Working machine, working machine control method, and storage medium

A working machine comprising: a control unit configured to cause the working machine to perform work in a first work mode in which work is performed without collecting diagnostic data; an acceptance unit configured to accept a diagnosis instruction; and a switching unit configured to switch from the first work mode to a second work mode in which work is performed while collecting the diagnostic data, in a case where the diagnosis instruction is accepted by the acceptance unit, wherein the control unit causes the working machine to perform work in the second work mode in a case where the switching unit switches to the second work mode.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a working machine, a working machine control method, and a storage medium.

Description of the Related Art

PTL 1 discloses a moving working machine that autonomously travels according to sensor information of various sensors such as an obstacle recognition sensor and the like.

When there is a problem with such a working machine (for example, a lawn mower or the like) or the efficiency of mowing the lawn decreases, a dealership or the like rushes to a place where the working machine is located to diagnose the state of the working machine.

CITATION LIST

Patent Literature

However, it takes labor, time, and cost to diagnose the state of the working machine, and it is required to interrupt the work during the diagnosis. Therefore, there is a problem that the work scheduled by the user cannot be performed.

The present invention has been made in view of the problems described above, and the present invention provides a technique for collecting data for diagnosing a working machine while continuing work.

SUMMARY OF THE INVENTION

According to one aspect of the present invention, there is provided a working machine comprising: a control unit configured to cause the working machine to perform work in a first work mode in which work is performed without collecting diagnostic data; an acceptance unit configured to accept a diagnosis instruction; and a switching unit configured to switch from the first work mode to a second work mode in which work is performed while collecting the diagnostic data in a case where the diagnosis instruction is accepted by the acceptance unit, the control unit causes the working machine to perform work in the second work mode in a case where the switching unit switches to the second work mode.

DESCRIPTION OF THE EMBODIMENTS

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. Note that the same components are denoted by the same reference numerals throughout the drawings.

FIG.1is a diagram illustrating a configuration example of a management system according to an embodiment of the present invention. The management system includes a working vehicle10and a management device20. The working vehicle10and the management device20are configured to be communicable via a network30. The working vehicle10is, for example, a working machine (a lawn mower, a grass mower, a snow plow, a golf ball collecting machine, and the like) that autonomously travels and performs predetermined work in a work area. The management device20is a server device and processes various pieces of information collected from the working vehicle10. Note that, in the present embodiment, a lawn mower will be described as an example of the working vehicle10, but the present invention can also be applied to other types of working machines.

<Configuration of Working Vehicle >

FIG.2Ais a diagram illustrating a hardware configuration example of the working vehicle according to an embodiment of the present invention. An ECU100is an electronic control unit including a microcomputer formed on a circuit board and controls the operation of the working vehicle10. The ECU100includes a CPU100a,an I/O100b,and a memory100c.The I/O100binputs and outputs various types of information. The memory100cis a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a random access memory (RAM), or the like. The memory100cstores a work schedule of the working vehicle10, information on a work area, work mode information, various programs for controlling the operation of the working vehicle10, and the like. The ECU100can operate as each processing unit for realizing the present invention by reading and executing the program stored in the memory100c.

The ECU100is connected to a sensor group S with various sensors. The sensor group S includes an orientation sensor110, a GPS sensor111, a wheel speed sensor112, an angular speed sensor113, an acceleration sensor114, and a blade height sensor115.

The orientation sensor110and the GPS sensor111are sensors for acquiring information on the position and orientation of the working vehicle10. The orientation sensor110detects an orientation according to geomagnetism. The GPS sensor111receives a radio wave from a GPS satellite and detects information indicating a current position (latitude and longitude) of the working vehicle10.

The wheel speed sensor112, the angular speed sensor113, and the acceleration sensor114are sensors for acquiring information regarding a moving state of the working vehicle10. The wheel speed sensor112detects wheel speeds of the left and right rear wheels. The angular speed sensor113detects an angular speed around an axis in the up-and-down direction (z-axis in the vertical direction) of the gravity center position of the working vehicle10. The acceleration sensor114detects acceleration in three orthogonal axial directions acting on the working vehicle10.

The blade height sensor115detects a height of a rotary blade for mowing work with respect to the ground contact surface of the working vehicle10. The detection result of the blade height sensor115is output to the ECU100. A blade height adjustment motor119is driven based on the control of the ECU100, and the blade moves up and down in the up-and-down direction to adjust the height from the ground contact surface.

Outputs of the various sensor group S are input to the ECU100via the I/O100b.The ECU100controls a work motor117, a travel motor118, and the height adjustment motor119based on the outputs of the various sensor group S. The ECU100controls the rotation of the blade by outputting a control value via the I/O100band controlling the work motor117. In addition, the traveling of the working vehicle10is controlled by outputting a control value via the I/O100band controlling the travel motor118. In addition, the height of the blade is adjusted by outputting a control value via the I/O100bto control the blade height adjustment motor119. Here, the I/O100bcan function as a communication interface and can be connected to the management device20or another device (for example, a communication device (smartphone) held by the user of the working vehicle10) in a wired or wireless manner via the network30.

In addition, the working vehicle10includes a camera unit116including a plurality of cameras and calculates and acquires distance information between an object existing forward and the working vehicle10using images captured by the plurality of cameras having parallax. Then, the operation of the working vehicle10is controlled based on the captured image and the object recognition model held in advance.

The work motor117is an electric motor positioned above the rotary blade for mowing operation. The blade is connected to the work motor117and is rotationally driven by the work motor117. The travel motor118is two electric motors (prime movers) attached to the working vehicle10. The two electric motors are connected to the left and right rear wheels, respectively. By independently rotating the left and right wheels forward (rotating in the forward direction) or backward (rotating in the backward direction) with the front wheel as a driven wheel and the rear wheel as a drive wheel, the working vehicle10can be moved in various directions. The blade height adjustment motor119is a motor for adjusting the height of the blade in the up-and-down direction with respect to the ground contact surface.

Next,FIG.2Bis a diagram illustrating a functional configuration example of the working vehicle according to an embodiment of the present invention. The working vehicle10includes a control unit151, a storage unit152, an acceptance unit153, a switching unit154, a transmission unit155, and a reception unit156.

The control unit151corresponds to the CPU100aand controls the operation of the working vehicle10. At normal times, the control unit151causes the working vehicle10to perform work in a first work mode in which work is performed without collecting diagnostic data. On the other hand, at the time of diagnosis, the working vehicle10is caused to perform work in a second work mode in which work is performed while collecting diagnostic data. The storage unit152corresponds to the memory100cand stores various information.

The acceptance unit153accepts a diagnosis instruction. Here, the diagnosis instruction is an instruction for starting collection of diagnostic data. The diagnosis instruction may be accepted by a user operation, or the diagnosis instruction may be accepted from the control unit151when the control unit151determines that there is a possibility of failure in the working vehicle10. The determination of the possibility of failure can be made based on data collected in the first work mode at normal times.

The switching unit154switches the work mode of the working vehicle10from the first work mode in which work is performed without collecting diagnostic data to the second work mode in which work is performed while collecting diagnostic data. The transmission unit155transmits data collected by the working vehicle10to the management device20. Further, the transmission unit155also functions as a notification unit that performs various notifications to the user. For example, notification can be performed to a communication device (not illustrated in the drawings) (for example, a smartphone) held by the user. Alternatively, it may be configured that the working vehicle10may notify a user around the working vehicle10by a voice from a speaker (not illustrated in the drawings) or display on a display unit (not illustrated in the drawings). The reception unit156receives an instruction transmitted from management device20.

Here, an example of the collected data at normal times will be described with reference toFIG.6A. The collected data at normal times is data collected while the working vehicle10performs normal work, and is, for example, a rate of skidding, the total number of collisions, a blade load, a work completion rate, and the like.

The rate of skidding is a rate at which wheels of the working vehicle10skid. For example, it can be calculated by dividing the number of skidding by travel time. The total number of collisions is obtained by counting the number of collisions when the working vehicle10collides with an obstacle or the like in the work area while the working vehicle10performs work. The blade load is, for example, a load applied to the blade by grass or lawn coming into contact with the blade. The blade load can be determined, for example, by calculating how much the actual number of rotations of the blade with respect to the predetermined output by the work motor117is reduced with respect to the ideal value in a case where no load is applied.

The work completion rate is a rate indicating how much the work is completed. For example, by plotting the travel history of the working vehicle10by the GPS sensor111, so that the work completion rate can be acquired by calculating the ratio of the area where the working vehicle10has traveled to the area of the work area.

Note that the collected data at normal times is not limited to the illustrated example. Other data may be further included. For example, at normal times, data of ambient temperature and humidity may be further collected. Alternatively, a part of the data as illustrated inFIG.6Amay not be collected.

Next, an example of diagnostic data will be described with reference toFIG.6B. The diagnostic data is data collected to diagnose the state of the working vehicle10. By controlling the operation of the working vehicle10based on the collected diagnostic data, more appropriate control according to the situation can be performed.

The diagnostic data includes, for example, the number of skidding at each point in the work area indicating the number of skidding of the wheel included in the working vehicle10, the number of collisions of the working vehicle10at each point in the work area, and the number of times of work at each point in the work area. Here, for example, when the work area is divided by a grid and considered as an aggregate of rectangular small regions (grid regions), the point is one small region.

The number of skidding at each point is data obtained by performing counting when skidding occurs while the working vehicle10is traveling at each point and aggregating the counts at each point constituting the work area. As a result, it is possible to recognize at which point skidding is likely to occur.

The number of collisions at each point is data obtained by performing counting when the working vehicle10collides with an obstacle or the like while traveling at each point and aggregating the counts at each point constituting the work area. As a result, it is possible to recognize at which point the collision is likely to occur.

The number of times of work at each point is data obtained by performing counting when the working vehicle10travels through each point while performing work and aggregating the counts at each point constituting the work area. As a result, it is possible to recognize at which point work is not yet performed.

<Configuration of Management Device>

FIG.3Ais a diagram illustrating a hardware configuration example of a management device according to an embodiment of the present invention. The management device20is, for example, a server device, and includes a CPU200a,an I/O200b,and a memory200c.

The CPU200acontrols the operation of the management device20. The I/O200binputs and outputs various types of information. The memory200cis a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a random access memory (RAM), or the like. The memory200cstores work mode information of the working vehicle10, various programs for controlling the operation of the management device20, and the like. The CPU200acan operate as each processing unit for realizing the present invention by reading and executing the program stored in the memory200c.

Next,FIG.3Bis a diagram illustrating a functional configuration example of the management device according to an embodiment of the present invention. The management device20includes a control unit251, a storage unit252, a reception unit253, and a transmission unit254.

The control unit251corresponds to the CPU200a,can control the operation of the management device20, and can also control the operation of the working vehicle10by transmitting a change instruction of the work mode for operating the working vehicle10to the working vehicle10.

The storage unit252corresponds to the memory200cand stores various information. For example, collected data at normal times transmitted from the working vehicle10and collected data at the time of diagnosis (diagnostic data) are stored. The reception unit253receives data transmitted from the working vehicle10. The transmission unit254transmits an instruction corresponding to the analysis content analyzed based on the data received from the working vehicle10to the working vehicle10.

<Processing of Working Vehicle>

Next, a procedure of processing performed by the working vehicle10according to the present embodiment will be described with reference to a flowchart ofFIG.4.

In S101, the control unit151causes the working vehicle10to perform work in the first work mode in which work is performed without collecting diagnostic data. Note that, during this operation, diagnostic data is not collected, but collection of collected data at normal times as illustrated inFIG.6Ais performed. The storage unit152stores the collected data, and the transmission unit155transmits the collected data at normal times being collected to the management device20.

In S102, the acceptance unit153determines whether or not a diagnosis instruction has been accepted. The diagnosis instruction is an instruction for starting collection of diagnostic data. The diagnosis instruction may be accepted by a user operation. Alternatively, when the control unit151determines that there is a possibility of failure in the working vehicle10, a diagnosis instruction may be automatically accepted from the control unit151. The determination of the possibility of failure can be made based on data collected in the first work mode at normal times. For example, when the magnitude of the blade load is equal to or greater than the threshold value, the control unit151may determine that there is a possibility of failure, and a diagnosis instruction may be accepted from the control unit151to the acceptance unit153. Alternatively, a diagnosis instruction may be automatically accepted from the control unit151at predetermined time intervals. When the diagnosis instruction is accepted, the processing proceeds to S103. On the other hand, when the diagnosis instruction is not accepted, the processing proceeds to S105.

In S103, the switching unit154switches the work mode of the working vehicle10from the first work mode in which work is performed without collecting diagnostic data to the second work mode in which work is performed while collecting diagnostic data.

In S104, the control unit151causes the working vehicle10to perform work in the second work mode in which work is performed while collecting diagnostic data. In the second work mode, the working vehicle10is controlled to further collect diagnostic data in addition to the collected data at normal times. Alternatively, in the second work mode, the working vehicle10may be controlled to perform collection reducing at least some types of data of the collected data at normal times and further collect the diagnostic data. As a result, the processing load of the control unit151can be reduced. The storage unit152stores the collected data, and the transmission unit155transmits the data to the management device20.

In S105, the control unit151determines whether or not to end the processing. Examples of the case where the processing is ended include a case where an end time according to a scheduled work schedule arrives, a case where a power-off button (not illustrated in the drawings) provided in the working vehicle10is pressed by the user, and the like. When ending the processing, a series of processing inFIG.4is ended. On the other hand, when the processing is not ended, the processing returns to S101and is repeated.

Note that, after the collection of the diagnostic data, the control unit151may analyze the collected diagnostic data and control the operation of the working vehicle10based on the analysis result. Alternatively, the management device20may analyze the diagnostic data received from the working vehicle10and transmit an instruction to control the operation of the working vehicle10to the working vehicle10based on the analysis result. The working vehicle10may control the operation in accordance with the instruction received from the management device20. As a result, the processing load of the working vehicle10can be reduced.

For example, it may be analyzed at which point skidding is likely to occur based on the number of skidding for each point as diagnostic data, and the operation of the working vehicle10may be controlled so that the traveling speed of the working vehicle10becomes slower around a point where the number of skidding is equal to or greater than a threshold.

In addition, it may be analyzed at which point a collision is likely to occur based on the number of collisions for each point as diagnostic data, and the operation of the working vehicle10may be controlled so that the traveling speed of the working vehicle10becomes slower around a point where the number of collisions is equal to or greater than a threshold.

In addition, it may be analyzed at which point work has not been performed yet based on the number of times of work for each point as diagnostic data, and the operation of the working vehicle10may be controlled so as to sequentially travel through a plurality of points with a fewer number of times of work. For example, five points with a fewer number of times of work may be extracted, and the operation of the working vehicle10may be controlled so as to travel those five points in ascending order of the number of times of work. In addition, any of a plurality of points with a fewer number of times of work may be set as a start point of work by the working vehicle10. For example, five points with a fewer number of times of work may be extracted, and any one of the five points may be set as a start point of work by the working vehicle10. As a result, it is possible to preferentially perform work at a spot where there is much unperformed work, for example, in the case of a lawn mower or a grass mower, at a spot where there is much uncut lawn or grass, and the overall work efficiency can be improved.

As described above, the working vehicle10according to the present embodiment performs work in the second work mode in which work is performed while collecting diagnostic data according to the diagnosis instruction. Therefore, it is possible to perform diagnosis while performing working. In addition, the operation of the working vehicle10can be appropriately controlled based on the diagnostic data.

Note that, in S104, the control unit151, in the second work mode, may control the working vehicle10to stop a part of the functions of the working vehicle10and collect the collected data at normal times and the diagnostic data. For example, a communication function of communicating with a communication device (for example, a smartphone) held by the user may be temporarily stopped. The processing load of the control unit151can be reduced by stopping a part of the functions. Therefore, the heat generation of the CPU can be reduced, and the battery life can be extended.

In addition, in order to reduce the processing load of the control unit151, the data collection frequency may be changed according to the work mode. For example, it may be configured that, in the first work mode, the collected data at normal times may be collected at a first frequency, and in the second work mode, the collected data at normal times may be collected at a second frequency lower than the first frequency, and the diagnostic data is further collected. For example, the collected data at normal times may be collected every one minute at normal times, and the collected data at normal times may be collected every 30 minutes or every one hour at the time of diagnosis.

In addition, it may be configured that the control unit151switches from the second work mode to the first work mode in a case where a predetermined amount or more of diagnostic data is collected or in a case where a predetermined time has elapsed since starting collection of diagnostic data. As a result, it is possible to automatically return to the original work mode when diagnosis becomes unrequired, and it is possible to reduce a monitoring burden on the user.

<Processing of Management Device>

Next, a procedure of processing performed by the management device20according to the present embodiment will be described with reference to a flowchart ofFIG.5.

In S201, the reception unit253determines whether or not the collected data at normal times of the working vehicle10, that is, the data collected in the first work mode, transmitted from the working vehicle10has been received. When the collected data at normal times is received, the processing proceeds to S202. On the other hand, when the collected data at normal times is not received, the processing proceeds to S204.

In S202, the control unit251performs analysis based on the collected data at normal times collected in S201and accumulated in the storage unit252. For example, it may be determined that there is a possibility that a failure occurs in the working vehicle10when the blade load, which is the collected data at normal times, is equal to or greater than a threshold. Then, an instruction based on the analyzed result is generated. For example, when there is a possibility that a failure occurs in the working vehicle10, a diagnosis instruction is generated.

In S203, the transmission unit254transmits the instruction generated in S202to the working vehicle10. In response to the diagnosis instruction, the working vehicle10switches the work mode to the second work mode in which work is performed while collecting diagnostic data. Note that, when only accumulating the analysis result and not generating the instruction, this step may be skipped.

In S204, the reception unit253determines whether or not the diagnostic data which is the collected data at the time of diagnosis of the working vehicle10, that is, the data collected in the second work mode, transmitted from the working vehicle10has been received. When the diagnostic data is received, the process proceeds to S205. On the other hand, when the diagnostic data is not received, the process proceeds to S207.

In S205, the control unit251performs analysis based on the diagnostic data collected in S204and accumulated in the storage unit252and generates an instruction to be transmitted to the working vehicle10. For example, it may be analyzed at which point skidding is likely to occur on the basis of the number of skidding for each point which is diagnostic data, and an instruction to control the operation of the working vehicle10so that the traveling speed of the working vehicle10becomes slower may be generated around a point where the number of skidding is equal to or greater than a threshold.

In addition, it may be analyzed at which point a collision is likely to occur on the basis of the number of collisions for each point which is diagnostic data, and an instruction to control the operation of the working vehicle10so that the traveling speed of the working vehicle10becomes slower may be generated around a point where the number of collisions is equal to or greater than a threshold.

In addition, it may be analyzed at which point work has not been performed yet based on the number of times of work for each point as diagnostic data and generate an instruction to control the operation of the working vehicle10so as to sequentially travel through a plurality of points with a fewer number of times of work. In addition, it is possible to generate an instruction to set any of a plurality of points with a fewer number of times of work as a start point of work by the working vehicle10. Alternatively, an instruction in which at least some of these are combined may be generated.

In S206, the transmission unit254transmits the instruction generated in S205to the working vehicle10. The working vehicle10controls the operation of the working vehicle10based on the instruction.

In S207, the control unit251determines whether or not to end the processing. The case where the processing is ended is, for example, a case where the end time according to the work schedule scheduled by the working vehicle10arrives. When ending the processing, a series of processing inFIG.5is ended. On the other hand, when the processing is not ended, the processing returns to S201and is repeated.

As described above, the management device20according to the present embodiment receives various kinds of collected data (collected data at normal times or diagnostic data) collected by the working vehicle10and transmits an instruction for controlling the operation of the working vehicle10to the working vehicle10based on the analysis result. As a result, it is possible to appropriately control the operation of the working vehicle10based on the collected data at normal times or the diagnostic data.

In the embodiment described above, the number of skidding at each point, the number of collisions of the working vehicle10at each point, and the number of times of work at each point in the work area have been described as examples of the diagnostic data. However, the diagnostic data is not limited to these examples. For example, “the number of times of obstacle avoidance at each point” may be counted and stored as the diagnostic data. The number of times of obstacle avoidance is the number of times that, by detecting an obstacle by a sensor (for example, a camera, a radar, or the like) provided in the working vehicle10, collision with the detected obstacle can be avoided.

The following can be estimated by counting and storing the number of collisions and the number of times of obstacle avoidance of the working vehicle10for each point. For example, in a case where the number of collisions is large and the number of times of obstacle avoidance is small at a certain point, it can be estimated that it is a point where it is difficult to detect an obstacle topographically. For example, this is a case where an obstacle such as a rock and the like exists in a blind spot in the traveling direction of the working vehicle10. In such a case, the obstacle may be out of the field of view of the camera or the scanning range of the radar. Alternatively, when passing between two obstacles, the radar does not detect the obstacle in the passing direction of the working vehicle10, but the distance between the obstacles is narrow for the working vehicle10to pass through, and a collision may occur.

In a case where the number of collisions is large and the number of times of obstacle avoidance is small, this may be notified to the user. Specifically, the user may be notified when the number of collisions is equal to or greater than a threshold and the number of times of obstacle avoidance is equal to or smaller than another threshold at a certain point. This makes it possible to suppress the occurrence of collision by removing obstacles such as rocks and the like or blocking narrow paths.

Note that, in a case where the number of collisions is small and the number of times of obstacle avoidance is large at a certain point, it can be estimated that it is a point where an obstacle can be detected without any problem. In addition, in a case where the number of collisions is small and the number of obstacle collisions is also small at a certain point, it can be estimated that there is no obstacle at the certain point, or even if there is an obstacle at the certain point, the obstacle is negligible. Therefore, for example, when the number of collisions is equal to or smaller than a threshold and the number of obstacle collisions is equal to or smaller than another threshold, the control unit251may generate an instruction to control the operation of the working vehicle10so that the traveling speed of the working vehicle10becomes faster. As a result, it is possible to perform adaptive control further estimating the situation of the obstacle.

In addition, in the embodiment described above, the lawn mower has been described as an example of the autonomous working machine, but the autonomous working machine is not limited to the lawn mower. For example, the present invention can also be applied to other types of autonomous working machines such as an autonomous snow removing machine, a golf ball collector, and the like. Further, in each embodiment described above, the example in which the working machine is autonomously controlled based on the images acquired from the plurality of cameras has been described, but the working machine to which the present invention can be applied is not limited to the case of using the camera image. For example, the present invention can also be applied to a working machine that performs autonomous control using an obstacle sensor (distance measurement sensor) such as an ultrasonic sensor, an infrared sensor, or the like.

Summary of Embodiments

1. The working machine (for example,10) of the above embodiment is:

a working machine including:

a control unit (for example,151) configured to cause the working machine to perform work in a first work mode in which work is performed without collecting diagnostic data;

an acceptance unit (for example,153) configured to accept a diagnosis instruction; and

a switching unit (for example,154) configured to switch from the first work mode to a second work mode in which work is performed while collecting the diagnostic data in a case where the diagnosis instruction is accepted by the acceptance unit,

in which the control unit causes the working machine to perform work in the second work mode in a case where the switching unit switches to the second work mode.

According to this embodiment, it is possible to collect data for diagnosing the working machine while continuing the work. Therefore, it is possible to diagnose the state of the working machine without interrupting the work. In addition, according to this embodiment, since the work mode is switched only in a case where required and the diagnostic data is collected, it is possible to reduce the load at normal times as compared with the case where the diagnostic data is constantly collected.

2. In the working machine (for example,10) of the above embodiment,

the control unit controls the working machine to collect predetermined data in the first work mode and further collect the diagnostic data in addition to the predetermined data in the second work mode.

According to this embodiment, it is possible to collect the predetermined data in any work mode, and it is possible to continuously collect data that needs to be collected during operation of the working machine.

3. In the working machine (for example,10) of the above embodiment,

the control unit controls the working machine to collect predetermined data in the first work mode and controls the working machine to perform collection reducing at least some types of data of the predetermined data and further collect the diagnostic data in the second work mode.

According to this embodiment, the processing load in the second work mode can be reduced.

4. In the working machine (for example,10) of the above embodiment,

the control unit controls the working machine to collect predetermined data in the first work mode and controls the working machine to stop a part of functions of the working machine and collect the predetermined data and the diagnostic data in the second work mode.

According to this embodiment, the processing load in the second work mode can be reduced.

5. In the working machine (for example,10) of the above embodiment,

the control unit collects predetermined data at a first frequency in the first work mode, and collects the predetermined data at a second frequency lower than the first frequency and further collects the diagnostic data in the second work mode.

According to this embodiment, the processing load in the second work mode can be reduced.

6. In the working machine (for example,10) of the above embodiment,

the acceptance unit accepts the diagnosis instruction based on a user instruction.

According to this embodiment, it is possible to shift to the second work mode at the timing intended by the user.

7. In the working machine (for example,10) of the above embodiment,

the control unit further determines a possibility of failure of the working machine based on predetermined data collected in work in the first work mode, and

the acceptance unit accepts the diagnosis instruction in response to determination that there is a possibility of failure in the working machine.

According to this embodiment, since it is shifted to the second work mode before a failure occurs, it is possible to automatically perform diagnosis.

8. In the working machine (for example,10) of the above embodiment,

the acceptance unit accepts the diagnosis instruction at predetermined time intervals.

According to this embodiment, since it is possible to periodically shift to the second work mode, it is possible to automatically perform diagnosis.

9. In the working machine (for example,10) of the above embodiment,

the control unit causes the working machine to perform work in the second work mode within a range of a preset work schedule.

According to this embodiment, it is possible to prevent collection of the diagnostic data in a time zone outside the work schedule. For example, in a case where the work schedule is a daytime time zone, it is recommended that the collection of the diagnostic data is also performed in the daytime time zone, and, for example, it is possible to prevent the collection of the diagnostic data in the nighttime time zone.

10. In the working machine (for example,10) of the above embodiment,

the control unit controls operation of the working machine based on the diagnostic data after collection of the diagnostic data.

According to this embodiment, it is possible to perform diagnosis by the working machine itself and perform appropriate control based on the diagnosis result.

11. In the working machine (for example,10) of the above embodiment,

the diagnostic data is the number of times of work at each point in a work area, and

the control unit controls the operation of the working machine so as to sequentially travel through a plurality of points with a fewer number of times of work.

According to this embodiment, it is possible to preferentially perform work at a point where work remains to be done.

12. In the working machine (for example,10) of the above embodiment,

the diagnostic data is the number of times of work at each point in a work area, and

the control unit sets any of a plurality of points with a fewer number of times of work as a start point of work by the working machine.

According to this embodiment, it is possible to complete the work early by performing the work from a point where work tends not to be performed.

13. In the working machine (for example,10) of the above embodiment,

the diagnostic data is the number of collisions of the working machine at each point in a work area, and

the control unit controls the operation of the working machine so that a traveling speed of the working machine becomes slower around a point where the number of collisions is equal to or greater than a threshold.

According to this embodiment, it is possible to suppress collision with an obstacle that is difficult to avoid during traveling and to avoid failure.

14. In the working machine (for example,10) of the above embodiment,

the diagnostic data is the number of skidding at each point in a work area, which is the number of skidding of a wheel included in the working machine, and

the control unit controls the operation of the working machine so that the traveling speed of the working machine becomes slower around a point where the number of skidding is equal to or greater than a threshold.

According to this embodiment, the occurrence of the skidding can be suppressed by reducing the traveling speed at the point where the skidding is likely to occur. Therefore, the accuracy of estimating self-position can be improved.

15. In the working machine (for example,10) of the above embodiment,

the diagnostic data includes the number of collisions of the working machine at each point in a work area and the number of times of obstacle collision avoidance of the working machine at each point in the work area, and

the control unit controls the operation of the working machine based on the number of collisions and the number of times of obstacle collision avoidance.

According to this embodiment, it is possible to perform adaptive control further estimating the situation of the obstacle.

16. The working machine (for example,10) of the above embodiment, further includes

a notification unit (e.g.155and102b) configured to issue a notification to the user in a case where the number of collisions is equal to or greater than a threshold and the number of times of obstacle collision avoidance is equal to or smaller than another threshold.

According to this embodiment, in a case where the number of collisions is large and the number of obstacle collisions is small, it is possible to suppress the occurrence of the collision by prompting the user to remove the obstacle or the like.

17. In the working machine (for example,10) of the above embodiment,

the control unit switches from the second work mode to the first work mode in a case where a predetermined amount or more of the diagnostic data is collected or in a case where a predetermined time has elapsed since starting collection of the diagnostic data.

According to this embodiment, it is possible to automatically return to the original work mode at the timing when the collection of the diagnostic data is completed or at the timing when the collection of the diagnostic data will be completed. Therefore, the user can save the trouble of setting the work mode of the working machine to the original mode after the diagnosis is completed.

18. The working machine (for example,10) of the above embodiment, further includes:

a transmission unit (for example,155) configured to transmit the diagnostic data collected in the second work mode to a management device (for example,20); and

a reception unit (for example,156) configured to receive an instruction from the management device that has analyzed the diagnostic data,

in which the control unit controls the operation of the working machine based on the instruction received from the management device.

According to this embodiment, the management device performs processing, thereby reducing the processing load on the working machine.

19. A method for controlling a working machine (for example,10) of the above embodiment is:

a working machine control method including:

causing the working machine to perform work in a first work mode in which work is performed without collecting diagnostic data;

accepting a diagnosis instruction;

switching from the first work mode to a second work mode in which work is performed while collecting the diagnostic data in a case where the diagnosis instruction is accepted; and

causing the working machine to perform work in the second work mode in a case where the work mode is switched to the second work mode.

According to this embodiment, it is possible to collect data for diagnosing the working machine while continuing the work. Therefore, it is possible to diagnose the state of the working machine without interrupting the work. In addition, according to this embodiment, since the work mode is switched only when required and the diagnostic data is collected, it is possible to reduce the load at normal times as compared with the case where the diagnostic data is constantly collected.

20. A storage medium according to the above embodiment is:

a non-transitory computer readable storage medium storing a computer program for causing a computer to function as the working machine according to the above embodiment.

According to this embodiment, the working machine according to the present invention can be realized by a computer.

According to the present invention, it is possible to collect data for diagnosing a working machine while continuing work. Therefore, it is possible to diagnose the state of the working machine without interrupting the work.