Agricultural machine, sensing system, sensing method, remote operation system, and control method
An agricultural machine includes a vehicle body, a sensor to sense an environment around the vehicle body to output sensing data, and a communication device to transmit the sensing data output from the sensor to a remote device. The sensor changes a data amount of the sensing data output to the communication device, depending on a communication rate from the communication device to the remote device.
1 . An agricultural machine comprising:
a vehicle body;
a sensor to sense an environment around the vehicle body to output sensing data; and
a communication device to transmit the sensing data output from the sensor to a remote device; wherein
the sensor is configured to change a data amount of the sensing data output to the communication device, depending on a communication rate from the communication device to the remote device; and
the sensor includes a camera configured to reduce parallax when the communication rate is lower than a threshold, compared to when the communication rate is higher than or equal to the threshold.
2 . The agricultural machine of claim 1 , wherein the sensor outputs a smaller data amount of sensing data when the communication rate is lower than the threshold than when the communication rate is higher than or equal to the threshold.
3 . The agricultural machine of claim 1 , wherein when the communication rate is lower than the threshold, the camera further reduces at least one of resolution, color information amount, or image size during capturing compared to when the communication rate is higher than or equal to the threshold.
4 . The agricultural machine of claim 1 , wherein
the sensor further includes an obstacle sensor to sense an obstacle existing in the environment around the vehicle body; and
the obstacle sensor outputs a smaller data amount of sensing data when the obstacle is not detected than when the obstacle is detected.
5 . The agricultural machine of claim 1 , wherein based on time-series images generated based on the sensing data to visualize the environment around the vehicle body, the communication device reduces the data amount of the sensing data corresponding to a region in which there are a predetermined number of changes in the time-series images before transmitting the sensing data to the remote device.
6 . The agricultural machine of claim 1 , further comprising:
a controller configured or programmed to control travel of the vehicle body based on a signal transmitted from the remote device.
7 . A sensing system comprising:
a sensor to sense an environment around an agricultural machine to output sensing data; and
a communication device to transmit the sensing data output from the sensor to a remote device; wherein
the sensor is configured to change a data amount of the sensing data output to the communication device, depending on a communication rate from the communication device to the remote device; and
the sensor includes at least one of a camera configured to reduce parallax when the communication rate is lower than a first threshold, compared to when the communication rate is higher than or equal to the first threshold, or a LIDAR sensor configured to reduce an angular range of sensing in a horizontal direction and a vertical direction when the communication rate is lower than a second threshold, compared to when the communication rate is higher than or equal to the second threshold.
8 . An agricultural machine comprising:
a vehicle body;
a sensor to sense an environment around the vehicle body to output sensing data; and
a communication device to transmit the sensing data output from the sensor to a remote device; wherein
the sensor changes a data amount of the sensing data output to the communication device, depending on a communication rate from the communication device to the remote device; and
the sensor includes a LIDAR sensor configured to reduce an angular range of sensing in a horizontal direction and a vertical direction when the communication rate is lower than a threshold, compared to when the communication rate is higher than or equal to the threshold.
9 . The agricultural machine of claim 8 , wherein
when the communication rate is lower than the threshold, the LiDAR sensor further reduces an amount of point cloud data output per unit time compared to when the communication rate is higher than or equal to the threshold.