Control apparatus for utility machine

A control apparatus for a utility machine configured to automatically work outdoors including a work actuator installed in the utility machine, a setting unit setting a time schedule of the utility machine in advance, an information acquiring unit acquiring current and future weather information for a work site or nearby, an adjusting unit adjusting the time schedule based on the weather information acquired by the information acquiring unit, and an actuator control unit controlling the work actuator so that the utility machine works in accordance with a time schedule adjusted by the adjusting unit.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2015-122959 filed on Jun. 18, 2015, the content of which is incorporated herein by reference.

BACKGROUND OF THE INVENTION

Field of the Invention

This invention relates to an apparatus for controlling a utility machine so as to work outdoors automatically.

Description of the Related Art

Controllers for unmanned utility machines that perform lawn mowing or other such work in a predetermined working area are already known. The controller described in, for example, Japanese Laid-Open Patent Publication No. H3-46009 (JPH03-46009A) uses a rain sensor installed in the utility machine to detect whether it is currently raining, and when rain is detected, stops the utility machine's work operation and returns the utility machine to a parking spot.

However, since the controller described in JPH03-46009A detects current rain condition with a rain sensor installed in the utility machine, the utility machine requires a waterproof structure, which makes the structure complicated and costly.

SUMMARY OF THE INVENTION

According to an aspect of the present invention, a control apparatus for a utility machine configured to work outdoors automatically, includes: a work actuator installed in the utility machine; a setting unit configured to set a time schedule of the utility machine in advance; an information acquiring unit configured to acquire current and future weather information for a work site or nearby; an adjusting unit configured to adjust the time schedule based on the weather information acquired by the information acquiring unit; and an actuator control unit configure to control the work actuator so that the utility machine works in accordance with a time schedule adjusted by the adjusting unit.

According to another aspect of the present invention, a control method for a utility machine configured to work outdoors automatically, includes: setting set a time schedule of the utility machine in advance; acquiring current and future weather information for a work site or nearby; adjusting the time schedule based on the acquired weather information; and controlling a work actuator installed in the utility machine so that the utility machine works in accordance with the adjusted time schedule.

DETAILED DESCRIPTION OF THE INVENTION

First Embodiment

Hereinafter, a first embodiment of the present invention is described with reference toFIGS. 1 to 6.FIG. 1is a diagram showing an overview configuration of a control apparatus for a utility machine in accordance with the first embodiment of the present invention. Although the apparatus of this invention can be applied to various kinds of utility machine that can be operated outdoors automatically, in the first embodiment is applied particularly to a traveling lawn mower1that performs lawn mowing work while navigating autonomously.

As shown inFIG. 1, a relay apparatus3is communicatively connected to the lawn mower1and a server apparatus4is communicatively connected to the relay apparatus3. The lawn mower1is deployed on a lawn within a property and the relay apparatus3is deployed in a building on the same property, and the two are enabled to communicate through a wireless LAN or similar. The relay apparatus3and the server apparatus4can communicate through the Internet or other communications network. The relay apparatus3can be configured using a personal computer, mobile telephone terminal or the like. The relay apparatus3functions as a base station, and signals including various data, control signals and the like can be sent and received between the server apparatus4and the lawn mower1via the relay apparatus3.

The lawn mower1is equipped with a communication unit11, ECU12, work actuator13and travel actuators14, and is configured to navigate autonomously within a predetermined working area. The structure of the traveling lawn mower1is explained in detail in the following.

FIG. 2is a side view showing the principal components of the lawn mower1. As shown inFIG. 2, the lawn mower1is equipped with a body100having a chassis101and a frame102, along with a pair of left and right front wheels103and pair of left and right rear wheels104that support the body100above a ground surface GR so as to be capable of travel. The communication unit11, the ECU12, a work unit106, the work actuator13(work motor) for driving the work unit, the travel actuators14(travel motors) for driving the rear wheels, a battery charging unit107, and a battery108are installed in an interior space105of the lawn mower1enclosed by the chassis101and frame102. The ECU12is constituted to include an arithmetic processing unit having, inter alia, a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM) and other peripheral circuits.

The communication unit11includes a transmitting-and-receiving antenna and a signal processing circuit for processing transmitted and received signals, and the ECU12can communicate with the relay apparatus3through the communication unit11. The work unit106has rotatable lawn mowing blades. A vertically oriented rotating shaft is provided at the center of the blades of the work unit106and the blades are rotated by the work actuator13. The work actuator13is constituted by an electric motor. The travel actuators14are constituted by a pair of electric motors installed on the right and left inner sides of the left and right rear wheels104. Output shafts of the travel actuators14are connected to rotating shafts of the left and right rear wheels104, respectively, so that the travel actuators14independently drive (rotate) the left and right rear wheels104. By establishing a difference between the rotating speeds of the left and right rear wheels104, the lawn mower1can be turned to an arbitrary direction

The charging unit107is connected through wires to terminals109provided at the front end of the frame102and is also connected through wires to the battery108. The battery108is charged by connecting the terminals109through contacts to a charging station6(seeFIG. 3). The battery108is connected through wires to the work actuator13and the travel actuators14, and the actuators13and14are driven by power supplied from the battery108. Two magnetic sensors110are installed laterally spaced apart on the front end of the lawn mower1(seeFIG. 3). The magnetic sensors110output signals indicating magnetic field magnitude (magnetic field strength).

Although omitted in the drawing, the lawn mower1is further equipped with, inter alia, a Yaw sensor, a G sensor, a direction sensor, a contact sensor, wheel speed sensors, and a voltage sensor. The Yaw sensor outputs a signal indicating angular velocity (yaw rate) occurring around a height direction (z-axis) of the lawn mower1. The G sensor is an acceleration sensor that outputs a signal indicating acceleration acting on the lawn mower1in the directions of three orthogonal axes (x-axis, y-axis, and z-axis). The direction sensor (geomagnetic field sensor) outputs a signal related to terrestrial magnetism. The contact sensor outputs an ON signal when the lawn mower1approaches or makes contact with an obstacle or the like. The wheel speed sensors output signals indicating the wheel speeds of the left and right rear wheels104. The voltage sensor outputs a signal indicating the residual voltage of the battery108.

The lawn mower1configured as above performs work while autonomously navigating within a predefined working area.FIG. 3is a plan view showing a working area AR. The working area AR is delineated by a boundary wire7laid beforehand (e.g., buried a predetermined depth under the ground surface GR) in a garden (lawn), for example, and the boundary wire7defines the travel range of the lawn mower1. A magnetic field is generated in the working area AR by passing electric current through the boundary wire7. Magnetic field strength in the working area AR is detected by the magnetic sensors110.

Magnetic field strength varies in accordance with distance from the boundary wire7. The ECU12uses signals from the magnetic sensors110to determine whether the lawn mower1has arrived at the boundary wire7. When arrival at the boundary wire7is determined, control signals are output to the travel actuators14to turn the lawn mower1toward the inside of the working area AR as indicated by an arrow inFIG. 3. In this manner, the ECU12outputs control signals to the travel actuators14in accordance with signals from the magnetic sensors110, whereby the lawn mower1travels autonomously inside the working area AR. At this time, the ECU12also outputs a control signal to the work actuator13in order to automatically perform lawn mowing work inside the working area AR.

The charging station6for charging the battery108is installed above the boundary wire7. When the voltage sensor detects that voltage of the battery108is too low during work, the ECU12outputs control signals to the travel actuators14so as to return the lawn mower1to the charging station6, along the boundary wire7, for example, and then charge the battery108. When charging of the battery108is finished, the ECU12outputs control signals to the travel actuators14so as to separate the lawn mower1from the charging station6and thereafter drives the work actuator13to resume work. The ECU12also returns the lawn mower1to the charging station6upon work completion and keeps it standing by at the charging station6until the next work is started. The charging station6is equipped with a cover for sheltering the lawn mower1parked at the charging station6from the weather (wind and rain, etc.). Alternatively, the lawn mower1can be protected from the weather by providing a cover over the area where the charging station6is located.

A time schedule of work processes to be performed by the lawn mower1is set in the relay apparatus3, and the lawn mower1commences work and terminates work in accordance with commands from the relay apparatus3. Specifically, the relay apparatus3, which has a timer, sends a work-start command through the communication unit11to the lawn mower1at the scheduled time for starting work and later similarly sends a work-stop command at the scheduled time for stopping work. The ECU12controls the actuators13and14to start lawn mowing work upon receiving a work-start command and to stop lawn mowing work upon receiving a work-stop command. Therefore, the ECU12functions as an actuator control unit to output control signals to the actuator13and14in accordance with a work command. As a result, all that is required to have the lawn mower1perform work automatically at desired times is for the user to enter a time schedule beforehand.

The lawn mower1works outdoors, so that from the viewpoint of preventing damage to its equipment and ensuring efficient work performance, it is preferable to avoid lawn mowing work during rain or the like. Although this point can be dealt with by equipping the lawn mower1with a sensor for detecting rain and terminating work when rainfall is detected, this requires the lawn mower1to have a watertight structure resistant to rainfall around the ECU12and the sensors. As a result, the lawn mower1becomes structurally complicated and high in cost. On the other hand, an arrangement that requires the user to keep an eye on the weather forecast and input commands to adjust the time schedule is troublesome for the user. The control apparatus for a utility machine of the present embodiment is therefore configured as below so that the utility machine (lawn mower1) is operated to perform work suitably taking weather changes into account, without need for a sensor or the like for detecting rain and while saving the work of revising a time schedule for the user.

As shown inFIG. 1, the relay apparatus3includes a communication unit31, ECU32, timer33, input unit34, and display35. The communication unit31includes a communication section communicatively connected to the lawn mower1through a wireless LAN or other communication device, and a communication section communicatively connected to the server apparatus4via Internet communication by means of an optical communication path or the like. The ECU32is constituted to include an arithmetic processing unit having, inter alia, a CPU, ROM, RAM and other peripheral circuits. The input unit34includes a keyboard, mouse, touch panel and other operating units that enable input of various information to the relay apparatus3through the input unit34. The display35includes a device for visually representing various information.

The server apparatus4includes a weather information server41that stores weather information for individual regions and a work data server42that stores work data of the utility machine (lawn mower1). The weather information server41stores current and future weather information, more specifically, weather information for individual time periods between the present and predetermined times in the future. The weather information stored in the weather information server41includes precipitation probability, temperature, humidity, sunrise time, sunset time, wind speed and the like, and such weather information is updated at predetermined intervals (for example, every 5 minutes).

FIG. 4is an example of weather information stored in the weather information server41.FIG. 4shows precipitation probability (%) data. The current time is Monday 0 AM and, as shown inFIG. 4, the weather information server41stores hourly precipitation probability data of a given region for a period of one week (from the present to a week later). The work data stored in the work data server42include data on work performed in the past (work history data) by the lawn mower1and information on the user of the lawn mower1. The work history data is sent from the ECU12to the work data server42through the relay apparatus3after the lawn mower1finishes the work.

As shown inFIG. 1, the ECU32of the relay apparatus3has as functional constituents a setting unit321, an information acquiring unit322, a weather forecasting unit323, an adjusting unit324, and an output unit325.

The setting unit321establishes a time schedule (of work processes) of the lawn mower1in advance. For example, it sets scheduled work dates, work-start times, work-stop times and the like. When work is performed periodically, the period can be defined. The user can use the input unit34to set a time schedule as desired. A time schedule can also be established referring to information acquired from the work data server42by the information acquiring unit322. It is also possible to automatically arrange a time schedule using information (for example, sunrise and sunset times) acquired by the information acquiring unit322from the weather information server41. The setting unit321defines weather conditions under which work is to be prohibited (work-prohibit conditions). For example, when work is to be prohibited during rain, “rain” is designated as a work-prohibit condition.

The information acquiring unit322acquires current and future weather information for the work site from the weather information server41through the communication unit31, more specifically, acquires weather information covering from the present to a predetermined time in the future. When the weather information server41does not have weather information for the work site, weather information for a location near the work site is acquired. When weather information is available for a number of sites near the work site whose weather information is to be supplied, weather information can be acquired for those sites. The information acquiring unit322also acquires work data from the work data server42.

The weather forecasting unit323uses the weather information acquired by the information acquiring unit322to forecast weather at the work site for a period extending from the present to a predetermined time in the future. The forecast weather conditions are ones corresponding to the work-prohibit conditions set in the setting unit321, and for example, whether or not rain will fall at the work site is forecast based on the precipitation probability data. When weather information is acquired not for the work site but for other sites in the neighborhood, weather at the work site is forecast using that weather information.

The adjusting unit324adjusts the time schedule in accordance with the weather forecast by the weather forecasting unit323. For example, when rain is defined as a work-prohibit condition and the weather forecasting unit323forecasts rain, the time schedule is adjusted to prohibit work during the time period that rain is expected.

FIG. 5is a diagram showing an example of a time schedule before and after adjustment. InFIG. 5, work commands according to the time schedule for implementing work and terminating work are indicated by ON and OFF, respectively. The time schedule before adjustment is designated by TS0(a dotted line) and the time schedule after adjustment by TS1(a solid line). In this example, as indicated by TS0inFIG. 5, the setting unit321sets the work command in advance to be ON during a time period from time t1(sunrise) to time t2(sunset). In other words, the time schedule (TS0) is set to perform work from sunrise to sunset. The time schedule is therefore automatically modified to reflect changing sunrise and sunset times with changing seasons.

If the weather forecasting unit323then forecasts rain between time t10and time t20, the adjusting unit324acts to prohibit work during this time period by changing the work command from ON (the dotted line) to OFF (the solid line), as indicated by TS1. In the particular example ofFIG. 5, the adjusting unit324actually turns the work command OFF from time t11preceding forecast rain start time t10by a predetermined time period Δ1until time t21following forecast rain stop time t20by a predetermined time period Δ2.

The output unit325complies with the time schedule (TS1) adjusted by the adjusting unit324by outputting work-start and work-stop commands to the lawn mower1through the communication unit31. Specifically, while tracking current time with the timer33, it outputs work-start commands at the times when the work command changes from OFF to ON and outputs work-stop commands at the times when it changes from ON to OFF. In the case shown inFIG. 5, for example, it outputs work-start commands at time t1and time t21and work-stop commands at time t11and time t2. The output work-start commands and work-stop commands are sent to the lawn mower1through the communication unit31.

Upon output of a work-start command from the relay apparatus3(output unit325), the ECU12of the lawn mower1outputs control signals to the travel actuators14so as to move the lawn mower1away from the charging station6into the working area AR. Following this, the ECU12outputs control signals to the work actuator13and the travel actuators14, whereby the lawn mower1performs work while traveling in the working area AR. Upon output of a work-stop command from the relay apparatus3, the ECU12outputs control signals to the work actuator13to stop work and to the travel actuators14to return the lawn mower1to the charging station6.

FIG. 6is a flowchart showing an example of processing executed by the ECU32of the relay apparatus3. The relay apparatus3commences the processing ofFIG. 6when, for example, a control start command is issued after the relay apparatus3is started. This processing is repeatedly executed at predetermined time intervals.

First, in S1, the time schedule (TS0) established in advance by the setting unit321is read (S: processing Step). Next, in S2, the locations of the x-coordinate and y-coordinate in the global coordinate system (own position) of the lawn mower1, i.e., the work site, are detected. For example, when the lawn mower1and the relay apparatus3are on the same property, the location (address) where the relay apparatus3is present is taken as the location of the lawn mower1and thus detected as the work site location. Alternatively, the lawn mower1can be provided with a GPS or other position sensor and the work site detected using a signal from the position sensor.

Next, in S3, the information acquiring unit322performs processing by which weather information for the work site or nearby is acquired from the server apparatus4(weather information server41). In S3, instead of acquiring all weather information, it is alternatively possible, as shown inFIG. 4, to acquire only weather information corresponding to the work-prohibit conditions (rain), i.e., precipitation probability data, for a predetermined period (one week into the future). The acquired weather information is updated and stored in the memory of the relay apparatus3whenever necessary.

Next, in S4, the weather forecasting unit323performs processing by which weather (rain/no rain) at the work site is forecast. For example, rain is forecast when the precipitation probability is 40% or higher. Next, in S5, the adjusting unit324performs processing by which whether to adjust the time schedule is decided based on the weather forecast in S4. For example, when rain is predicted for a time period when the work command is ON, it is decided that the time schedule needs to be adjusted to prohibit work during rain.

When the result in S5is YES, the program goes to S6, and when NO, skips S6and goes to S7. In S6, the adjusting unit324performs processing by which the time schedule is adjusted, for example, as indicated by solid line TS1ofFIG. 5. Specifically, the work command is turned OFF from time t11preceding forecast rain start time t10by a predetermined time period Δ1until time t21following forecast rain stop time t20by a predetermined time period Δ2.

In S7, the output unit325performs processing for discriminating whether the current time tracked by the timer33reached a time when the work command changes from OFF to ON (time t1or t21inFIG. 5). In this case, when the time schedule is adjusted in S6, whether work command has changed to ON is discriminated using the adjusted time schedule (TS1), and when the time schedule is not adjusted, whether work command has changed to ON is discriminated using the initial time schedule (TS0). When the result in S7is YES, the program goes to S8, in which the output unit325performs processing by which a work-start command is output. This work-start command is sent to the ECU12of the lawn mower1through the communication units11and31, whereby the lawn mower1moves from the charging station6to the working area AR and then starts work.

On the other hand, when the result in S7is NO, the program goes to S9, in which the output unit325performs processing for discriminating whether the current time tracked by the timer33has reached a time when the work command changes from ON to OFF (time t11or t2inFIG. 5). In this case, when the time schedule is adjusted in S6, whether work command has changed to OFF is discriminated using the adjusted time schedule (TS1), and when the time schedule is not adjusted, whether work command has changed to OFF is discriminated using the initial time schedule (TS0). When the result in S9is YES, the program goes to S10, in which the output unit325performs processing by which a work-stop command is output. This work-stop command is sent to the ECU12of the lawn mower1through the communication units11and31, whereby the lawn mower1stops work and returns to the charging station6. When the result in S9is NO, processing is terminated.

The first embodiment can achieve the following advantages and effects.

(1) The control apparatus for a utility machine according to the first embodiment is configured to automatically work outdoors, and includes the work actuator13installed in the lawn mower1(a utility machine), the setting unit321for setting the time schedule (TS0) of the lawn mower1in advance, the information acquiring unit322for acquiring current and future weather information for the work site or nearby, the adjusting unit324for adjusting the time schedule (TS0) based on the weather information acquired by the information acquiring unit322, and the ECU12(an actuator control unit) for controlling the work actuator13so that the lawn mower1works in accordance with the time schedule (TS1) adjusted by the adjusting unit324(FIG. 1).

As a result, the lawn mower1can be operated to perform work suitably taking weather changes into account, without need to equip the lawn mower1with a sensor or the like for detecting rain and while saving the work of adjusting a time schedule for the user. Therefore, the lawn mower1does not require a special structure (for example, watertight structure) capable of standing the weather such as rain and wind, and can perform work with a simple and low-cost structure under a weather condition suitable to lawn mowing work, in other words, while taking weather changes into account.

(2) Since the information acquiring unit322acquires the weather information from the weather information server41(a server) through network communication (S3), it is possible to accurately forecast constantly varying weather. Therefore, the time schedule of the lawn mower1can be optimally adjusted in line with the weather information and work can be reliably prohibited under rainy and other work-prohibit conditions.

(3) The control apparatus for the utility machine further includes the weather forecasting unit323that forecasting current and future weather at the work site based on weather information acquired by the information acquiring unit322, and the adjusting unit324adjusts the time schedule in accordance with the weather forecast by the weather forecasting unit323(S6). Therefore, in a case where, for example, “rain” is defined as a work-prohibit condition estimated from precipitation probability acquired from the weather information server41as weather information, i.e., even in a case where a weather condition (rain) corresponding to a work-prohibit condition cannot be directly acquired from the acquired weather information (precipitation probability), the time schedule can nevertheless be adjusted to reflect a desired work-prohibit weather condition because a weather condition corresponding to a work-prohibit condition can be forecast.

(4) The weather forecasting unit323forecasts rain or no rain at the work site, and the adjusting unit324adjusts the time schedule so as to prohibit work by the lawn mower1during time periods rain is forecast by the weather forecasting unit323(S6). Therefore, since lawn mowing work is prohibit during rain, damage to equipment can be prevented and the lawn mower1can work efficiently.

(5) The weather forecasting unit323forecasts the rain start time t10at the work site, and the adjusting unit324adjusts the time schedule so as to prohibit work by the lawn mower1from a predetermined time period Δ1before the rain start time t10forecast by the weather forecasting unit323(FIG. 5). This makes it possible to complete work before rain falls and reliably prevent work during rain.

(6) The weather forecasting unit323forecasts the rain stop time t20at the work site, and the adjusting unit324adjusts the time schedule so as to prohibit work by the lawn mower1until a predetermined time period Δ2elapses after the rain stop time t20forecast by the weather forecasting unit323(FIG. 5). This makes it possible to perform work when lawn mowing condition becomes favorable after the rain stops, thus enabling improvement of work efficiency.

(7) The control apparatus for the utility machine includes the relay apparatus3that communicates with the lawn mower1(a utility machine) through the communication units11and31, and the relay apparatus3includes the setting unit321, the information acquiring unit322, the adjusting unit324, and the output unit325that outputs work command (the work-start command and work-stop command) to the lawn mower1through the communication unit11and31, and the ECU12(an actuator control unit) outputs a control signal to the actuators13and14in accordance with the work command output from the output unit325(FIG. 1). Therefore, the relay apparatus3different from the lawn mower1is used to perform various processing such as adjusting of the time schedule or the like, whereby it is possible to simplify the configuration of a utility machine.

(8) The control apparatus for the utility machine is applied to the lawn mower1having the travel actuator14, and the ECU12controls the work actuator13and the travel actuator14so that the lawn mower1travels autonomously and mows a lawn in the predetermined working area AR, in accordance with the time schedule (TS1) adjusted by the adjusting unit324. Therefore, the lawn mower1can be sheltered at a place safe from rain and wind when not working and thus be protected against equipment damage.

Second Embodiment

Referring toFIGS. 7 to 9, a second embodiment of the present invention is described. Although the lawn mower1is used as the utility machine for working outdoors automatically in the first embodiment, a lawn mower and a water sprinkler are used in the second embodiment.FIG. 7is a diagram showing an overview configuration of a control apparatus for a utility machine in accordance with the second embodiment of the present invention. Constituents the same as those inFIG. 1are assigned the same symbols as inFIG. 1, and the following explanation relates chiefly to points of difference from the first embodiment.

As shown inFIG. 7, a water sprinkler2has a communication unit21, an ECU22, and a work actuator23. The water sprinkler2is deployed on the same property as the lawn mower1and the relay apparatus3, for example, in the working area AR or nearby.

The water sprinkler2is connected to a water source through a pipe and can sprinkle water in a predetermined outdoor area (for example, the working area AR) from a nozzle at its tip. The work actuator23is an electromagnetic valve that communicates or cuts off the water source with or from the nozzle, and water sprinkling work is performed when the electromagnetic valve is open (when ON) and water sprinkling work stops when the electromagnetic valve is closed (when OFF). Opening and closing of the electromagnetic valve is controlled by the ECU22. The ECU22opens the electromagnetic valve when a work-start command is output from the relay apparatus3and closes the electromagnetic valve when a work-stop command is output.

The relay apparatus3performs the processing shown inFIG. 6also with respect to the water sprinkler2. Specifically, the relay apparatus3forecasts weather at the work site using weather information acquired from the weather information server41, adjusts the time schedule based on the forecast result, and outputs work-start commands and work-stop commands in accordance with the adjusted time schedule.

FIG. 8is a diagram showing an example of the time schedule of the water sprinkler2. InFIG. 8, as inFIG. 5, the time schedule before adjustment is designated by TS0(a dotted line) and the time schedule after adjustment by TS1(a solid line). As indicated by the broken line inFIG. 8, the setting unit321sets the initial time schedule of the water sprinkler2so as to set the work command ON during a time period from time t1(sunrise) to time t2(sunset).

If the weather forecasting unit323then forecasts rain between time t10and time t20, the adjusting unit324turns OFF all of that day's work commands, as indicated by the solid line inFIG. 8. In other words, the time schedule is adjusted so as not to perform any water sprinkling on that day because the need for water sprinkling is low throughout a day when rain falls. Alternatively, the time schedule can be adjusted so that all water sprinkling work is prohibited on a day when a forecast time period between rain start and stop is equal to or greater than a predetermined time period and water sprinkling work is performed except during rain when it is smaller than the predetermined time period. The output unit325complies with the adjusted time schedule by outputting work-start and work-stop commands to the water sprinkler2, whereby water sprinkling work is carried out automatically.

Thus the control apparatus for a utility machine according to the second embodiment includes the work actuator23installed in the water sprinkler2(a utility machine), the setting unit321for setting the time schedule (TS0) of the water sprinkler2in advance, the information acquiring unit322for acquiring current and future weather information for the work site or nearby, the adjusting unit324for adjusting the time schedule (TS0) based on the weather information acquired by the information acquiring unit322, and the ECU22(an actuator control unit) for controlling the work actuator23so that the water sprinkler2works in accordance with the time schedule (TS1) adjusted by the adjusting unit324.

Therefore, similarly to in the first embodiment, the water sprinkler2can be operated to perform work suitably taking weather changes into account, without need to equip the water sprinkler2with a sensor or the like for detecting rain and while saving the work of adjusting a time schedule for the user. Provision of a sensor for detecting rain makes a watertight structure necessary at least around the sensor but no such need arises in the second embodiment, so that work can be performed while taking weather changes into account with a simple and low-cost structure.

In the second embodiment, the lawn mower1and the water sprinkler2are both operated under the control of commands from the relay apparatus3, and when the lawn mower1and the water sprinkler2are operated simultaneously, the time schedule of either can be adjusted in accordance with the time schedule of the other. For example, the time schedule of the water sprinkler2can be adjusted in view of the time schedule of the lawn mower1so that the work command of the water sprinkler2is OFF when the work command of the lawn mower1is ON. Alternatively, the time schedule of the lawn mower1can be adjusted in view of the time schedule of the water sprinkler2so that the work command of the lawn mower1is OFF when the work command of the water sprinkler2is ON. This makes it possible to prevent performance of lawn mowing work during water sprinkling work or performance of water sprinkling work during lawn mowing work.

In the above embodiments, time schedules are adjusted by changing work commands of time schedules set in advance from ON to OFF using weather information, but it is also possible to the contrary to adjust the time schedules by changing work commands for OFF to ON.FIG. 9is a diagram showing an example of a water sprinkler2time schedule set in this manner.FIG. 9also shows an accompanying example of a lawn mower1time schedule.

InFIG. 9, a time schedule of the water sprinkler2is established to set a work command OFF (TS20) in advance, and a time schedule of the lawn mower1is established to set a work command ON from sunrise time t1to sunset time t2(TS10). In a rain forecast OFF condition (forecast of no rain), when a forecast temperature at the work site acquired from the weather information server41is equal to or higher than a predetermined temperature Ta (for example, 10° C.) at time t12, the work command of the water sprinkler2is turned ON as shown in TS21(solid line) of the drawing.

In this case, the work command is not kept constantly ON but is repeatedly set ON and OFF at a predetermined time interval. For example, the work command is alternately set ON and OFF at a predetermined time interval Δt3(for example, every 30 min) throughout a predetermined maximum time period Δt4(for example, four hours). Alternatively, if the forecast temperature falls below the predetermined temperature Ta before the predetermined maximum time period Δt4elapses, the work command of the water sprinkler2can be turned OFF at that time t22. The adjustment of time schedule in this manner to set the work command of the water sprinkler2ON when forecast temperature becomes equal to or higher than predetermined temperature Ta enhances water sprinkling work efficiency. For example, when a high-temperature and dry weather continues for a predetermined time period, the water sprinkling time schedule can be changed to sprinkle water proactively. Alternatively, the work command can be turned ON in response to humidity instead of temperature.

Modifications

In the above embodiments, the weather forecasting unit323forecasts rain when the precipitation probability obtained from the weather information server41is equal to or greater than a predetermined value (40%), but the weather forecast method is not limited to this.FIG. 10is a X-Y plan view along a horizon plane for explaining another weather forecast method. InFIG. 10, a utility machine (for example, lawn mower1) is present in the middle of an area and a geographical map having a predetermined grid interval (for example, 10 km interval) is generated around this utility machine location.

In this modification, the relay apparatus3performs the same processing as inFIG. 6, but in S3, is distinctive in that rain cloud information is acquired for a predetermined distance around the self-position (for example, within 50 km), and in the map ofFIG. 10, a region with rain clouds is assigned N=1 and a region with no rain clouds N=0. Further, in S4, rain or no rain is predicted separately for a first area AR1within a first predetermined distance (for example, 15 km) from the own-position and for a second area AR2within a broader second predetermined distance (for example, 25 km) from the own-position. In this rain forecast, the sum total of N within a predetermined time period (for example, 1 hour) in each of the first area AR1and second area AR2is calculated and rain is predicted when the sum total of N of the first area is equal to or greater than a predetermined value (for example, 3) or the sum total of N of the second area is equal to or greater than a predetermined value (for example, 6).

In the second embodiment, the lawn mower1and water sprinkler2are provided with the ECUs12and22, which control driving of the work actuators13and23in accordance with commands from the relay apparatus3, but it is possible instead to implement the functions of the ECUs12and22in the relay apparatus3and omit the ECUs12and22from the lawn mower1and water sprinkler2. It is also possible to omit either the ECU12from the lawn mower1or the ECU22from the water sprinkler2.

In the second embodiment, the lawn mower1and the water sprinkler2are used as utility machines, but it is alternatively possible to use only one of the lawn mower1and the water sprinkler2as a utility machine. Moreover, the present invention can be applied not only to the lawn mower1and water sprinkler2but also similarly to other utility machines that permit or prohibit work depending on the weather. Therefore, the actuator installed in a utility machine is not limited to the one mentioned in the foregoing. The timer33and setting unit321provided in the relay apparatus3in the embodiments described above can instead be provided in the lawn mower1, water sprinkler2or elsewhere. In such case, the timer33or setting unit321can be omitted from the relay apparatus3.

In the above embodiments, the time schedule of the utility machine1or2is set by the setting unit321of the relay apparatus3, but it can instead be set by the ECU12or22of the utility machine1or2. Therefore, the configuration of a setting unit is not limited to the above configuration. In the above embodiments, the weather information server41and the work data server42are provided in the server apparatus4, but the configuration of a server is not limited to this. In the above embodiments, the information acquiring unit322acquires weather information covering from the present to a predetermined time in the future for the work site and vicinity from the weather information server41. In other words, it acquires weather information from a server by means of network communication, but the configuration of an information acquiring unit is not limit to this. For example, it is possible instead for the information acquiring unit to acquire not only present and future weather information but also past weather information and for the adjusting unit324to adjust the time schedule based on the acquired past, present and future weather information. Therefore, the time schedule can be suitably adjusted taking past rainfall level (e.g., amount of rainfall per hour) into account, thereby enabling more efficient work.

In the above embodiments, the weather forecasting unit323uses the weather information acquired by the ECU32to forecast weather at the work site for a predetermined time period into the future and the adjusting unit324adjusts the time schedule in accordance with the weather forecast by the weather forecasting unit323, but it is possible instead for the adjusting unit324to adjust the time schedule based on the weather information acquired by the information acquiring unit322, omitting the weather forecasting unit323. Therefore, the configuration of an adjusting unit is not limited to the above configuration.

In the above embodiments, the output unit325outputs the work-start command and work-stop command in accordance with the time schedule adjusted by the adjusting unit324, these work commands are sent to the utility machine such as the lawn mower1or sprinkler2through a communication unit (communication units11,21and31), and the ECU12or22controls the actuators13and14or actuator23in accordance with the received work commands. However, as long as controlling the actuators so that the utility machine performs work in accordance with the adjusted time schedule, the configuration of an actuator control unit is not limited to the above configuration. For example, instead of the relay apparatus3, the utility machine1or2can itself adjust a time schedule and control the actuators in accordance with the adjusted time schedule.

In the above embodiment (FIG. 5), the adjusting unit324adjusts the time schedule so that work by the lawn mower1is prohibited from a predetermined time period Δ1before the rain start time t10forecast by the weather forecasting unit323and work by the lawn mower1is prohibited until a predetermined time period Δ2elapses after the forecast rain stop time t20, but the pattern of time schedule adjustment in response to the weather conditions is not limited to that described above.

In accordance with the present invention, a time schedule of a utility machine is adjusted based on weather information and an actuator is controlled in accordance with the adjusted time schedule, so that a rain detecting sensor or the like is not required and work can be performed by means of a simple and low-cost structure while taking weather conditions into account.