chart showing tilt control, and FIG. 13B is a flow chart showing acceleration control. 10A is a flowchart showing a first audio control, and FIG. 10B is a flowchart showing a second audio control. 13A is a flowchart showing heart rate information control, and FIG. 13B is a flowchart showing sweat information control. 11 is a flowchart showing gripping force control. FIG. 4 is a block diagram showing a cultivation machine control system according to a second embodiment of the present invention.

In the following explanation, the directions indicated by the arrows U, D, F, B, L, and R in the figure are defined as the upward direction, downward direction, forward direction, backward direction, leftward direction, and rightward direction, respectively.

The following describes the management machine control system 1 according to the first embodiment of the present invention with reference to Figures 1 to 11.

The cultivation machine control system 1 shown in Figures 1 to 3 can operate the walk-behind cultivation machine 10 through operation by an operator and through predetermined control. More specifically, the cultivation machine control system 1 can execute priority control S10, described below, as the above-mentioned predetermined control, based on information related to the operation of the walk-behind cultivation machine 10. Here, "information related to operation" refers to any information related to the walk-behind cultivation machine 10 and the operator during operation. The cultivation machine control system 1 comprises the walk-behind cultivation machine 10, a terminal 30, an attachment unit 40, and a grip sensor 50.

The walk-behind cultivator 10 shown in FIG. 1 includes a machine frame 11, wheels 12, an engine 13, a fuel tank 14, a bonnet 15, a cover 16, a transmission case 17, tilling tines 18, a tilling cover 19, a clutch mechanism 20, a handle frame 21, a handle connection part 22, and a control handle 23.

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

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

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

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

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

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

The rear portion 23b constitutes the rear of the steering handle 23. The rear portion 23b extends in the left-right direction so as to connect the rear ends of the left and right side portions 23a. The rear portion 23b is gripped by the operator's fingers.

The cross section 23c is a section that connects the middle portions of the left and right side sections 23a in the fore-aft direction. The cross section 23c is provided so as to be located rearward of the center portion of the steering handle 23 in the fore-aft direction. By providing the cross section 23c, the steering handle 23 can be reinforced.

The handle operation unit 24 shown in Figures 2 and 3 is a part that performs various operations related to the operation of the walk-behind cultivator 10. The handle operation unit 24 is provided on the steering handle 23. The handle operation unit 24 includes a clutch lever 24a, an engine switch 24b, a start switch 24c, and a throttle lever 24d.

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

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

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

The throttle lever 24d is a lever that can be operated to control the output (rpm) of the engine 13. The throttle lever 24d has an appropriate sensor that detects the amount of operation of the lever. As the throttle lever 24d, a lever that can be rotated as appropriate can be used.

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

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

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

The engine control unit 13a and the communication unit 13b are provided integrally with the engine 13. According to the engine 13 of this embodiment, the engine 13, the engine control unit 13a, and the communication unit 13b can be handled integrally, improving the workability when assembling or replacing the engine 13.

The operation of the walk-behind management machine 10 configured as described above is described below.

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

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

When the operator grips the clutch lever 24a, tension is applied to the belt and the clutch mechanism 20 is activated. This transmits power from the engine 13 to the wheels 12 and the rotating shaft 17b via the transmission mechanism 17a. This allows the walk-behind cultivator 10 to travel and rotate the tilling tines 18 to till the field.

In addition, when the operation of the clutch lever 24a of the walk-behind cultivator 10 is released, tension is no longer applied to the belt and the operation of the clutch mechanism 20 is stopped. This stops the rotation of the wheels 12 and the tilling tines 18. The clutch mechanism 20 can be a so-called deadman's clutch, which operates while the operator is holding the clutch lever 24a and stops when the operator releases his/her grip and releases the operation of the clutch lever 24a.

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

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

The camera 31 is capable of capturing images through a specified lens unit (not shown). For example, the camera 31 is capable of capturing an image 31c (see FIG. 6) of an operator operating the walk-behind cultivator 10. The camera 31 includes a front camera 31a and a rear camera 31b.

The front camera 31a shown in Figures 2 and 6 is provided on the front side of the terminal 30 (the side facing the display unit 38, which will be described later).

The rear camera 31b is provided on the rear of the terminal 30 (the side opposite the display unit 38).

The tilt sensor 32 is capable of detecting tilt. An appropriate gyro sensor or the like can be used as the tilt sensor 32. In this embodiment, the tilt sensor 32 is configured to be capable of detecting the tilt of the terminal 30 (walk-behind management machine 10) relative to a predetermined reference direction (e.g., the vertical direction).

The acceleration sensor 33 is capable of detecting the acceleration of the terminal 30 (walk-behind management machine 10).

The microphone 34 is capable of picking up specific sounds, such as the voice of the worker. The microphone 34 is provided on the front of the terminal 30.

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

The control means 35 can also execute various controls (priority control S10, etc.) that control the operation of the walk-behind cultivator 10 based on the information inputted above. The controls executed by the control means 35 will be described in detail later.

The communication unit 36 is capable of wirelessly communicating information related to the control of the control means 35. The communication unit 36 can transmit signals related to the operation of the engine 13 to the communication unit 13b of the engine 13. As with the communication unit 13b of the engine 13, various wireless communication technologies can be adopted for the communication of information by the communication unit 36.

The battery 37 supplies the power used to operate the terminal 30. The battery 37 can be charged and discharged via an appropriate connector provided on the terminal 30. For example, a lithium ion battery can be used as the battery 37.

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

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

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

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

The grip sensor 50 acquires biometric information from the fingers of a worker who is holding the grip sensor 50. As shown in FIG. 3, the grip sensor 50 includes a heart rate sensor 51, a sweat sensor 52, a grip force sensor 53, and a cable 54.

The heart rate sensor 51 is capable of acquiring heart rate information as biometric information. Heart rate information includes the heart rate and the amount of change in heart rate per specified time. The heart rate sensor 51 acquires heart rate information from the fingers of the worker who is gripping the grip sensor 50 (the steering handle 23). As the heart rate sensor 51, for example, a photoelectric volume pulse wave recording method that acquires heart rate information based on changes in light irradiated onto the worker's skin can be used.

The sweat sensor 52 is capable of acquiring sweat information as biometric information. The sweat information includes the amount of sweat and the amount of change in the amount of sweat per specified time. The sweat sensor 52 acquires sweat information from the fingers of the worker who is gripping the grip sensor 50 (steering handle 23). The sweat sensor 52 may be one that acquires sweat information based on the humidity (amount of moisture) near the skin of the worker's fingers.

The grip force sensor 53 is capable of acquiring grip force as biometric information. The grip force sensor 53 acquires the force acting on the grip sensor 50 (steering handle 23) held by the worker. The grip force sensor 53 may be one that uses an appropriate strain gauge or pressure-sensitive element.

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

The cable 54 can also be used to communicate various types of information between the grip sensor 50 and the control means 35. The information acquired by the heart rate sensor 51, the sweat sensor 52, and the grip force sensor 53 is input to the control means 35 via the cable 54.

The cultivator control system 1 according to this embodiment can operate the walk-behind cultivator 10 not only by operation using the handle operating unit 24, but also by control using the control means 35. The following describes how the walk-behind cultivator 10 is controlled using the control means 35.

The control means 35 can transmit signals related to the operation of the engine 13 to the engine control unit 13a. Specifically, the control means 35 can transmit signals to the engine control unit 13a, such as a signal to operate the starter motor (not shown), a signal to adjust the throttle valve opening (amount of intake air), and other signals to control the fuel injection device of the engine 13.

As a result, the control means 35 can start, stop, and accelerate or decelerate the driving speed of the engine 13 through electronic control, roughly similar to the control achieved by operating the engine switch 24b, the start switch 24c, and the throttle lever 24d.

Signals are sent to the engine control unit 13a via the communication unit 13b of the engine 13 and the communication unit 36 of the terminal 30. This allows the control means 35 to control the operation of the walking cultivator 10 without using wires or the like.

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

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

As a result, the management machine control system 1 performs control such as stopping the engine 13 or reducing the engine 13 speed, regardless of the operation of various operating tools (such as the engine switch 24b being in the drive position or the throttle lever 24d setting the engine 13 speed to a predetermined value). Each control will be described in detail below.

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

Below, the first image control S21 will be explained using the flowchart in Figure 5 (a).

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

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

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

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

The second image control S24 will be explained below using the flowchart in Figure 5 (b).

The second image control S24 controls the operation of the walk-behind cultivator 10 based on a second image of the ground as the photographed subject. The second image can be captured by the rear camera 31b. The second image control S24 is repeatedly executed by the control means 35 at predetermined short time intervals.

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

If the control means 35 determines that the proportion of the image of the ground is equal to or less than the second proportion, it proceeds to processing in step S26. On the other hand, if the control means 35 determines that the proportion of the image of the ground is greater than the second proportion, it terminates the second image control S24.

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

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

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

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

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

Next, the tilt control S30 will be explained using the flowchart in FIG. 8(a).

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

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

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

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

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

Next, acceleration control S40 will be explained using the flowchart in FIG. 8(b).

Acceleration control S40 controls the operation of the walk-behind cultivator 10 as priority control S10 based on the acceleration of the walk-behind cultivator 10 (terminal 30). Acceleration control S40 is repeatedly executed by the control means 35 at predetermined intervals of very short time.

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

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

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

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

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

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

The first voice control S51 will be explained below using the flowchart in Figure 9 (a).

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

In step S52, the control means 35 determines whether or not a first voice has been input. If the control means 35 determines that a first voice has been input, the control means 35 proceeds to processing in step S53. On the other hand, if the control means 35 determines that a first voice has not been input, the control means 35 ends the first voice control S51.

In step S53, the control means 35 starts the engine 13 as priority control S10. That is, the control means 35 performs control to prioritize the signal to start the engine 13 by the control means 35 over the operation signals from the engine switch 24b and the start switch 24c. After executing the process of step S53, the control means 35 ends the first voice control S51. Note that, before starting the engine 13, a step may be added to check whether the engine 13 is in a state where it can be started. That is, a step may be added to check whether the clutch lever 24a is being operated or released, or whether the walking type cultivator 10 is in a state where it will move forward simultaneously with the start of the engine 13.

The second voice control S54 will be explained below using the flowchart in Figure 9 (b).

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

In step S55, the control means 35 determines whether or not a second voice has been input. If the control means 35 determines that a second voice has been input, the control means 35 proceeds to processing in step S56. On the other hand, if the control means 35 determines that a second voice has not been input, the control means 35 ends the second voice control S54.

In step S56, the control means 35 performs priority control S10 by slowing down the driving speed of the engine 13 or stopping the driving. After executing the process of step S56, the control means 35 ends the second audio control S54.

According to the above-mentioned voice control S50, it is possible to easily start the walk-behind cultivator 10 (engine 13), slow down the drive speed of the walk-behind cultivator 10, or stop the drive based on the specific voice of the operator, thereby further improving the convenience of operating the walk-behind cultivator 10.

In addition, according to this embodiment, the mounting portion 40 is provided on the control handle 23, so the terminal 30 equipped with the microphone 34 can be placed in a position that makes it easy for the operator to input voice.

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

Next, the bioinformation control S60 will be described. The bioinformation control S60 shown in FIG. 4 controls the operation of the walk-behind management machine 10 as a priority control S10 based on the worker's bioinformation acquired by the grip sensor 50. Specifically, the bioinformation control S60 reduces the drive speed of the walk-behind management machine 10 or stops the drive based on the heart rate information, sweat information, and grip force. The bioinformation control S60 includes heart rate information control S61, sweat information control S64, and grip force control S67.

Heart rate information control S61 will be explained below using the flowchart in Figure 10 (a).

In step S62, the control means 35 determines whether the heart rate (heart rate information) acquired by the heart rate sensor 51 of the grip sensor 50 is equal to or greater than a predetermined heart rate. If the heart rate acquired by the heart rate sensor 51 is equal to or greater than the predetermined heart rate, it is estimated that the worker's heart rate is relatively high. Any value can be set as the predetermined heart rate. The heart rate information control S61 is repeatedly executed at predetermined intervals by the engine control unit 13a or the control means 35. Note that in this embodiment, the determination in step S62 is based on the heart rate, but instead of this example, the determination in step S62 may be based on, for example, the amount of change in the heart rate per predetermined time.

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

In step S63, the control means 35 performs priority control S10 by slowing down the driving speed of the engine 13 or stopping the driving. After executing the process of step S63, the control means 35 ends the heart rate information control S61.

Below, sweat information control S64 will be explained using the flowchart in Figure 10 (b).

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

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

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

The grip force control S67 will be explained below using the flowchart in Figure 11.

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

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

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

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

Furthermore, according to the grip force control S67, in addition to the deadman clutch that stops the operation of the walk-behind cultivator 10 when the operator releases the control handle 23 or the clutch lever 24a, the walk-behind cultivator can be slowed down or stopped from driving even if the operator grips the control handle 23 too tightly. This further improves the convenience of operating the walk-behind cultivator.

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

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

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

In addition, even if the engine of an existing walk-behind cultivator 10 does not have a communication function, the cultivator control system 1 can be realized by later providing a communication unit 13b and connecting it to the engine control unit 13a using appropriate wiring.

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

In addition, according to this embodiment, information regarding the operation of the walk-behind cultivator can be input using a portable terminal 30 (e.g., a smartphone, etc.), and the operation of the walk-behind cultivator 10 can be controlled by the control means 35. This allows the operation of the walk-behind cultivator 10 to be controlled using a smartphone or the like owned by the worker, without the need for a separate dedicated control means 35.

The above-described management machine control system 1 is just one example, and the management machine control system 1 is not limited to the above-described example and can be modified as appropriate.

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

In the above example, the priority control S10 is configured to reduce the drive speed of the walk-behind cultivator 10 by controlling the output of the engine 13, but this is not limited to the configuration. For example, the drive speed of the walk-behind cultivator 10 may be reduced by changing the speed using the speed change mechanism 17a. In this case, the walk-behind cultivator 10 may be capable of changing speed through electronic control. In this case, the speed change mechanism 17a may be a belt-type speed change mechanism using a belt wound around a pulley, or an HST (hydraulic static transmission), etc.

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

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

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

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

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

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

In addition, in this embodiment, an example is shown in which the grip sensor 50 is used to execute the biometric information control S60, but this is not limited to this embodiment. For example, as in the second embodiment shown in FIG. 12, a configuration in which the biometric information control S60 can be executed using a wearable terminal 60 can be adopted.

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

The heart rate sensor 61 is generally similar to the heart rate sensor 61 of the grip sensor 50 and is capable of acquiring heart rate information as biometric information. The heart rate sensor 61 acquires heart rate information from the worker's arm.

The sweat sensor 62 is generally similar to the sweat sensor 52 of the grip sensor 50 and is capable of acquiring sweat information as biometric information. The sweat sensor 62 acquires sweat information from the worker's arm.

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

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

Battery 65, similar to battery 37 of terminal 30, supplies the power used to operate wearable terminal 60.

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

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

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

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

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

In addition, in each of the above embodiments, an example has been shown in which the engine control unit 13a and the communication unit 13b are provided integrally with the engine 13, but this is not limited to this form. For example, the engine control unit 13a and the communication unit 13b may be provided separately from the engine 13.

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

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

In addition, in each of the above embodiments, the management machine control system 1 is configured to be able to execute all of the image control S20, tilt control S30, acceleration control S40, audio control S50, and biometric information control S60 as priority control S10, but is not limited to this configuration, and only some of the above controls may be executed as priority control S10.

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

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

In addition, in each of the above embodiments, an example was shown in which the mounting portion 40 was provided on the steering handle 23, but this is not limited to the above. For example, it may be provided on the side portion 23a, or on the engine 13, fuel tank 14, bonnet 15, etc. In other words, the location of the mounting portion 40 can be appropriately selected as long as it is a location where the microphone 34 can pick up sound, or where the front camera 31a and rear camera 31b can capture an image of an object.

In addition, in each of the above embodiments, an example has been shown in which the communication unit 13b can receive information transmitted from outside the engine 13, but the present invention is not limited to such an embodiment. The communication unit 13b may be capable of transmitting information about the engine 13. The information about the engine 13 transmitted from the communication unit 13b can be received by the terminal 30, the control means 35, or the like. This makes it possible to manage information about the engine 13, such as engine speed information and operating time information, on the terminal 30, or the like.

1 Tillage machine control system 10 Walk-behind tillage machine 13 Engine 30 Terminal 35 Control means

Claims (10)

A biometric information acquisition unit capable of acquiring biometric information of an operator who operates the walk-behind management machine;
A control unit that can execute biometric information control to control the operation of the walk-behind type management machine based on the biometric information acquired by the biometric information acquisition unit;
Equipped with
The biological information acquisition unit is
a sweat information acquisition unit capable of acquiring at least information related to the sweat of the worker as the biological information;
The biological information control includes:
A sweat information control unit controls the operation of the walking type care machine based on the sweat information acquired by the sweat information acquisition unit,
The control unit is
In the sweat information control, it is possible to control the driving speed of the walking type management machine to be slowed down or stopped based on the change in the amount of sweat per predetermined time acquired by the sweat information acquisition unit.
Management machine control system. The biological information acquisition unit is
a heart rate information acquisition unit capable of acquiring information relating to at least the heart rate of the worker as the biological information;
The biological information control includes:
and a heart rate information control that controls the operation of the walk-behind type cultivation machine based on information about the heart rate acquired by the heart rate information acquisition unit.
The tiller control system according to claim 1 . The control unit is
In the heart rate information control, when the heart rate acquired by the heart rate information acquisition unit becomes equal to or greater than a first value, it is possible to control the driving speed of the walking type cultivator to be slowed down or the driving to be stopped.
The tiller control system according to claim 2 . The control unit is
In the sweat information control, when the amount of sweat acquired by the sweat information acquisition unit becomes equal to or greater than a second value, the walking type management machine is controlled to slow down the driving speed or stop driving.
The cultivator control system according to any one of claims 1 to 3. The biological information acquisition unit is
A gripping force acquisition unit capable of acquiring, as the biometric information, at least the gripping force with which the operator grips the handle of the walking type cultivator,
The biological information control includes:
A gripping force control is included, which controls the operation of the walking type cultivator based on the gripping force acquired by the gripping force acquisition unit.
The cultivator control system according to any one of claims 1 to 4 . The control unit is
In the gripping force control, when the gripping force acquired by the gripping force acquisition unit becomes equal to or greater than a third value, it is possible to control the driving speed of the walking type cultivator to be slowed down or the driving to be stopped.
The tiller control system according to claim 5 . A first communication unit;
A second communication unit is provided in the drive source of the walking type management machine and capable of wireless communication with the first communication unit,
The control unit is
The biological information control can be executed using wireless communication via the first communication unit and the second communication unit.
The cultivator control system according to any one of claims 1 to 6 . a first terminal that is portable and has the first communication unit and a power supply source;
The biological information acquisition unit is
powered by the power supply source of the first terminal;
The tiller control system according to claim 7 . The biological information acquisition unit is
Provided on the handle of the walking type management machine,
The cultivator control system according to any one of claims 1 to 8 . a second terminal having the biometric information acquisition unit and the first communication unit and wearable on the body of the worker;
The tiller control system according to claim 7 .

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