Agricultural machinery control systems and agricultural management systems

Abstract

This agricultural machine control system comprises a control device that controls autonomous driving of an agricultural machine. The control device causes the agricultural machine to move to a transitory location in which to perform preparation work before agricultural work when the preparation work is required to be performed for the agricultural work, the preparation work including at least one of replacement of an implement to be mounted on the agricultural machine, maintenance of the implement, replacement of a part of the agricultural machine, maintenance of the part of the agricultural machine, and replenishment of materials.

Description

[Technical field]

[0001] The present disclosure relates to an agricultural machine control system and an agricultural management system. [Background technology]

[0002] Research and development is underway to automate agricultural machinery used in fields. For example, work vehicles such as tractors, combine harvesters, and rice transplanters that can travel autonomously in fields using positioning systems such as the Global Navigation Satellite System (GNSS) have been put to practical use. Research and development is also underway for work vehicles that can travel autonomously not only in fields but also outside of fields, including on public roads.

[0003] Patent Documents 1 and 2 disclose examples of systems that automatically drive an unmanned work vehicle between two farm fields separated from each other by a road.

[0004] Patent Document 3 discloses a vehicle control system that automatically moves a vehicle to a base where energy used for running the vehicle is replenished during a time period when the schedule of the vehicle user is not registered. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-073602 [Patent Document 2] Patent Publication No. 2021-029218 [Patent Document 3] JP 2021-006802 A Summary of the Invention [Problem to be solved by the invention]

[0006] The present disclosure provides a technique for more efficiently performing agricultural work using autonomous agricultural machinery. [Means for solving the problem]

[0007] This specification discloses the solutions described in the following items.

[0008] [Item a1] A control system for an agricultural machine, comprising: A control device for controlling automatic operation of the agricultural machine, When preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of a part of the agricultural machine, maintenance of the part of the agricultural machine, and replenishing of materials is necessary for the agricultural work, the control device moves the agricultural machine to a stopover location where the preparatory work will be performed before the agricultural work. Control system.

[0009] [Item a2] The control system described in item a1, wherein the control device determines whether the preparation work is necessary based on signals output from one or more sensors for detecting the installation status of the implement, deterioration of the implement, deterioration of parts of the agricultural machinery, or a shortage of materials.

[0010] [Item a3] The control system described in item a2, wherein the one or more sensors include at least one of an image sensor positioned to image the implement, a part of the agricultural machinery, or materials, and a sensor that measures the remaining amount of the materials.

[0011] [Item a4] The control system described in any one of items a1 to a3, wherein the control device sends a notification to a computer used by a worker performing the preparatory work when the agricultural machine is moved to the stopover area.

[0012] [Item a5] A control system described in any of items A1 to A4, wherein the control device moves the agricultural machinery to a predetermined storage location for the agricultural machinery or to a field where the next scheduled agricultural work is to be performed after the preparatory work is completed.

[0013] [Item a6] The control system according to any one of items a1 to a5, wherein the control device determines whether or not the preparatory work is necessary for the next agricultural work each time the agricultural machine completes its agricultural work.

[0014] [Item a7] the control device determines whether or not the preparation work is necessary based on a signal output from one or more sensors provided in the agricultural machine after a day's agricultural work by the agricultural machine is completed; and If the preparatory work is not required, moving the agricultural machine to a predetermined storage location for the agricultural machine; If the preparatory work is required, moving the agricultural machine to the stopover area, and after the preparatory work is completed, moving the agricultural machine to the storage area. A control system according to any of items a1 to a6.

[0015] [Item a8] The control device includes: Sending a signal to a computer at the candidate stopover location requesting execution of the preparation work; When a response indicating that the preparation work is possible is received from the computer, the candidate site is determined to be the stopover site; when a response indicating that the preparation work is possible is not received from the computer, moving the agricultural machine to a preset storage location of the agricultural machine without determining the stopover location. A control system according to items a1 to a6.

[0016] [Item a9] The control device includes: transmitting a signal to a first computer in a first candidate site selected from among a plurality of candidate sites, requesting the execution of the preparatory work; When a response indicating that the preparation work is possible is received from the first computer, determining the first candidate site as the stop-off site; if no response is received from the first computer indicating that the preparatory work is possible, transmitting a signal to a second computer in a second candidate site selected from the plurality of candidate sites to request the execution of the preparatory work; determining the second candidate site as the stop-off site when a response indicating that the preparation work is possible is received from the second computer; A control system according to items a1 to a6.

[0017] [Item a10] A control system described in any of items A1 to A9, wherein when the agricultural machine is moved to the stopover location, the control device sends a notification to a terminal device used by a user of the agricultural machine, the notification including information indicating the stopover location and the content of the preparatory work.

[0018] [Item a11] An agricultural machine including a control device for controlling automatic operation; A management device that manages the agricultural machine; Equipped with The control device causes the agricultural machine to perform farm work based on an instruction from the management device, and when preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of a part of the agricultural machine, maintenance of the part of the agricultural machine, and replenishing of materials is necessary for the agricultural work, the control device moves the agricultural machine to a stopover area where the preparatory work will be performed before the agricultural work. Agricultural management systems.

[0019] [Item a12] The agricultural management system described in item a11, wherein the control device acquires information indicating the content of the agricultural work from the management device, and determines whether preparatory work is necessary based on the content of the agricultural work and the state of the agricultural machinery.

[0020] [Item a13] The agricultural management system described in item a12, wherein the control device determines that the preparatory work is necessary if any of the attachment state of the implements of the agricultural machine, the type of materials, and the amount of materials do not correspond to the content of the agricultural work indicated by the information obtained from the management device, and determines that the preparatory work is not necessary if any of the attachment state of the implements, the type and amount of materials correspond to the content of the agricultural work.

[0021] [Item b1] A control system for an autonomous agricultural machine, a storage device that stores a schedule of farm work to be performed by the agricultural machine; a control device that controls an operation of the agricultural machine according to the schedule; Equipped with the control device moves the agricultural machine to a standby location different from a preset storage location of the agricultural machine based on a next agricultural work included in the schedule after a specific agricultural work included in the schedule is completed; Control system.

[0022] [Item b2] The control system described in item b1, wherein the control device moves the agricultural machine to the waiting location based on a positional relationship between the storage location, the field where the specific agricultural work was performed, the field where the next agricultural work is to be performed, and the waiting location.

[0023] [Item b3] The control system described in item b1 or b2, wherein the control device moves the agricultural machine to the waiting location when a second travel distance when moving from the field where the specific agricultural work has been performed via the waiting location to the field where the next agricultural work is to be performed is shorter than a first travel distance when moving from the field where the specific agricultural work has been performed via the storage location to the field where the next agricultural work is to be performed.

[0024] [Item b4] The control system described in item b3, wherein the control device moves the agricultural machine to the storage location when the second movement distance is longer than the first movement distance.

[0025] [Item b5] The control system described in any of items b1 to b4, wherein the control device moves the agricultural machine to the waiting location when the time from the end of the specific agricultural work to the start of the next agricultural work is equal to or longer than a predetermined time.

[0026] [Item b6] The control system described in any of items b1 to b5, wherein the memory device stores a plurality of agricultural tasks to be performed by the agricultural machine over a plurality of work days, the plurality of agricultural tasks including the last agricultural task to be performed on each work day as the specific agricultural task and the first agricultural task to be performed on each work day as the next agricultural task.

[0027] [Item b7] The control system described in any of items b1 to b6, further comprising an input device for inputting into the control device the storage location, which is a location managed by a user of the agricultural machinery, and the waiting location, which is a location used jointly by the multiple users.

[0028] [Item b8] A management device for managing a schedule of farm work; An agricultural machine including a control device that controls automatic operation and a communication device that receives the schedule from the management device; Equipped with the control device, after a specific agricultural work included in the schedule received by the communication device is completed, moves the agricultural machine to a standby location different from a preset storage location of the agricultural machine based on a next agricultural work included in the schedule; Agricultural management systems.

[0029] [Item b9] the communication device receives, as the schedule, information indicating a field in which the specific agricultural work is to be performed and information indicating a field in which the next agricultural work is to be performed; the control device moves the agricultural machine to the standby location based on a positional relationship among the storage location, the field in which the specific agricultural work has been performed, the field in which the next agricultural work is to be performed, and the standby location. An agricultural management system as described in item b8.

[0030] [Item b10] The agricultural management system described in item b8 or b9, wherein the control device moves the agricultural machine to the waiting location when a second travel distance when moving from the field where the specific agricultural work has been performed via the waiting location to the field where the next agricultural work is to be performed is shorter than a first travel distance when moving from the field where the specific agricultural work has been performed via the storage location to the field where the next agricultural work is to be performed.

[0031] [Item b11] The agricultural management system described in item b10, wherein the control device moves the agricultural machine to the storage location when the second movement distance is longer than the first movement distance.

[0032] [Item b12] The communication device receives, as the schedule, a schedule including information on a start time of the next farm work, The agricultural management system described in any of items B8 to B11, wherein the control device moves the agricultural machine to the waiting location when the time difference between the end time of the specific agricultural work and the start time of the next agricultural work is equal to or longer than a predetermined time.

[0033] The general or specific aspects of the present disclosure may be realized by an apparatus, a system, a method, an integrated circuit, a computer program, or a computer-readable non-transitory storage medium, or any combination thereof. The storage medium may be volatile or non-volatile. The device may be composed of multiple devices. When the device is composed of two or more devices, the two or more devices may be located in one device or may be separated into two or more separate devices. Effect of the Invention

[0034] According to the embodiments of the present disclosure, agricultural work can be performed more efficiently using autonomous agricultural machinery. [Brief description of the drawings]

[0035] [Figure 1] FIG. 1 is a diagram for explaining an overview of an agricultural management system according to a first exemplary embodiment of the present disclosure. [Diagram 2] FIG. 1 is a side view showing a schematic example of a work vehicle and an implement coupled to the work vehicle. [Diagram 3] FIG. 2 is a block diagram showing an example of the configuration of a work vehicle and an implement. [Figure 4] FIG. 1 is a conceptual diagram showing an example of a work vehicle performing positioning using RTK-GNSS. [Diagram 5] 4 is a schematic diagram showing an example of an operation terminal and an operation switch group provided inside the cabin. FIG. [Figure 6] 2 is a rear view showing an example of the configuration of the rear side of the work vehicle. FIG. [Figure 7] 2 is a block diagram illustrating a schematic hardware configuration of a management device, a first terminal device, and a second terminal device. FIG. [Figure 8] 1 is a diagram illustrating an example of a work vehicle that automatically travels along a target route in a farm field; [Figure 9]4 is a flowchart showing an example of a steering control operation during automatic driving executed by the control device. [Figure 10A] 1 is a diagram showing an example of a work vehicle traveling along a target route P. FIG. [Figure 10B] FIG. 13 is a diagram showing an example of a work vehicle in a position shifted to the right from a target route P. [Figure 10C] FIG. 13 is a diagram showing an example of a work vehicle in a position shifted to the left from a target route P. [Figure 10D] 1 is a diagram showing an example of a work vehicle facing in an inclined direction with respect to a target route P. FIG. [Figure 11] FIG. 1 is a diagram illustrating an example of a situation in which a plurality of work vehicles are automatically traveling inside a farm field and on roads outside the farm field. [Figure 12] FIG. 13 is a diagram showing an example of a setting screen for creating a schedule. [Figure 13] FIG. 13 is a diagram illustrating an example of a schedule. [Figure 14] 11 is a diagram for explaining the operation of a work vehicle moving to a stop-off area where preparatory work for the next agricultural work is carried out. FIG. [Figure 15] 11 is a diagram showing an example in which a work vehicle heads toward a farm field after preparation work is completed. FIG. [Figure 16] 1 is a diagram showing an example in which a work vehicle moves from a storage location to a drop-off location and then performs farm work in a field. [Figure 17] 5 is a flowchart showing an example of the operation of the control device. [Figure 18] FIG. 13 is a diagram illustrating an example of a database showing the correspondence between the contents of preparatory work and stop-off places. [Figure 19] FIG. 2 is a diagram for explaining an overview of an agricultural management system according to a second exemplary embodiment of the present disclosure. [Figure 20] FIG. 2 is a block diagram showing an example of the configuration of a work vehicle and an implement. [Figure 21] 2 is a block diagram illustrating a schematic hardware configuration of a management device and a terminal device. FIG. [Figure 22]FIG. 13 is a diagram for explaining the operation of a work vehicle moving to a standby location after completing a day's agricultural work for the next work day. [Diagram 23] 11A and 11B are diagrams illustrating an example of an operation in which a work vehicle returns to a storage location. [Figure 24] 13A and 13B are diagrams illustrating another example of the operation of the work vehicle moving to the waiting location. [Diagram 25] 4 is a flowchart illustrating an example of a control method executed by the control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] Hereinafter, an embodiment of the present disclosure will be described. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and overlapping explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the inventor provides the attached drawings and the following explanation so that those skilled in the art can fully understand the present disclosure, and does not intend to limit the subject matter described in the claims by them. In the following description, components having the same or similar functions are given the same reference numerals.

[0037] The following embodiments are illustrative, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, order of steps, layout of the display screen, and the like shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. In addition, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0038] (Embodiment 1) The control system for an agricultural machine according to the first exemplary embodiment of the present disclosure includes a control device that controls automatic operation of the agricultural machine. When preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of a part of the agricultural machine, maintenance of the part of the agricultural machine, and replenishing of materials is required for agricultural work, the control device moves the agricultural machine to a stopover area where the preparatory work will be performed before the agricultural work.

[0039] According to the above configuration, when preparatory work for agricultural work is required, the agricultural machine can be automatically moved to a stopover location where the preparatory work will be performed. Whether or not preparatory work is required can be determined, for example, by the control device or a management device connected to the control device via a network. With the above configuration, the agricultural machine can be automatically moved to the stopover location without the user determining the need for preparatory work and issuing an instruction to move the agricultural machine. This can save the user effort and make it possible to more efficiently prepare for agricultural work.

[0040] In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding management machines, vegetable transplanters, mowers, sowing machines, fertilizer applicators, and agricultural mobile robots. Not only a working vehicle such as a tractor functions as an "agricultural machinery" by itself, but also a working implement attached to or towed by the working vehicle and the working vehicle as a whole may function as one "agricultural machinery". Agricultural machinery performs agricultural work such as plowing, sowing, pest control, fertilization, planting crops, or harvesting on the ground in a field. These agricultural works are sometimes referred to as "ground work" or simply "work". Traveling of a vehicle-type agricultural machine while performing agricultural work is sometimes referred to as "work travel".

[0041] "Autonomous driving" means that the movement of the agricultural machine is controlled by the action of a control device, not by manual operation by the driver. An agricultural machine that performs automatic driving may be called an "automatic driving agricultural machine" or a "robot agricultural machine". During automatic driving, not only the movement of the agricultural machine but also the operation of agricultural work may be automatically controlled. When the agricultural machine is a vehicle-type machine, the traveling of the agricultural machine by automatic driving is called "automatic driving". The control device may control at least one of steering, adjustment of the moving speed, and starting and stopping of the movement required for the movement of the agricultural machine. When controlling a work vehicle equipped with a working machine, the control device may control operations such as raising and lowering the working machine, starting and stopping the operation of the working machine. The movement by automatic driving may include not only the movement of the agricultural machine toward the destination along a predetermined route, but also the movement of the agricultural machine following a tracking target. An agricultural machine that performs automatic driving may have a function of moving partially based on the instruction of a user. In addition, an agricultural machine that performs automatic driving may operate in a manual driving mode in which the agricultural machine moves by manual operation of the driver in addition to the automatic driving mode. Steering an agricultural machine by the action of a control device, rather than manually, is called "automatic steering." A part or all of the control device may be external to the agricultural machine. Communication of control signals, commands, data, etc. may take place between the agricultural machine and a control device external to the agricultural machine. An agricultural machine that performs automatic driving may move autonomously while sensing the surrounding environment, without a human being being involved in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can travel unmanned in a field or outside the field (e.g., a road). During autonomous movement, the agricultural machine may detect obstacles and perform obstacle avoidance operations.

[0042] "Maintenance" of an implement or part is an action performed to enable the implement or part to perform its intended function or performance. Maintenance may include, for example, servicing, repair, adjustment, modification, inspection, or reinforcement.

[0043] "Materials" refers to materials used in the agricultural work performed by the agricultural machine. Materials are also called "agricultural materials." Materials may include materials consumed by the agricultural work, such as pesticides, fertilizers, seeds, or seedlings.

[0044] A "stop-off point" is a place where an agricultural machine stops for preparation work. A stop-off point may be, for example, a maintenance shop, a parts or materials store, a personal workshop, or a material warehouse. The stop-off point may differ depending on the content of the preparation work. Replacement, repair, or maintenance of an implement or part may be performed, for example, in a maintenance shop, a shop, or a personal workshop. Replenishment of materials may be performed, for example, in a material warehouse, a shop, or a personal workshop. At the stop-off point, a worker or a machine such as a robot performs a specified preparation work.

[0045] The control system may include a storage device that stores map data of the environment in which the agricultural machine moves. In the following description, the map data is also referred to as an "environment map." The environmental map may include, for example, position information of one or more fields in which the agricultural machine performs farm work and one or more stopover points where the agricultural machine stops. The environmental map may include position information of a storage location where the agricultural machine is stored. The control device can create a route on which the agricultural machine should move based on the environmental map and the position information of the agricultural machine. The position information of the agricultural machine may be generated based on, for example, data output from a GNSS receiver mounted on the agricultural machine. In the following description, the route on which the agricultural machine should move may be referred to as a "target route." A management device connected to the control device via a network may create the target route. In that case, the management device transmits information indicating the generated target route to the control device. The control device controls the drive device of the agricultural machine so that the agricultural machine moves along the target route. This allows the control device to move the agricultural machine toward a desired destination such as a field, a stopover point, or a storage location.

[0046] The control device may move the agricultural machine to different stopover locations depending on the content of the preparatory work. The storage device may store data indicating a correspondence between the preparatory work and the positions of the stopover locations. The control device can determine a stopover location depending on the preparatory work based on the data, and generate a route to the stopover location. The control device can cause the agricultural machine to arrive at the stopover location by moving the agricultural machine along the generated route.

[0047] A schedule of farm work to be performed by the agricultural machine may be recorded in advance in the storage device of the control system. The control device may control the movement of the agricultural machine in accordance with the schedule. The schedule may include, for each farm work to be performed by the agricultural machine, information indicating the date and time and the field on which the farm work is to be performed. When the control device determines that preparatory work is required for one of the farm works included in the schedule, it moves the agricultural machine to a stopover location where the preparatory work will be performed before the farm work.

[0048] Whether or not preparatory work is performed may be determined from various viewpoints. For example, the control device may determine whether or not preparatory work is necessary based on signals output from one or more sensors for detecting the mounting state of the implement, deterioration of the implement, deterioration of parts of the agricultural machine, or shortage of materials. The one or more sensors may include, for example, at least one of an image sensor arranged to capture an image of the implement, parts of the agricultural machine, or materials, and a sensor for measuring the remaining amount of materials. The sensor for measuring the remaining amount of materials may be, for example, a weight sensor. When an image sensor is used, the control device may detect deterioration or failure of the implement or parts, or shortage of materials by image processing based on the signal output from the image sensor. In the following description, a device including one or more sensors for detecting the mounting state of the implement, deterioration of the implement, deterioration of parts of the agricultural machine, or shortage of materials may be referred to as a "condition detection device."

[0049] The control device may determine whether or not the preparatory work is necessary based on the usage time of the implement or part. For example, the control device may record the usage time from the start of use of the implement or part to the present, and determine that the preparatory work for replacement is necessary when the usage time exceeds a threshold value.

[0050] The control device may determine whether preparatory work is necessary based on data indicating the consumption amount of materials for each agricultural work performed by the agricultural machine. For example, the control device may determine that preparatory work for replenishing materials is necessary when the amount of materials consumed by agricultural work performed from the time when materials were last replenished to the present exceeds a threshold value. The consumption amount of materials for each agricultural work may be recorded in the storage device together with the schedule described above, for example.

[0051] When the agricultural machine is moved to the stopover location, the control device may send a notification to a computer used by an operator who performs preparatory work at the stopover location. The computer may be, for example, a personal computer (PC), a laptop computer, a tablet computer, or a smartphone. The notification may include, for example, information indicating the content of the preparatory work and information indicating the scheduled time of arrival at the stopover location. The operator can know that the agricultural machine will arrive at the stopover location from the notification received by the computer. The operator can prepare parts, implements, materials, and the like required for the preparatory work before the agricultural machine arrives.

[0052] After the preparation work is completed, the control device may move the agricultural machine to a preset storage location for the agricultural machine or to a field where the next scheduled agricultural work is to be performed. The storage location may be, for example, a barn at the owner's home or a garage at the farmer's business. The field where the next scheduled agricultural work is to be performed may be specified, for example, by referring to a schedule stored in the storage device. The storage location and the location of the field may be recorded in advance in the storage device.

[0053] The control device may determine whether or not preparatory work is necessary for the next agricultural work each time the agricultural machine finishes each agricultural work. Whether or not preparatory work is necessary may be determined based on the output of a sensor or a measuring instrument, as described above. The control device may determine whether or not preparatory work is necessary, for example, each time each agricultural work included in the schedule stored in the storage device is finished.

[0054] The control device may determine whether or not preparatory work is necessary after the agricultural machine has completed its agricultural work for the day, based on signals output from one or more sensors equipped in the agricultural machine. If preparatory work is not necessary, the control device moves the agricultural machine to a preset storage location for the agricultural machine. Conversely, if preparatory work is necessary, the control device moves the agricultural machine to a stopover location where the preparatory work will be performed, and after the preparatory work is completed, moves the agricultural machine to the storage location. By such an operation, after the last agricultural work scheduled for the day is completed, if preparatory work is necessary for the next agricultural work scheduled for the next day or later, the agricultural machine can be stopped at the stopover location where the preparatory work will be performed, and returned to the storage location after the preparatory work is completed.

[0055] The control device may perform the following operations (a1) to (a3) ​​when preparation work is required. (a1) A signal is sent to a computer at a potential stopover location requesting the computer to perform preparatory work. (a2) When a response is received from the computer indicating that preparation work is possible, the candidate site is determined as a stopover site. (a3) If no response indicating that preparation work is possible is received from the computer, the agricultural machine is moved to a preset storage location without determining a stopover location. By the above operation, the agricultural machine can be moved to the candidate site only if the preparatory work is possible at the candidate site. The computer at the candidate site can be configured to transmit a response indicating that the preparatory work is possible to the control device, for example, based on an operation of an operator at the candidate site.

[0056] The control system may include a storage device that stores a database including location information of each of a plurality of candidate sites that are candidates for stopover locations and information indicating one or more preparatory tasks to be performed at each of the plurality of candidate sites. The control device may refer to the database and determine, as a stopover location, one candidate site from among the plurality of candidate sites where preparatory tasks required for agricultural work can be performed.

[0057] The control device may perform the following operations (b1) to (b3) when preparation work is required. (b1) Transmitting a signal to a first computer in a first candidate site selected from among the plurality of candidate sites, requesting the execution of a preparatory task. (b2) When a response indicating that the preparation work is possible is received from the first computer, the first candidate site is determined as a stop-off site. (b3) If no response indicating that the preparatory work is possible is received from the first computer, a signal requesting that the preparatory work be performed is sent to a second computer at a second candidate site selected from the plurality of candidate sites. (b4) When a response indicating that the preparation work is possible is received from the second computer, the second candidate site is determined as a stopover site. The above operation makes it possible to search for a candidate site where the preparatory work can be performed from among multiple candidate sites. Therefore, even if the preparatory work cannot be performed at a certain candidate site due to a lack of parts, materials, or personnel, for example, it is possible to select a candidate site where the preparatory work can be performed from other candidate sites.

[0058] When the control device moves the agricultural machine to the stopover location, the control device may transmit a notification including information indicating the stopover location and the contents of the preparatory work to a terminal device used by a user of the agricultural machine. By transmitting such a notification, the user can know that the preparatory work will be performed at the stopover location. The user may be, for example, the owner of the agricultural machine, or an operator who uses the agricultural machine on a daily basis. The terminal device may be, for example, any computer such as a smartphone or a tablet computer. After the preparatory work is completed, the control device may move the agricultural machine to a predetermined storage location for the agricultural machine. In that case, the notification may include information indicating the scheduled time of arrival at the storage location. This allows the user to know the scheduled time when the agricultural machine is to return to the storage location.

[0059] The control device may determine whether or not preparatory work is necessary while the agricultural machine is performing farm work in the field. For example, the control device may determine that preparatory work is necessary when a failure or malfunction of an implement or part is detected based on a signal output from one or more sensors during farm work. In this case, the control device may cause the agricultural machine to suspend the farm work and move to a stopover area. Alternatively, the control device may move the agricultural machine to a stopover area after the farm work in the field is completed or after all the farm work for the day is completed. In this case, the control device may send a notification to the terminal device at the stage when it is determined that preparatory work is necessary, and may inform the user that after the farm work in the field or all the farm work for the day is completed, the agricultural machine will stop at the stopover area and then return to the storage location.

[0060] When the originally planned schedule of farm work needs to be changed due to the preparatory work being performed at the stopover point, the management device that manages the schedule may revise the schedule taking into account the time required for the preparatory work. In this case, the control device may transmit a notification to the first terminal device indicating that the schedule has been changed. The notification may include information indicating the changed schedule of the farm work. This allows the user to see the notification and understand that the schedule has been changed.

[0061] An agricultural management system according to another embodiment of the present disclosure includes an agricultural machine including a control device that controls automatic operation, and a management device that manages the agricultural machine. The control device causes the agricultural machine to perform agricultural work based on instructions from the management device. When preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of parts of the agricultural machine, maintenance of the parts of the agricultural machine, and replenishing of materials is required for the agricultural work, the control device moves the agricultural machine to a stopover area where the preparatory work will be performed before the agricultural work.

[0062] The "management device" is a computer for managing the agricultural machinery. The management device may include, for example, one or more processors and one or more memories. The processor can realize desired processing by sequentially executing computer programs stored in the memory. The management device may be, for example, a computer such as a cloud server located at a location away from the agricultural machinery. Signals may be transmitted and received between the management device and the control device of the agricultural machinery via a network. Alternatively, one of a plurality of electronic control units (ECUs) mounted on the agricultural machinery may function as the management device. The management device and the control device may be realized as a single device. The management device may be a computer installed at the home or business of a user of the agricultural machinery.

[0063] The management device may instruct the agricultural machine control device to perform agricultural work based on a schedule of agricultural work stored in a storage device provided in the agricultural management system, for example. The control device moves the agricultural machine to a field in accordance with the instructions from the management device and causes the agricultural machine to perform agricultural work in the field.

[0064] The control device may obtain information indicating the details of the agricultural work from the management device, and determine whether or not preparatory work is necessary based on the details of the agricultural work and the state of the agricultural machine. The state of the agricultural machine may be, for example, the attachment state of implements, the state of parts of the agricultural machine, or the degree of shortage of materials.

[0065] The control device may determine that preparatory work is necessary when any of the mounting state of the implements of the agricultural machine, the type of materials, and the amount of materials do not correspond to the content of the agricultural work indicated by the information acquired from the management device. Conversely, the control device may determine that preparatory work is not necessary when any of the mounting state of the implements, the type of materials, and the amount of materials correspond to the content of the agricultural work. For example, when the implements to be used for the next agricultural work are not mounted on the agricultural machine, or when the materials to be used for the next agricultural work are not sufficiently loaded on the agricultural machine, it is determined that preparatory work is necessary. In that case, the control device moves the agricultural machine to a stopover point where the preparatory work is to be performed. This allows the preparatory work to be performed appropriately according to the agricultural work.

[0066] A method for controlling automatic operation of an agricultural machine according to another embodiment of the present disclosure includes determining whether preparatory work is required for agricultural work, including at least one of replacing an implement attached to the agricultural machine, maintaining the implement, replacing a part of the agricultural machine, maintaining the part of the agricultural machine, and replenishing materials, and, if the preparatory work is required, moving the agricultural machine to a stopover area where the preparatory work will be performed before the agricultural work.

[0067] A computer program for controlling the automatic operation of an agricultural machine according to another embodiment of the present disclosure causes a computer to determine whether preparatory work is required for agricultural work, including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of parts of the agricultural machine, maintenance of the parts of the agricultural machine, and replenishing of materials, and, if the preparatory work is required, to move the agricultural machine to a stopover area where the preparatory work will be performed before the agricultural work.

[0068] Hereinafter, an embodiment in which the technology of the present disclosure is applied to a work vehicle such as a tractor, which is an example of an agricultural machine, will be described. The technology of the present disclosure is not limited to work vehicles such as tractors, but can also be applied to other types of agricultural machines.

[0069] FIG. 1 is a diagram for explaining an overview of the agricultural management system according to the present embodiment. The agricultural management system shown in FIG. 1 includes a work vehicle 100, a first terminal device 400, a second terminal device 500, and a management device 600. The first terminal device 400 is a computer used by a user who remotely monitors the work vehicle 100. The second terminal device 500 is a computer arranged at a stopover point where the work vehicle 100 stops for preparation work before agricultural work. The management device 600 may be a computer managed by a business operator who operates the agricultural management system. The work vehicle 100, the first terminal device 400, the second terminal device 500, and the management device 600 can communicate with each other via a network 80. Although one work vehicle 100 is illustrated in FIG. 1, the agricultural management system may include multiple work vehicles or other agricultural machines. When multiple stopover points are provided, the second terminal device 500 may be arranged at each stopover point.

[0070] The work vehicle 100 in this embodiment is a tractor. The tractor can be equipped with an implement at either the rear or the front, or both. The tractor can travel in a field while performing farm work according to the type of implement. The tractor may also travel in or outside a field without an implement attached.

[0071] The work vehicle 100 has an automatic driving function. That is, the work vehicle 100 can travel by the action of a control device, not manually. The control device in this embodiment is provided inside the work vehicle 100, and can control both the speed and steering of the work vehicle 100. The work vehicle 100 can travel automatically not only in farm fields, but also outside farm fields, including public roads.

[0072] The work vehicle 100 is equipped with a positioning device 110 including a GNSS receiver. The control device causes the work vehicle 100 to travel automatically based on the position of the work vehicle 100 identified by the positioning device 110 and a target route pre-stored in a storage device. In addition to controlling the travel of the work vehicle 100, the control device also controls the operation of the implement. This allows the work vehicle 100 to perform work using the implement while traveling automatically.

[0073] The management device 600 is a computer that manages the movement and work performed by the work vehicle 100. The management device 600 may be, for example, a server computer that centrally manages information about farm fields on the cloud and supports agriculture by utilizing data on the cloud. The management device 600, for example, stores a schedule of farm work to be performed by the work vehicle 100, and instructs the work vehicle 100 to travel and perform farm work according to the schedule.

[0074] The first terminal device 400 is a computer used by a user located away from the work vehicle 100. The first terminal device 400 shown in FIG. 1 is a smartphone, but is not limited thereto. The first terminal device 400 may be a mobile terminal such as a smartphone, a tablet computer, or a laptop computer, or may be a stationary computer such as a desktop PC. The first terminal device 400 may be used to monitor the work vehicle 100. For example, the first terminal device 400 can display images captured by one or more cameras equipped in the work vehicle 100 on a display. The user can check the surrounding situation of the work vehicle 100 by viewing the images. The first terminal device 400 further receives a notification when the work vehicle 100 heads to a specific stopover point for preparatory work. The user can see the notification and know that preparatory work will be performed at the stopover point. The first terminal device 400 may also be configured to receive a completion notification that is sent when the preparatory work is completed. The user can see the completion notification and know that the preparatory work has been completed. The terminal device 400 further displays on the display a setting screen for the user to input information necessary for creating a schedule of farm work to be performed by the work vehicle 100. When the user inputs the necessary information on the setting screen and performs a send operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates and records a schedule of farm work based on that information. The management device 600 transmits the schedule of farm work to the work vehicle 100. The work vehicle 100 moves between multiple farm fields according to the received schedule and performs farm work in each farm field. The terminal device 400 may include an input device for inputting the storage location of the work vehicle 100 and the location information of one or more stopover points.

[0075] The second terminal device 500 is a computer used by a worker who performs preparatory work at the stopover point. The second terminal device 500 can be any computer, such as a laptop computer, a desktop PC, a server computer, a tablet computer, or a smartphone. The second terminal device 500 receives a notification when the work vehicle 100 heads to the stopover point for preparatory work. The worker at the stopover point sees the notification and knows that the work vehicle 100 is coming to the stopover point. The worker can prepare for the preparatory work based on the contents of the notification. The second terminal device 500 can also be used by the worker to perform a completion operation when the preparatory work is completed. When the worker performs the completion operation, the second terminal device 500 transmits a signal to the work vehicle 100 indicating that the preparatory work has been completed. This signal may be transmitted via the management device 600. When the work vehicle 100 receives the signal, it moves to the storage location of the work vehicle 100 or to the field where the next scheduled agricultural work will be performed. At this time, the work vehicle 100 or the management device 600 transmits a completion notification to the first terminal device 400, indicating that the preparation work has been completed.

[0076] The configuration and operation of the system in this embodiment will be described in more detail below.

[0077] [1. Configuration] 2 is a side view that shows a schematic example of the work vehicle 100 and an implement 300 coupled to the work vehicle 100. The work vehicle 100 in this embodiment has the functions of both a manual driving mode and an automatic driving mode. In the automatic driving mode, the work vehicle 100 can travel unmanned. The work vehicle 100 can be automatically driven both in a field and outside the field (including on roads).

[0078] As shown in Fig. 2, the work vehicle 100 includes a vehicle body 101, a prime mover (engine) 102, and a transmission 103. The vehicle body 101 is provided with tires 104 (wheels) and a cabin 105. The tires 104 include a pair of front wheels 104F and a pair of rear wheels 104R. A driver's seat 107, a steering device 106, an operation terminal 200, and a group of switches for operation are provided inside the cabin 105. When the work vehicle 100 travels for work in a field, one or both of the front wheels 104F and the rear wheels 104R may be crawlers instead of tires.

[0079] The work vehicle 100 shown in FIG. 2 further includes a plurality of cameras 120. The cameras 120 may be provided, for example, on the front, rear, left and right sides of the work vehicle 100. The cameras 120 capture images of the environment around the work vehicle 100 and generate image data. The images captured by the cameras 120 may be transmitted to a first terminal device 400 for remote monitoring. The images may be used to monitor the work vehicle 100 during unmanned driving. The cameras 120 may also be used to generate images for recognizing white lines, signs, indications, or surrounding obstacles when the work vehicle 100 travels on a road.

[0080] The work vehicle 100 further includes a positioning device 110. The positioning device 110 includes a GNSS receiver. The GNSS receiver includes an antenna for receiving signals from GNSS satellites and a processor for calculating the position of the work vehicle 100 based on the signals received by the antenna. The positioning device 110 receives satellite signals transmitted from a plurality of GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, for example, Michibiki), GLONASS, Galileo, and BeiDou. The positioning device 110 in this embodiment is provided on the top of the cabin 105, but may be provided in another position.

[0081] The positioning device 110 may include an inertial measurement unit (IMU). Signals from the IMU may be used to supplement the position data. The IMU may measure the tilt and minute movements of the work vehicle 100. The data acquired by the IMU may be used to supplement the position data based on satellite signals, thereby improving the positioning performance.

[0082] The work vehicle 100 shown in FIG. 2 further includes a LiDAR sensor 140. The LiDAR sensor 140 in this example is disposed at the front lower portion of the vehicle body 101. The LiDAR sensor 140 may be disposed at other positions. The LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction of each measurement point on an object present in the surrounding environment, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point while the work vehicle 100 is moving. The sensor data output from the LiDAR sensor 140 is processed by a control device of the work vehicle 100. The control device can execute processing such as generation of an environmental map based on the sensor data using an algorithm such as SLAM (Simultaneous Localization and Mapping). The generation of the environmental map may be executed by another computer such as a management device 600 outside the work vehicle 100. The sensor data output from the LiDAR sensor 140 may also be used to detect obstacles.

[0083] The positioning device 110 may use data acquired by the camera 120 or the LiDAR sensor 140 for positioning. If there are features that function as feature points in the environment in which the work vehicle 100 travels, the position of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the camera 120 or the LiDAR sensor 140 and an environmental map recorded in advance in a storage device. The position of the work vehicle 100 can be identified with higher accuracy by correcting or complementing position data based on satellite signals using the data acquired by the camera 120 or the LiDAR sensor 140.

[0084] The work vehicle 100 further includes a plurality of obstacle sensors 130. In the example shown in FIG. 2, the obstacle sensors 130 are provided in front and rear of the cabin 105. The obstacle sensors 130 may also be disposed in other locations. For example, one or more obstacle sensors 130 may be provided at any position on the side, front, and rear of the vehicle body 101. The obstacle sensors 130 may be used to detect surrounding obstacles during autonomous driving and stop or detour the work vehicle 100.

[0085] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsive force and travel speed of the work vehicle 100 by changing gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse.

[0086] The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 104F are steered wheels, and the traveling direction of the work vehicle 100 can be changed by changing the turning angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an auxiliary force for changing the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic device or the electric motor under the control of a control device arranged in the work vehicle 100.

[0087] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also referred to as a "three-point link" or "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The coupling device 108 can attach and detach the implement 300 to and from the work vehicle 100. The coupling device 108 can change the position or attitude of the implement 300 by raising and lowering the three-point link using, for example, a hydraulic device. In addition, power can be sent from the work vehicle 100 to the implement 300 via the universal joint. The work vehicle 100 can make the implement 300 perform a predetermined task while pulling the implement 300. The coupling device may be provided at the front of the vehicle body 101. In that case, the implement can be connected to the front of the work vehicle 100.

[0088] 2 is a rotary tiller, the implement 300 is not limited to a rotary tiller. For example, any implement, such as a seeder, a spreader, a transplanter, a mower, a rake, a baler, a harvester, a sprayer, or a harrow, can be connected to the work vehicle 100 and used.

[0089] 2 is capable of manned operation, but may be capable of only unmanned operation. In that case, components necessary only for manned operation, such as the cabin 105, steering device 106, and driver's seat 107, may not be provided in the work vehicle 100. The unmanned work vehicle 100 can travel autonomously or by remote control by a user.

[0090] 3 is a block diagram showing an example configuration of the work vehicle 100 and the implement 300. The work vehicle 100 and the implement 300 can communicate with each other via a communication cable included in the coupling device 108. The work vehicle 100 can communicate with a first terminal device 400, a second terminal device 500, and a management device 600 via a network 80.

[0091] The work vehicle 100 in the example of FIG. 3 includes a positioning device 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, and an operation terminal 200, as well as a sensor group 150 for detecting the operating state of the work vehicle 100, a control system 160, a communication device 190, an operation switch group 210, a buzzer 220, a state detection device 230, and a drive device 240. These components are connected to each other so as to be able to communicate with each other via a bus. The positioning device 110 includes a GNSS receiver 111, an RTK receiver 112, an inertial measurement unit (IMU) 115, and a processing circuit 116. The sensor group 150 includes a steering wheel sensor 152, a turning angle sensor 154, and an axle sensor 156. The control system 160 includes a storage device 170 and a control device 180. The control device 180 includes a plurality of electronic control units (ECUs) 181 to 186. The implement 300 includes a drive unit 340, a control unit 380, and a communication unit 390. Note that Fig. 3 shows components that are relatively highly related to the operation of the autonomous driving by the work vehicle 100, and does not show other components.

[0092] The GNSS receiver 111 in the positioning device 110 receives satellite signals transmitted from a plurality of GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data may be generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, values ​​indicating the identification number, elevation angle, azimuth angle, and reception strength of each satellite from which the satellite signal is received.

[0093] The positioning device 110 shown in FIG. 3 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of a work vehicle 100 performing positioning using RTK-GNSS. In positioning using RTK-GNSS, in addition to satellite signals transmitted from multiple GNSS satellites 50, correction signals transmitted from a reference station 60 are used. The reference station 60 may be installed near the field in which the work vehicle 100 runs (for example, within 1 km from the work vehicle 100). The reference station 60 generates a correction signal, for example, in an RTCM format, based on the satellite signals received from the multiple GNSS satellites 50, and transmits it to the positioning device 110. The RTK receiver 112 includes an antenna and a modem, and receives the correction signal transmitted from the reference station 60. The processing circuit 116 of the positioning device 110 corrects the positioning result by the GNSS receiver 111 based on the correction signal. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, an error of several centimeters. Position information including latitude, longitude, and altitude information is acquired by highly accurate positioning using RTK-GNSS. The positioning device 110 calculates the position of the work vehicle 100 at a frequency of, for example, about 1 to 10 times per second.

[0094] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position information with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position information with the required accuracy can be obtained without using a correction signal transmitted from the reference station 60, the position information may be generated without using a correction signal. In that case, the positioning device 110 does not need to be equipped with the RTK receiver 112.

[0095] The positioning device 110 in this embodiment further includes an IMU 115. The IMU 115 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 115 may include an orientation sensor such as a three-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, speed, displacement, and attitude of the work vehicle 100. The processing circuit 116 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signal output from the IMU 115 in addition to the satellite signal and the correction signal. The signal output from the IMU 115 can be used to correct or complement the position calculated based on the satellite signal and the correction signal. The IMU 115 outputs signals at a higher frequency than the GNSS receiver 111. Using the high-frequency signal, the processing circuit 116 can measure the position and orientation of the work vehicle 100 at a higher frequency (for example, 10 Hz or more). Instead of the IMU 115, a three-axis acceleration sensor and a three-axis gyroscope may be provided separately. The IMU 115 may be provided as a device separate from the positioning device 110.

[0096] 3, the processing circuit 116 calculates the position of the work vehicle 100 based on signals output from the GNSS receiver 111, the RTK receiver 112, and the IMU 115. The processing circuit 116 may further estimate or correct the position of the work vehicle 100 based on data acquired by the camera 120 or the LiDAR sensor 140. By utilizing the data acquired by the camera 120 or the LiDAR sensor 140, the accuracy of positioning can be further improved.

[0097] The position calculation may be performed by other devices, not limited to the positioning device 110. For example, the control device 180 or an external computer may acquire output data from each receiver and each sensor required for positioning, and estimate the position of the work vehicle 100 based on that data.

[0098] The camera 120 is an imaging device that captures the environment around the work vehicle 100. The camera 120 includes an image sensor, such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 120 may also include an optical system including one or more lenses, and a signal processing circuit. The camera 120 captures the environment around the work vehicle 100 while the work vehicle 100 is traveling, and generates image (e.g., video) data. The camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or more. The images generated by the camera 120 can be used, for example, when a remote observer checks the environment around the work vehicle 100 using the first terminal device 400. The images generated by the camera 120 may be used for positioning or obstacle detection. As shown in FIG. 2, multiple cameras 120 may be provided at different positions on the work vehicle 100, or a single camera may be provided. A visible camera for generating a visible light image and an infrared camera for generating an infrared image may be provided separately. Both a visible camera and an infrared camera may be provided as cameras for generating images for monitoring. The infrared camera may also be used to detect obstacles at night.

[0099] The obstacle sensor 130 detects objects present around the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. When an object is present closer than a predetermined distance from the obstacle sensor 130, the obstacle sensor 130 outputs a signal indicating the presence of an obstacle. A plurality of obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, a plurality of laser scanners and a plurality of ultrasonic sonars may be disposed at different positions on the work vehicle 100. By providing such a large number of obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0100] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F which are steered wheels. The measurement values ​​by the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the control device 180.

[0101] The axle sensor 156 measures the rotational speed of the axle connected to the tire 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs, for example, a numerical value indicating the number of rotations per minute (unit: rpm) of the axle. The axle sensor 156 is used to measure the speed of the work vehicle 100.

[0102] The drive device 240 includes various devices necessary for the travel of the work vehicle 100 and the driving of the implement 300, such as the above-mentioned prime mover 102, the transmission 103, the steering device 106, and the coupling device 108. The prime mover 102 may include an internal combustion engine such as a diesel engine. The drive device 240 may include an electric motor for traction instead of or in addition to the internal combustion engine.

[0103] The buzzer 220 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 220 emits a warning sound when an obstacle is detected during automatic driving. The buzzer 220 is controlled by the control device 180.

[0104] The condition detection device 230 is a device equipped with one or more sensors for detecting the mounting state of the implement 300, deterioration of the implement 300, deterioration of parts of the work vehicle 100, or a shortage of materials. The one or more sensors may include, for example, at least one of an image sensor arranged to capture an image of the implement 300, parts of the work vehicle 100, or materials consumed in agricultural work, and a sensor that measures the remaining amount of materials. Specific examples of the condition detection device 230 will be described later.

[0105] The storage device 170 includes one or more storage media such as a flash memory or a magnetic disk. The storage device 170 stores various data generated by the positioning device 110, the camera 120, the obstacle sensor 130, the sensor group 150, the state detection device 230, and the control device 180. The data stored in the storage device 170 may include an environmental map, which is map data within the environment in which the work vehicle 100 travels, and data on a target route in autonomous driving. The environmental map includes information on multiple farm fields in which the work vehicle 100 performs farm work and roads in the surrounding areas. The environmental map and the target route may be generated by the control device 180 itself, or may be generated by a processor in the management device 600. In this embodiment, an example in which the target route is created by the control device 180 will be described. The storage device 170 also stores a schedule of farm work (hereinafter also referred to as a "work schedule") received by the communication device 190 from the management device 600. The work schedule includes information indicating multiple farm works to be performed by the work vehicle 100 over multiple work days. The storage device 170 also stores computer programs that cause each ECU in the control device 180 to execute various operations, which will be described later. Such computer programs may be provided to the work vehicle 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or an electric communication line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0106] The control device 180 includes a plurality of ECUs. The plurality of ECUs include, for example, an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for implement control, an ECU 184 for automatic driving control, an ECU 185 for route creation, and an ECU 186 for state estimation. The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the brakes included in the drive device 240. The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic device or the electric motor included in the steering device 106 based on the measurement value of the steering wheel sensor 152. The ECU 183 controls the operation of the three-point link and the PTO shaft included in the coupling device 108, etc., in order to cause the implement 300 to perform a desired operation. The ECU 183 also generates a signal to control the operation of the implement 300, and transmits the signal from the communication device 190 to the implement 300. The ECU 184 performs calculations and control to realize automatic driving based on signals output from the positioning device 110, the steering wheel sensor 152, the turning angle sensor 154, and the axle sensor 156. During automatic driving, the ECU 184 sends a command value for speed change to the ECU 181, and sends a command value for steering angle change to the ECU 182. The ECU 181 changes the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, or the brakes based on the command value for speed change. The ECU 182 changes the steering angle by controlling the steering device 106 based on the command value for steering angle change. The ECU 185 creates a target route for the work vehicle 100 and records the information in the storage device 170. The ECU 185 determines the destination of the work vehicle 100 based on the work schedule stored in the storage device 170, and determines a route from the current position of the work vehicle 100 to the destination. The ECU 185 creates a route that can reach the destination in the shortest time, for example, as a target route based on an environmental map including road information stored in the storage device 170. The ECU 186 estimates the state of the work vehicle 100 or the implement 300 based on a signal output from the state detection device 230, and determines whether or not preparatory work is necessary. If the ECU 186 determines that preparatory work is necessary, it determines a stop-off point according to the preparatory work.When the stop-off point is determined, the ECU 185 creates a target route to the stop-off point. The ECU 185 stores the created target route in the storage device 170. The ECU 184 controls the drive device 240 to drive the work vehicle 100 along the target route. When the stop-off point is determined, the ECU 186 instructs the communication device 190 to send a notification to the first terminal device 400 used by the user and the second terminal device 500 used by a worker who will perform preparation work at the stop-off point.

[0107] Through the actions of these ECUs, the control device 180 realizes automatic driving, determining whether or not preparatory work is necessary, determining stopovers, creating a target route, and communicating with other devices. During automatic driving, the control device 180 controls the drive device 240 based on the position of the work vehicle 100 measured or estimated by the positioning device 110 and the target route stored in the storage device 170. In this way, the control device 180 can drive the work vehicle 100 along the target route.

[0108] The multiple ECUs included in the control device 180 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). A faster communication method such as in-vehicle Ethernet (registered trademark) may be used instead of CAN. In FIG. 3, each of the ECUs 181 to 186 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An in-vehicle computer that integrates at least some of the functions of the ECUs 181 to 186 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 186, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors.

[0109] The communication device 190 is a device including a circuit for communicating with the implement 300, the first terminal device 400, the second terminal device 500, and the management device 600. The communication device 190 includes a circuit for transmitting and receiving signals conforming to the ISOBUS standard such as ISOBUS-TIM between the communication device 390 of the implement 300. This allows the implement 300 to perform a desired operation and to obtain information from the implement 300. The communication device 190 may further include an antenna and a communication circuit for transmitting and receiving signals via the network 80 between the communication devices of the first terminal device 400, the second terminal device 500, and the management device 600. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may have a function for communicating with a mobile terminal used by a supervisor near the work vehicle 100. Communication between such mobile terminals may be performed in accordance with any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G or 5G, or Bluetooth (registered trademark).

[0110] The operation terminal 200 is a terminal through which a user performs operations related to the traveling of the work vehicle 100 and the operation of the implement 300, and is also referred to as a virtual terminal (VT). The operation terminal 200 may include a display device such as a touch screen, and / or one or more buttons. The display device may be, for example, a display such as a liquid crystal or an organic light-emitting diode (OLED). By operating the operation terminal 200, a user can perform various operations such as switching the automatic driving mode on / off, recording or editing an environmental map, setting a target route, and switching the implement 300 on / off. At least some of these operations can also be realized by operating the operation switch group 210. The operation terminal 200 may be configured to be removable from the work vehicle 100. A user at a location away from the work vehicle 100 may operate the detached operation terminal 200 to control the operation of the work vehicle 100. The user may control the operation of the work vehicle 100 by operating a computer on which necessary application software is installed, such as the first terminal device 400, instead of the operation terminal 200.

[0111] 5 is a schematic diagram showing an example of the operation terminal 200 and the operation switch group 210 provided inside the cabin 105. Inside the cabin 105, the switch group 210 including a plurality of switches that can be operated by the user is arranged. The operation switch group 210 may include, for example, a switch for selecting a gear stage of the main transmission or the sub-transmission, a switch for switching between an automatic driving mode and a manual driving mode, a switch for switching between forward and reverse, and a switch for raising and lowering the implement 300. Note that, if the work vehicle 100 only performs unmanned driving and does not have a function of manned driving, the work vehicle 100 does not need to have the operation switch group 210.

[0112] The drive device 340 in the implement 300 shown in Fig. 3 performs operations necessary for the implement 300 to perform a predetermined task. The drive device 340 includes devices according to the application of the implement 300, such as a hydraulic device, an electric motor, or a pump. The control device 380 controls the operation of the drive device 340. The control device 380 causes the drive device 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. In addition, a signal according to the state of the implement 300 can also be transmitted from the communication device 390 to the work vehicle 100.

[0113] Next, an example of the state detection device 230 will be described with reference to FIG.

[0114] FIG. 6 is a rear view showing an example of the configuration of the rear side of the work vehicle 100. The work vehicle 100 shown in FIG. 6 is provided with a camera 232 for photographing the implement 300 on the rear side. The camera 232 is an example of the state detection device 230. The camera 232 in this example is arranged so as to be able to photograph the connection part between the implement 300 and the coupling device 108 of the work vehicle 100. The camera 232 may include an image sensor such as a CCD or CMOS, and a signal processing circuit for processing a signal output from the image sensor. In this example, the ECU 186 in the control device 180 recognizes the mounting state of the implement 300 based on the image captured by the camera 232. The ECU 186 can recognize, for example, based on the image, whether the implement 300 corresponding to the next scheduled agricultural work is correctly mounted. For example, an algorithm using a learned model trained by machine learning may be used for the recognition. The ECU 186 can determine whether or not preparatory work such as replacement or maintenance of the implement 300 is necessary based on the recognition result.

[0115] When it is determined that preparatory work such as replacement or maintenance of the implement 300 is necessary, the ECU 186 determines a stopover location (for example, a maintenance shop, a store, or a warehouse of a user's acquaintance) where the preparatory work will be performed. In this embodiment, a database in which the type of preparatory work is associated with the location information of the stopover location is stored in advance in the storage device 170. The ECU 186 refers to the database, acquires location information of the stopover location where the necessary preparatory work will be performed, and sends the location information to the ECU 185. The ECU 185 creates a target route to the stopover location based on the location information. For example, a route that reaches the stopover location in the shortest time from the current location of the work vehicle 100 may be created as the target route. When the ECU 185 creates the target route, it sends the information to the ECU 184. The ECU 184 controls the drive device 240 to drive the work vehicle 100 according to the target route.

[0116] The state detection device 230 may include a camera that photographs a portion other than the connection portion between the implement 300 and the work vehicle 100. Such a camera may be arranged to photograph a specific part of the implement 300 or the work vehicle 100. For example, a camera that photographs a part such as a rotary claw, a cutting blade, or a planting claw may be arranged depending on the type of the implement 300 or the work vehicle 100. In this case, the ECU 186 can estimate the degree of wear or damage of the part based on the image of the part, and determine whether or not preparatory work such as replacement or repair of the part is necessary based on the estimation result. Alternatively, the ECU 186 may detect tire wear, crawler tension or wear, or chain slackness based on an image acquired by a camera that photographs the tire or crawler, and determine whether or not preparatory work is necessary.

[0117] Instead of or in addition to a camera, the condition detection device 230 may include a sensor that measures the amount of wear on a particular part (e.g., a tine or a blade) on the work vehicle 100 or the implement 300. Such a sensor may be, for example, a laser scanner, an ultrasonic sensor, or another type of distance measurement sensor. These sensors can measure the shape of the tine or blade, so that the amount of wear can be estimated based on the shape.

[0118] The implement 300 may be, for example, a work machine that uses agricultural materials (fertilizer, seeds, pesticides, seedlings, etc.) consumed by agricultural work, such as a fertilizer applicator, a seed sower, a pesticide sprayer, or a planter. Alternatively, the work vehicle 100 itself may have a function for planting seedlings, like a rice transplanter. In such a case, the state detection device 230 may have a sensor (e.g., a weight sensor, etc.) that measures the remaining amount of the material. The control device may determine whether or not preparatory work for replenishing the material is necessary, based on the remaining amount of the material measured by the sensor.

[0119] The state detection device 230 may include a sensor that measures the amount of engine oil or the remaining battery charge. The ECU 186 can detect a shortage of engine oil or a shortage of battery charge based on signals output from these sensors. When the ECU 186 detects such a shortage, the ECU 186 may determine that preparatory work such as changing the engine oil or the battery, or charging the battery, is necessary.

[0120] Next, a description will be given of the configurations of the management device 600, the first terminal device 400, and the second terminal device 500. Fig. 7 is a block diagram illustrating a schematic hardware configuration of the management device 600, the first terminal device 400, and the second terminal device 500.

[0121] The management device 600 includes a storage device 650, a processor 660, a ROM (Read Only Memory) 670, a RAM (Random Access Memory) 680, and a communication device 690. These components are connected to each other via a bus so that they can communicate with each other. The management device 600 manages the schedule of farm work in a field performed by the work vehicle 100, and can function as a cloud server that supports agriculture by utilizing the managed data. For example, a user can create a work schedule using the first terminal device 400 and upload information about the work schedule to the management device 600 via the network 80.

[0122] The communication device 690 is a communication module for communicating with the work vehicle 100, the first terminal device 400, and the second terminal device 500 via the network 80. The communication device 690 can perform wired communication conforming to a communication standard such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may perform wireless communication conforming to the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0123] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 660 may be realized by a microprocessor or a microcontroller. Alternatively, the processor 660 may be a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), or an application specific standard product (ASSP). The processor 660 sequentially executes a computer program stored in the ROM 670, which describes a set of instructions for executing at least one process, to realize a desired process.

[0124] The ROM 670 is, for example, a writable memory (e.g., PROM), a rewritable memory (e.g., flash memory), or a read-only memory. The ROM 670 stores a program that controls the operation of the processor 660. The ROM 670 does not need to be a single storage medium, and may be a collection of multiple storage media. A part of the collection of multiple storage media may be a removable memory.

[0125] The RAM 680 provides a working area for temporarily loading, at boot time, the control program stored in the ROM 670. The RAM 680 does not have to be a single storage medium, and may be a collection of multiple storage media.

[0126] The storage device 650 mainly functions as a database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. An example of a magnetic storage device is a hard disk drive (HDD). An example of a semiconductor storage device is a solid state drive (SSD). The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage.

[0127] The first terminal device 400 includes an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are connected to each other via a bus so as to be able to communicate with each other. The input device 420 is a device for converting instructions from a user into data and inputting the data to a computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The processor 460, the ROM 470, the RAM 480, the storage device 450, and the communication device 490 are described in the hardware configuration example of the management device 600, and the description thereof will be omitted.

[0128] The second terminal device 500 includes an input device 520, a display device 530, a storage device 550, a processor 560, a ROM 570, a RAM 580, and a communication device 590. These components are connected to each other via a bus so that they can communicate with each other. The input device 520 is a device for converting instructions from a user (e.g., a worker at a stopover point) into data and inputting the data to a computer. The input device 520 may be, for example, a keyboard, a mouse, or a touch panel. The display device 530 may be, for example, a liquid crystal display or an organic EL display. The processor 560, the ROM 570, the RAM 580, the storage device 550, and the communication device 590 are described in the hardware configuration example of the management device 600, and their description will be omitted.

[0129] [2. Operation] Next, the operations of the work vehicle 100, the first terminal device 400, the second terminal device 500, and the management device 600 will be described.

[0130] [2-1. Automatic driving operation] First, an example of the operation of automatic driving by work vehicle 100 will be described.

[0131] FIG. 8 is a diagram showing an example of a work vehicle 100 that automatically travels along a target route in a field. In this example, the field includes a work area 72 in which the work vehicle 100 performs work using the implement 300, and a headland 74 located near the outer periphery of the field. Which area on the map of the field corresponds to the work area 72 or the headland 74 can be set in advance by the user. The target route in this example includes multiple parallel main routes P1 and multiple turning routes P2 that connect the multiple main routes P1. The main route P1 is located within the work area 72, and the turning route P2 is located within the headland 74. Each main route P1 shown in FIG. 8 is a straight route, but each main route P1 may include a curved portion. The dashed line in FIG. 8 represents the working width of the implement 300. The working width is set in advance and recorded in the storage device 170. The working width may be set and recorded by the user operating the operation terminal 200. Alternatively, the working width may be automatically recognized and recorded when the implement 300 is connected to the work vehicle 100. The interval between the multiple main paths P1 may be set according to the working width. The target path may be created based on the user's operation before the automatic driving is started. The target path may be created so as to cover, for example, the entire working area 72 in the field. The work vehicle 100 automatically travels back and forth from the start point of the work to the end point of the work along the target path as shown in FIG. 8. Note that the target path shown in FIG. 8 is merely an example, and the method of determining the target path is arbitrary.

[0132] Next, an example of control performed by the control device 180 during automatic operation will be described.

[0133] FIG. 9 is a flowchart showing an example of the operation of steering control during automatic driving executed by the control device 180. The control device 180 performs automatic steering by executing the operations of steps S121 to S125 shown in FIG. 9 while the work vehicle 100 is traveling. The speed is maintained at a preset speed, for example. The control device 180 acquires data indicating the position of the work vehicle 100 generated by the positioning device 110 while the work vehicle 100 is traveling (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target route (step S122). The deviation represents the distance between the position of the work vehicle 100 at that time and the target route. The control device 180 determines whether the calculated position deviation exceeds a preset threshold value (step S123). If the deviation exceeds the threshold value, the control device 180 changes the steering angle by changing the control parameters of the steering device included in the drive device 240 so that the deviation becomes smaller. If the deviation does not exceed the threshold in step S123, the operation of step S124 is omitted. In the following step S125, the control device 180 determines whether or not a command to end the operation has been received. The command to end the operation may be issued, for example, when a user remotely instructs the automatic driving to be stopped or when the work vehicle 100 reaches the destination. If the command to end the operation has not been issued, the process returns to step S121, and the same operation is executed based on the newly measured position of the work vehicle 100. The control device 180 repeats the operations of steps S121 to S125 until a command to end the operation is issued. The above operations are executed by the ECUs 182 and 184 in the control device 180.

[0134] 9, the control device 180 controls the drive device 240 based only on the deviation between the position of the work vehicle 100 identified by the positioning device 110 and the target route, but the control may also take into consideration the deviation in orientation. For example, when an orientation deviation, which is the angular difference between the direction of the work vehicle 100 identified by the positioning device 110 and the direction of the target route, exceeds a preset threshold, the control device 180 may change a control parameter (e.g., a steering angle) of the steering device of the drive device 240 in accordance with the deviation.

[0135] Hereinafter, an example of steering control by the control device 180 will be described more specifically with reference to FIGS. 10A to 10D.

[0136] FIG. 10A is a diagram showing an example of a work vehicle 100 traveling along a target route P. FIG. 10B is a diagram showing an example of a work vehicle 100 in a position shifted to the right from the target route P. FIG. 10C is a diagram showing an example of a work vehicle 100 in a position shifted to the left from the target route P. FIG. 10D is a diagram showing an example of a work vehicle 100 facing in an inclined direction with respect to the target route P. In these figures, a pose indicating the position and orientation of the work vehicle 100 measured by the positioning device 110 is expressed as r(x, y, θ). (x, y) are coordinates representing the position of the reference point of the work vehicle 100 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the earth. In the examples shown in FIG. 10A to FIG. 10D, the reference point of the work vehicle 100 is at the position where the GNSS antenna on the cabin is installed, but the position of the reference point is arbitrary. θ is an angle representing the measured orientation of the work vehicle 100. In the illustrated example, the target path P is parallel to the Y axis, but in general, the target path P is not necessarily parallel to the Y axis.

[0137] As shown in FIG. 10A, if the position and orientation of the work vehicle 100 do not deviate from the target route P, the control device 180 maintains the steering angle and speed of the work vehicle 100 without changing them.

[0138] 10B, when the position of the work vehicle 100 has shifted to the right from the target route P, the control device 180 changes the steering angle so that the travel direction of the work vehicle 100 tilts to the left and approaches the route P. At this time, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle may be adjusted according to the magnitude of the position deviation Δx, for example.

[0139] 10C, when the position of the work vehicle 100 has shifted to the left from the target route P, the control device 180 changes the steering angle so that the travel direction of the work vehicle 100 tilts to the right and approaches the route P. In this case, the speed may also be changed in addition to the steering angle. The amount of change in the steering angle may be adjusted according to the magnitude of the position deviation Δx, for example.

[0140] As shown in FIG. 10D, when the position of the work vehicle 100 is not far from the target route P but the orientation is different from the direction of the target route P, the control device 180 changes the steering angle so that the azimuth deviation Δθ is reduced. In this case, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle may be adjusted, for example, according to the magnitudes of the position deviation Δx and the azimuth deviation Δθ. For example, the smaller the absolute value of the position deviation Δx, the larger the change amount of the steering angle according to the azimuth deviation Δθ may be. When the absolute value of the position deviation Δx is large, the steering angle is changed significantly to return to the route P, so that the absolute value of the azimuth deviation Δθ inevitably becomes large. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight of the azimuth deviation Δθ (i.e., the control gain) for determining the steering angle.

[0141] Control techniques such as PID control or MPC control (model predictive control) can be applied to the steering control and speed control of the work vehicle 100. By applying these control techniques, the control that brings the work vehicle 100 closer to the target path P can be made smooth.

[0142] If an obstacle is detected by one or more obstacle sensors 130 while traveling, the control device 180 stops the work vehicle 100. The control device 180 may control the drive device 240 so as to avoid the obstacle when it is detected. The control device 180 can also detect objects (e.g., other vehicles or pedestrians) that are located relatively far away from the work vehicle 100 based on the data output from the LiDAR sensor 140. The control device 180 can also realize automatic traveling on public roads by performing speed control and steering control so as to avoid the detected object.

[0143] The work vehicle 100 in this embodiment can automatically travel in and outside the field without a driver. FIG. 11 is a diagram showing an example of a situation in which a plurality of work vehicles 100 are automatically traveling inside the field 70 and on a road 76 outside the field 70. The storage device 170 stores information on an environmental map and a target route inside the field and outside the field including public roads. The environmental map and the target route can be generated by, for example, the ECU 185 of the control device 180. When the work vehicle 100 travels on a public road, the work vehicle 100 travels along the target route while sensing the surroundings using sensing devices such as the camera 120 and the LiDAR sensor 140 with the implement 300 raised. The target route may be changed during travel depending on the situation.

[0144] [2-2. Creating a work schedule] The work vehicle 100 in this embodiment automatically moves between fields and performs agricultural work in each field according to a work schedule recorded in the storage device 170. The work schedule may include information regarding a plurality of agricultural works performed over a plurality of work days. Specifically, the work schedule may be a database including information indicating which agricultural machine will perform which agricultural work in which field at what time for each work day. The work schedule may be created by the processor 660 of the management device 600 based on information input by a user using the terminal device 400. An example of a method for creating a work schedule will be described below.

[0145] Fig. 12 is a diagram showing an example of a setting screen 760 displayed on the display device 430 of the terminal device 400. In response to a user's operation using the input device 420, the processor 460 of the terminal device 400 starts an application for creating a schedule, and causes the display device 430 to display a setting screen 760 as shown in Fig. 12. The user can input information required for creating a work schedule on this setting screen 760.

[0146] 12 shows an example of a setting screen 760 when tilling with fertilizer application is performed as agricultural work in a rice field. The setting screen 760 is not limited to the one shown in the figure and can be changed as appropriate. The setting screen 760 in the example of FIG. 12 includes a date setting section 762, a crop plan selection section 763, a field selection section 764, an operation selection section 765, a worker selection section 766, a time setting section 767, a machine selection section 768, a fertilizer selection section 769, and an application amount setting section 770.

[0147] The date setting section 762 displays the date input by the input device 420. The input date is set as the date on which the farm work will be carried out.

[0148] The cultivation plan selection section 763 displays a list of names of cultivation plans created in advance. The user can select a desired cultivation plan from the list. A cultivation plan is created in advance for each type and variety of crop, and is recorded in the storage device 650 of the management device 600. A cultivation plan is a plan for which crop is to be cultivated in which field. A cultivation plan is made by a manager who manages multiple fields before the crop is cultivated in the field. A field is a partitioned field in which a crop is cultivated (i.e., planted). In the example of FIG. 12, a cultivation plan for the rice variety "Koshihibuki" is selected. In this case, the contents set in the setting screen 760 are associated with the cultivation plan for "Koshihibuki".

[0149] The fields in the environmental map are displayed in the field selection section 764. The user can select any field from the displayed fields. In the example of FIG. 12, the portion showing "Field A" is selected. In this case, the selected "Field A" is set as the field where farm work will be performed.

[0150] The work selection section 765 displays a plurality of farm works necessary for cultivating the selected crop. The user can select one farm work from among the plurality of farm works. In the example of FIG. 12, "plowing" is selected from among the plurality of farm works. In this case, the selected "plowing" is set as the farm work to be performed.

[0151] The worker selection section 766 displays workers registered in advance. The user can select one or more workers from the multiple workers displayed. In the example of FIG. 12, "Worker B, Worker C" are selected from the multiple workers. In this case, the selected "Worker B, Worker C" are set as the workers in charge of performing or managing the agricultural work. In this embodiment, since the agricultural machine performs the agricultural work automatically, the workers do not actually perform the agricultural work, but may simply remotely monitor the agricultural work performed by the agricultural machine.

[0152] The time setting section 767 displays the work time input from the input device 420. The work time is specified by a start time and an end time. The input work time is set as the scheduled time for carrying out the farm work.

[0153] The machine selection unit 768 is a section for setting the agricultural machine to be used in the agricultural work. For example, the type or model of the agricultural machine registered in advance by the management device 600, and the type or model of the usable implement, etc., may be displayed in the machine selection unit 768. The user can select a specific machine from the displayed machines. In the example of FIG. 12, an implement with the model number "NW4511" is selected. In this case, the implement is set as the machine to be used in the agricultural work.

[0154] The fertilizer selection section 769 displays the names of multiple fertilizers that have been registered in advance by the management device 600. The user can select a specific fertilizer from the multiple fertilizers displayed. The selected fertilizer is set as the fertilizer to be used in the farm work.

[0155] A numerical value input from the input device 420 is displayed in the spray amount setting section 770. The input numerical value is set as the spray amount.

[0156] When the crop plan, farm field, farm work, worker, work time, fertilizer, and application amount are entered on the setting screen 760 and "Register" is selected, the communication device 490 of the terminal device 400 transmits the entered information to the management device 600. The processor 660 of the management device 600 stores the received information in the storage device 650. The processor 660 creates a schedule of farm work to be performed by each agricultural machine based on the received information, and stores the schedule in the storage device 650.

[0157] The information on agricultural work managed by the management device 600 is not limited to the above. For example, the type and amount of pesticide to be used in the field may be set on the setting screen 760. Information on agricultural work other than the agricultural work shown in FIG. 12 may be set.

[0158] FIG. 13 is a diagram showing an example of a schedule of farm work created by the management device 600. The schedule in this example includes information indicating the date and time when the farm work is performed, the field, the work content, and the implement to be used for each registered agricultural machine. In addition to the information shown in FIG. 13, the schedule may also include information such as pesticides or the amount of pesticide to be sprayed depending on the work content. In accordance with such a schedule, the processor 660 of the management device 600 issues instructions for the farm work to the work vehicle 100. The schedule may be downloaded by the control device 180 of the work vehicle 100 and also stored in the storage device 170. In that case, the control device 180 may autonomously start operating in accordance with the schedule stored in the storage device 170.

[0159] [2-3. Deciding whether preparation work is necessary and moving to the stopover point] Next, a specific example of the operation for determining whether or not preparatory work is necessary and for moving the work vehicle 100 to the stopover point will be described.

[0160] FIG. 14 is a diagram for explaining the operation of the work vehicle 100 moving to a stopover point 94 where preparation work is performed for the next agricultural work. FIG. 14 illustrates a plurality of fields 70 where the work vehicle 100 performs agricultural work, a storage location 90 for the work vehicle 100, a user's home 92 that remotely monitors the work vehicle 100, and a stopover point 94 where preparation work is performed. The positions of the fields 70, the storage location 90, and the stopover point 94 are recorded in advance in the storage device 170 together with data of the environmental map. The storage location 90 may be, for example, a warehouse, barn, or parking lot adjacent to the user's home 92 or business premises. The stopover point 94 may be, for example, a maintenance shop, a parts or implement dealer, a material warehouse, or a personal workshop. The work vehicle 100 performs agricultural work in one or more fields 70 in a day. What agricultural work the work vehicle 100 performs in which field 70 at what date and time may be determined according to a schedule transmitted from the management device 600. The schedule data is downloaded in advance and stored in the storage device 170. The control device 180 controls the drive device 240 so that the work vehicle 100 performs farm work in a designated field 70 at a designated time in accordance with the schedule.

[0161] 14, the route traveled by the work vehicle 100 is illustrated by arrows. The solid arrows show an example of the route when the work vehicle 100 departs from the storage location 90 and enters each field 70. The dashed arrows show an example of the route when the work vehicle 100 moves to the stopover location 94 after finishing farm work in the field 70. The dotted arrows show an example of the route when the work vehicle 100 returns from the stopover location 94 to the storage location 90.

[0162] In this example, the work vehicle 100 departs from the storage location 90, visits the multiple fields 70 where farm work is scheduled for that day in order, and performs the farm work indicated in the schedule in each field. In each field, the work vehicle 100 performs farm work while automatically traveling in the manner described with reference to FIG. 8, for example. When farm work is completed in one field, the work vehicle 100 enters the next field and performs farm work in the same manner. In this way, the work vehicle 100 automatically performs farm work in the multiple fields 70. The control device 180 determines whether or not preparatory work is required based on a signal output from the state detection device 230, for example, after all farm work scheduled for the day is completed, or after each farm work is completed. For example, as described with reference to FIG. 6, the control device 180 can determine whether or not a malfunction such as a breakdown has occurred in the part or implement 300 of the work vehicle 100 based on an image of the part or implement 300 taken by the camera 232. Alternatively, the control device 180 can determine whether or not materials are insufficient based on signals output from sensors that measure the remaining amount of materials such as fertilizer, seeds, pesticides, or seedlings. Based on these determination results, the control device 180 determines whether preparatory work such as replacement or maintenance of parts or implements 300 of the work vehicle 100, or replenishing materials is required.

[0163] When the control device 180 determines that preparatory work is necessary, it refers to a database stored in the storage device 170 and determines a stop-off point 94 where the preparatory work will be performed. The control device 180 creates a target route to the stop-off point 94, and controls the drive device 240 so that the work vehicle 100 travels along the target route. The control device 180 creates a target route from, for example, a field 70 where the last agricultural work of all agricultural work scheduled for the day has been performed, or from any field 70 where agricultural work has been completed, to the stop-off point 94. In other words, the control device 180 creates a target route on the map for at least the road leading from the field 70 to the stop-off point 94.

[0164] This allows the work vehicle 100 to automatically move to the stop-off point 94 along the target route. In Fig. 14, an example of a target route to the stop-off point 94 is shown by a dashed arrow. As the target route, for example, a route that reaches the stop-off point 94 in the shortest time can be selected.

[0165] During the movement, the work vehicle 100 detects obstacles such as pedestrians or other vehicles using the obstacle sensor 130, the LiDAR sensor 140, and the camera 120, and heads toward the stopover point 94 while controlling the steering and speed to avoid the obstacles. The work vehicle 100 also recognizes traffic lights based on images captured by the camera 120, for example, and performs operations such as stopping at red lights and starting at green lights.

[0166] When the work vehicle 100 is moved to the stopover location 94, the control device 180 transmits a notification to a first terminal device 400 used by a user at home 92 or another location and a second terminal device 500 used by a worker who will perform preparation work at the stopover location 94. This notification may include information such as the content of the work and the scheduled time of arrival at the stopover location 94. The notification may be transmitted directly from the work vehicle 100 to the first terminal device 400 and the second terminal device 500, or may be transmitted via the management device 600.

[0167] At the stopover point 94, preparatory work such as replacing or inspecting parts or implements 300, or replenishing materials, is performed. The contents of the preparatory work are notified to the second terminal device 500 in advance, and the worker can make preparations based on that notification, such as preparing replacement parts, tools for maintenance, or materials to be replenished. When the work vehicle 100 arrives at the stopover point 94, the worker can immediately perform the preparatory work. When the preparatory work is completed, the worker operates the second terminal device 500 to perform a process to complete the work.

[0168] When the operation to complete the work is performed, the second terminal device 500 transmits a signal indicating that the work has been completed to the communication device 190 of the work vehicle 100. The signal may be transmitted to the work vehicle 100 via the management device 600. When the control device 180 of the work vehicle 100 receives the signal, it creates a route to the storage location 90 or the field where the next scheduled agricultural work will be performed, and moves the work vehicle 100 along that route.

[0169] When the control device 180 receives the completion notification, the control device 180 may transmit a notification indicating that the preparation work has been completed to the first terminal device 400 used by the user. This notification may include, for example, information that the preparation work has been completed and the scheduled time of arrival at the storage location 90. If the preparation work is performed for a fee, information on the fee for the preparation work may be included in the notification. The fee for the preparation work may be determined according to the content of the preparation work. The fee may be determined by the worker or may be determined in advance for each preparation work. Information on the fee for each preparation work may be recorded, for example, in the storage device 670 of the management device 600. The second terminal device 500 may obtain fee information according to the content of the performed preparation work from the management device 600 and determine the fee. Note that if the preparation work is performed by an individual such as an acquaintance of the user, the preparation work may be performed free of charge.

[0170] In Fig. 14, an example of a route along which the work vehicle 100 will travel after the preparatory work is completed is shown by dotted arrows. In the example shown in Fig. 14, after the preparatory work is completed, the control device 180 creates a route from the stop-off point 94 to a preset storage location 90, and moves the work vehicle 100 along that route. The control device 180 creates a target route on a map, for example, for at least the road leading from the stop-off point 94 to the storage location 90.

[0171] As a result, the work vehicle 100 automatically moves to the storage location 90. This operation may be performed, for example, when preparatory work for the next agricultural machine scheduled for the next day or later is performed after the last agricultural work scheduled for that day has been completed. If agricultural work to be completed for that day remains after the preparatory work, as shown in Fig. 15, the control device 180 may move the work vehicle 100 to the field 70 where the next agricultural work will be performed, and resume the agricultural work.

[0172] In the above example, the control device 180 determines whether or not preparatory work is necessary after the last agricultural work scheduled for the day is completed or after each agricultural work is completed. The present invention is not limited to such an example, and for example, it may be determined whether or not preparatory work is necessary for the first agricultural work to be performed in the day before the start of agricultural work of the day.

[0173] FIG. 16 is a diagram showing an example of a route created when it is determined that preparatory work is necessary before the work vehicle 100 starts farm work for the day. In this example, the control device 180 of the work vehicle 100 determines whether preparatory work such as replacing parts or implements or replenishing materials is necessary for the first farm work based on the output from one or more sensors. If preparatory work is necessary, the control device 180 creates a route to a stopover point 94 according to the preparatory work. In FIG. 16, an example of the route created at this time is shown by a dashed arrow. The control device 180 creates a route (target route) on the map on at least the road from the storage location 90 to the stopover point 94 according to the preparatory work, and moves the work vehicle 100 along the created route.

[0174] As a result, necessary preparatory work is carried out before agricultural work begins. After the preparatory work is completed, the control device 180 creates a route on the map from the stopover point 94 to the field 70 where agricultural work will be performed first that day, as shown by the dotted arrow in Fig. 16, and moves the work vehicle 100 along that route. This allows the work vehicle 100 to start agricultural work with the necessary preparatory work completed.

[0175] After the preparatory work, the work vehicle 100 moves in sequence through the multiple fields 70 scheduled for that day, as shown by the solid arrows in FIG. 16, to perform the agricultural work. When all agricultural work is completed, the work vehicle 100 returns to the storage location 90. Note that, even in this example, the control device 180 may determine whether preparatory work is necessary when agricultural work is completed in each field or when all agricultural work is completed. If it is determined that preparatory work is necessary, the control device 180 determines a stop-off location according to the preparatory work, and moves the work vehicle 100 to the stop-off location. The stop-off location determined at this time may be the same as the stop-off location 94 where the previous preparatory work was performed, or it may be different.

[0176] The operation shown in FIG. 16 may also be applied to a case where the work vehicle 100 leaves the storage location 90 without an implement attached, and a preparatory work of attaching the implement is performed at a stopover location 94. For example, consider a case where a specific implement is needed for the first farm work of the day, but the implement is broken and cannot be used. In that case, the work vehicle 100 may leave the storage location 90 without attaching the implement. When the control device 180 detects that the implement is not attached based on the output of the sensor, it may determine that a preparatory work of attaching the implement is needed. The control device 180 determines a stopover location 94 where the preparatory work can be performed, and drives the work vehicle 100 toward the stopover location 94. The stopover location 94 may be, for example, an implement dealer or a warehouse of an acquaintance of the user (e.g., another farmer). According to this embodiment, the operation of going to a dealer to buy an implement or going to another farmer to borrow an implement can also be automated. As in this example, attaching an implement to a state in which no implement is attached is also interpreted as falling under the category of "replacement" of an implement in this disclosure.

[0177] An example of the operation of the controller 180 will now be described in more detail with reference to FIG.

[0178] Fig. 17 is a flowchart showing an example of a control method executed by the control device 180. In this example, the work vehicle 100 is parked at the storage location 90 until it starts moving for farm work. In this state, the control device 180 waits for an instruction to start moving from the management device 600 (step S201). The processor 660 of the management device 600 issues an instruction to start moving to the control device 180 according to, for example, a schedule stored in the storage device 670 (see Fig. 13) when the scheduled start time of the first farm work of the day approaches.

[0179] In the example of FIG. 17, when the control device 180 receives an instruction to start moving, it determines whether or not preparatory work is necessary (step S202). Whether or not preparatory work is necessary can be determined based on signals output from one or more sensors included in the state detection device 230, as described above. If preparatory work is not necessary, the process proceeds to step S208. If preparatory work is necessary, the control device 180 determines a stopover location according to the preparatory work (step S203). The control device 180 determines a stopover location according to the necessary preparatory work, for example, by referring to a database stored in the storage device 170.

[0180] FIG. 18 is a diagram showing an example of a database showing the correspondence between the contents of preparatory work and stop-off places. Such a database may be created in advance and stored in the storage device 170. The control device 180 can refer to the database and determine an appropriate stop-off place based on the contents of the necessary preparatory work. The database may include location information of each stop-off place. Alternatively, the location information of each stop-off place may be recorded in the storage device 170 as separate data. The database may include fee information for each preparatory work. The fee may be determined individually by the business operator at the stop-off place.

[0181] In the example shown in FIG. 17, when the control device 180 determines a stopover point, it creates a route to the stopover point based on the location information of the stopover point (step S204). The control device 180 determines, for example, a route that can reach the stopover point in the shortest time. Next, the control device 180 instructs the communication device 190 to send a notification to the second terminal device 500 (step S205). The notification may include, for example, information on the work content and the estimated time of arrival at the stopover point. The information on the work content may be, for example, information such as the type and amount of the required parts, implements, or materials. The worker at the stopover point prepares for the preparatory work by seeing this notification. The control device 180 may also send a notification to the first terminal device 400 indicating that the preparatory work will be performed. Such a notification allows the user to know that the preparatory work will be performed. If a change occurs in the schedule due to the preparatory work, the control device 180 may send a notification including information on the changed schedule from the communication device 190 to the first terminal device 400. The modified schedule may be generated, for example, by the processor 660 of the management device 600 and transmitted to the control device 180 .

[0182] Next, the control device 180 starts controlling the drive device 240 so that the work vehicle 100 moves to the stop-off location (step S206). The control device 180 controls the steering and travel speed of the work vehicle 100 while sensing the surroundings using sensing devices such as the camera 120 and the LiDAR sensor 140. In this way, the work vehicle 100 moves toward the stop-off location while avoiding obstacles.

[0183] When the work vehicle 100 arrives at the stopover point, preparatory work is performed. When the preparatory work is completed, the worker at the stopover point operates the second terminal device 500 to transmit a signal indicating the completion of the work to the work vehicle 100. The control device 180 determines whether the preparatory work is completed or not based on whether the signal indicating the completion of the work has been received (step S207).

[0184] When the preparatory work is completed, the control device 180 refers to the schedule and determines whether or not any uncompleted agricultural work remains among the agricultural work scheduled for that day (step S208). If there is uncompleted agricultural work, the control device 180 creates a route to the next scheduled field (step S209). The control device 180 moves the work vehicle 100 to that field and starts the agricultural work (step S210). In the field, the control device 180 controls the work vehicle 100 by the method described with reference to FIG. 8, for example, and causes the work vehicle 100 to perform work travel. When the agricultural work is completed (Yes in step S211), the control device 180 returns to step S202 and determines again whether or not preparatory work is required for the next agricultural work. Here, if all agricultural work to be performed on that day has been completed, the control device 180 determines whether or not preparatory work is required for the next agricultural work scheduled for the next day or a later work day. Thereafter, the same operation is repeated until it is determined in step S208 that there is no uncompleted agricultural work.

[0185] If it is determined in step S208 that all farm work scheduled for that day has been completed, the control device 180 creates a route to the storage location 90 (step S221). The control device 180 creates a route to the storage location 90 based on the position of the work vehicle 100 at that time obtained from the positioning device 110 and the position of the storage location 90 and the environmental map recorded in advance in the storage device 170. The control device 180 controls the drive device 240 so that the work vehicle 100 moves to the storage location 90 along the route (step S222).

[0186] Through the above operations, the work vehicle 100 can determine whether preparatory work is necessary for the next scheduled agricultural work, move to a stopover location where the preparatory work will be performed if necessary, and return to the storage location 90 after the preparatory work is completed. According to this embodiment, the work vehicle 100 automatically performs the above operations without the user giving instructions to the work vehicle 100. Therefore, the preparatory work required for the next agricultural work can be performed efficiently.

[0187] In the example of Fig. 17, the control device 180 judges whether or not preparatory work is necessary each time farm work in one field is completed. Instead of such an operation, for example, the control device 180 may judge whether or not preparatory work is necessary only when all farm work scheduled for one day is completed.

[0188] (Modification of the first embodiment) The configurations and operations of the above-described embodiments are merely examples, and the present disclosure is not limited to the above-described embodiments. Modifications of the first embodiment will be described below.

[0189] In the example shown in FIG. 18, one type of preparatory work corresponds to one stop-off location. This example is not limited to this, and multiple candidate stop-off locations may be set for one type of preparatory work. In this case, the control device 180 may transmit a signal requesting the execution of the preparatory work to a computer at one candidate location selected from the candidate stop-off locations. When the control device 180 receives a response from the computer indicating that the preparatory work is possible, the control device 180 may determine the candidate location as the stop-off location. Conversely, when the control device 180 does not receive a response from the computer indicating that the preparatory work is possible, the work vehicle 100 may be returned to the storage location 90 without determining a stop-off location.

[0190] The control device 180 may transmit a signal requesting the execution of preparatory work to a first computer in a first candidate site selected from among the multiple candidate sites. When a response indicating that the preparatory work is possible is received from the first computer, the control device 180 may determine the first candidate site as a drop-in site. Conversely, when a response indicating that the preparatory work is possible is not received from the first computer, the control device 180 may transmit a signal requesting the execution of preparatory work to a second computer in a second candidate site selected from among the multiple candidate sites. In this case, when the control device 180 receives a response indicating that the preparatory work is possible from the second computer, it can determine the second candidate site as a drop-in site. When a response indicating that the preparatory work is possible is not received from the second computer, the control device 180 may transmit a similar signal to computers in other candidate sites to inquire whether the preparatory work is possible, or may return the work vehicle 100 to the storage location 90 without determining a drop-in site.

[0191] In the above embodiment, the control device 180 inside the work vehicle 100 performs all of the determination of the stop-off places, the creation of the route for the work vehicle 100, and the driving control. Alternatively, some of the operations of the control device 180 described above may be performed by the processor 660 of the management device 600. For example, the determination of the stop-off places and the creation of the route may be performed by the processor 660. In that case, the control device 180 may be configured to control the automatic driving of the work vehicle 100 based on the information on the stop-off places and the route information transmitted from the management device 600.

[0192] While the work vehicle 100 is performing farm work in a field, the control device 180 may determine whether or not preparatory work is required based on the output of one or more sensors. If it is determined that preparatory work is required during farm work, the control device 180 may cause the work vehicle 100 to suspend the farm work and move to a stopover location. Alternatively, the control device 180 may move the work vehicle 100 to a stopover location after the farm work in that field is completed, or after all farm work for that day is completed. In that case, the control device 180 may send a notification to the first terminal device 400 at the stage at which it is determined that preparatory work is required, and may inform the user that after the farm work in that field or all farm work for that day is completed, the preparatory work will be performed at the stopover location and then the vehicle will return to the storage location.

[0193] (Embodiment 2) Next, a description will be given of an exemplary embodiment 2 of the present disclosure. Below, differences from embodiment 1 will be mainly described, and descriptions of overlapping points will be omitted.

[0194] A control system for an autonomously operating agricultural machine according to a second exemplary embodiment of the present disclosure includes a storage device and a control device. The storage device stores a schedule of farm work to be performed by the agricultural machine. The control device controls the operation of the agricultural machine according to the schedule. After a specific farm work included in the schedule is completed, the control device moves the agricultural machine to a standby location different from a preset storage location of the agricultural machine based on the next farm work included in the schedule.

[0195] According to the above configuration, the agricultural machine can be moved to a standby location different from the storage location of the agricultural machine based on the next agricultural work included in the schedule. For example, the control device can move the agricultural machine to one of the storage location and the standby location based on the location of the field where the next agricultural work is to be performed (hereinafter also referred to as the "next field"). This enables, for example, an operation in which, after the agricultural work scheduled for one day is completed, the agricultural machine is moved to the standby location when the field where the next agricultural work scheduled for the next day or later is to be performed is closer to the standby location than the storage location. Alternatively, the control device may move the agricultural machine to one of the storage location and the standby location based on the scheduled time (or date and time) when the next agricultural work is to start. For example, the control device may return the agricultural machine to the storage location when the free time between the completion of agricultural work in a certain field and the scheduled start time of the next agricultural work is relatively long (for example, six hours or more), and may move the agricultural machine to a standby location relatively close to the next field when the free time is relatively short (for example, two hours or more and less than six hours). If the time until the next farm work is short and the agricultural machine does not need to wait, the control device may directly move the agricultural machine to the next field. By the above-mentioned operation, the agricultural machine can be moved to a waiting location according to the next scheduled farm work, and moved from the waiting location to the field in time for the scheduled start time of the next farm work. This makes it possible to reduce the time required for movement and the amount of fuel consumed, compared to returning the agricultural machine to a storage location and then moving it to the next field. As a result, it becomes possible to perform a series of farm works using the agricultural machine more efficiently.

[0196] An "agricultural work schedule" is data that determines the schedule of one or more agricultural works to be performed by an agricultural machine. The agricultural work schedule includes, for example, information indicating the date and time when each agricultural work is scheduled to be performed by the agricultural machine, and the field on which the agricultural work is to be performed. The schedule may also include information such as the content of the work, the implements used, and / or the type and amount of materials used for each agricultural work. Here, "materials" refers to materials used in the agricultural work performed by the agricultural machine. Materials are also called "agricultural materials." Materials may include materials consumed by the agricultural work, such as pesticides, fertilizers, seeds, or seedlings. The agricultural work schedule may be created by a management device that communicates with the agricultural machine and manages the agricultural work. The management device may create the schedule based on information input by a user (such as a farm manager or a farm worker) by operating a terminal device. The management device may manage the agricultural work of multiple agricultural machines. In that case, the schedule may include information on the agricultural work performed by multiple agricultural machines. The schedule may be downloaded to the agricultural machine and recorded on a storage device on the agricultural machine.

[0197] A "storage location" is a location provided for storing an agricultural machine. The storage location may be, for example, a location managed by a user of the agricultural machine. The storage location may be a location reserved for storing the agricultural machine, such as a warehouse, barn, or parking lot at the user's home or business premises. The location of the storage location may be registered in advance and recorded in a storage device.

[0198] A "waiting place" is a place provided for an agricultural machine to wait temporarily. One or more waiting places are provided in an environment in which the agricultural machine performs automatic driving. In this specification, the waiting place may be referred to as a "station". The waiting place may be, for example, a place managed or used jointly by multiple users (such as agricultural workers). The waiting place may be, for example, a warehouse, a garage, a barn, a parking lot, or other facilities. The waiting place may be a warehouse, a barn, a garage, or a parking lot at the home or business of a farmer different from the user of the agricultural machine. A plurality of waiting places may be scattered in the environment in which the agricultural machine moves. In this case, the control device may move the agricultural machine to one waiting place selected from the plurality of waiting places. In the waiting place, work such as replacement or maintenance of parts or implements of the agricultural machine, or replenishing materials may be performed. In this case, parts, tools, or materials required for those works may be placed in the waiting place.

[0199] The control device may move the agricultural machine to the standby location based on the positional relationship between the storage location, the first field where the specific agricultural work was performed, the second field where the next agricultural work is to be performed, and the standby location. For example, the control device may determine whether to move the agricultural machine to the storage location or the standby location based on the relative positions of the storage location, the first field, the second field, and the standby location. For example, the control device may move the agricultural machine to the standby location when a second travel distance when moving from the first field to the field where the next agricultural work is to be performed via the standby location is shorter than a first travel distance when moving from the first field to the field where the next agricultural work is to be performed via the storage location. Conversely, when the second travel distance is longer than the first travel distance, the control device may move the agricultural machine to the storage location. By such an operation, the agricultural machine can be moved to the storage location or the standby location, whichever has the shorter total travel distance. This makes it possible to shorten the travel time and reduce fuel consumption.

[0200] The control device may move the agricultural machine to a waiting location when the time from the end of a specific agricultural work to the start of the next agricultural work is equal to or longer than a predetermined time (e.g., 2 hours or 4 hours). Conversely, the control device may move the agricultural machine directly to the field where the next agricultural work is to be performed when the time difference is less than the predetermined time. The predetermined time is not limited to a fixed value, and may be changed, for example, according to the positional relationship between the first field where the specific agricultural work was performed, the second field where the next agricultural work is to be performed, and the waiting location. For example, the longer the distance between the first field and the second field, the longer the predetermined time may be set to. The control device may automatically determine the predetermined time, or the predetermined time may be set based on an input operation by the user.

[0201] The control device can move the agricultural machine to a scheduled field at a scheduled time according to the schedule recorded in the storage device, and perform the agricultural work. The schedule may include information on a plurality of agricultural works performed in a plurality of fields. In this case, when the agricultural work in one field is finished, the control device moves the agricultural machine for the next scheduled agricultural work. At this time, the control device may move the agricultural machine to any one of a storage location, a waiting location, and a next field, depending on the time difference (also called "free time") between the end time of the agricultural work in one field and the scheduled start time of the agricultural work in the next field. For example, when the time difference is relatively short, the control device may move the agricultural machine directly to the next field. When the time difference is relatively long, the control device may move the agricultural machine to one of the storage location and the waiting location. For example, when all agricultural works scheduled for a day are finished and no agricultural work will be performed until the next day or later, the control device may move the agricultural machine to one of the storage location and the waiting location. Alternatively, the control device may move the agricultural machine to one of the storage location and the waiting location when the free time between two farm operations performed in the two fields exceeds a threshold value (e.g., 2 hours or 4 hours, etc.). The control device may, for example, move the agricultural machine to the waiting location when the free time is within a range from a first time (e.g., 2 hours, etc.) to a second time (e.g., 6 hours, etc.), and move the agricultural machine to the storage location when the free time is longer than the second time. The first time and the second time may be determined by the control device or the user, taking into account the movement time of the agricultural machine, which depends on the positions of the two fields, the storage location, and the waiting location.

[0202] In this way, the control device may determine whether to move the agricultural machine to a storage location or a standby location when a specific condition is satisfied after agricultural work in a certain field is completed. The control device may make the above determination only after the completion of the last agricultural work among the agricultural work scheduled for the day. Alternatively, the control device may make the above determination during agricultural work in the day, for example, after the completion of an agricultural work that has a relatively long interval until the start of the next agricultural work. Even if standby is required due to an unexpected event such as a sudden change in weather or equipment trouble, the control device may move the agricultural machine to a standby location near the field where the next agricultural work will be performed and have the agricultural machine standby.

[0203] The schedule may include information on a plurality of agricultural works to be performed by one or more agricultural machines managed by a user over a plurality of work days. In this case, the storage device stores, as the schedule, information on a plurality of agricultural works including, for example, the last agricultural work performed on each work day as the specific agricultural work and the first agricultural work performed on each work day as the next agricultural work. In this case, after the last agricultural work is completed on each work day, the control device may move the agricultural machine to a waiting location or a storage location based on the location of the field where the next agricultural work is to be performed, etc.

[0204] The control system may further include an input device for inputting the storage location and the waiting location to the control device. The input device may be capable of inputting a plurality of storage locations and / or a plurality of waiting locations. The input device may be mounted on, for example, a terminal device used by a user. The user can input the storage location and the waiting location by operating the input device.

[0205] The storage device may store map data (environmental map) of the environment in which the agricultural machine moves. The environmental map may include, for example, position information of one or more fields in which the agricultural machine performs farm work, a storage location of the agricultural machine, and one or more waiting locations. The control device can create a route (target route) along which the agricultural machine should move based on the environmental map and the position information of the agricultural machine. The position information of the agricultural machine may be generated based on data output from a GNSS receiver mounted on the agricultural machine, for example. A management device connected to the control device via a network may create the target route. In that case, the management device transmits information indicating the created target route to the control device. The control device controls a drive device of the agricultural machine so that the agricultural machine moves along the target route. This allows the control device to move the agricultural machine toward a desired destination such as a field, a storage location, or a waiting location.

[0206] When the control device moves the agricultural machine to a waiting location, the control device may transmit a notification to a terminal device used by a user of the agricultural machine. The notification may include, for example, information specifying the waiting location to which the agricultural machine is to be moved. By transmitting such a notification, the user can know that the agricultural machine will not return to the storage location but will be moved to the waiting location. The user may be, for example, the owner of the agricultural machine, or an operator who uses the agricultural machine on a daily basis. The terminal device may be, for example, any computer such as a smartphone, a tablet computer, or a personal computer (PC). After moving the agricultural machine to the waiting location, the control device may notify the terminal device of information indicating the date and time when the agricultural machine will next return to the storage location. This allows the user to know the date and time when the agricultural machine is scheduled to return to the storage location.

[0207] An agricultural management system according to another embodiment of the present disclosure includes a management device and an agricultural machine. The management device manages a schedule of agricultural work. The agricultural machine includes a control device that controls automatic operation and a communication device that receives the schedule from the management device. After a specific agricultural work included in the schedule received by the communication device is completed, the control device moves the agricultural machine to a standby location different from a preset storage location of the agricultural machine based on the next agricultural work included in the schedule.

[0208] According to the above configuration, as in the above embodiment, the agricultural machine can be moved to a standby location different from the original storage location based on the next agricultural work, which reduces the travel time and fuel consumption of the agricultural machine, and allows the series of agricultural works included in the schedule to be carried out efficiently.

[0209] The management device may instruct the agricultural machine control device to perform agricultural work based on a schedule of agricultural work stored in a storage device provided in the agricultural management system, for example. The control device moves the agricultural machine to a field in accordance with the instructions from the management device and causes the agricultural machine to perform agricultural work in the field.

[0210] The communication device can receive, as the schedule, a schedule including information indicating a field where a specific agricultural work is to be performed and information indicating a field where the next agricultural work is to be performed. The control device can move the agricultural machine to a waiting location based on a positional relationship between the storage location, the field where the specific agricultural work is performed, the field where the next agricultural work is to be performed, and the waiting location.

[0211] The control device may move the agricultural machine to a standby location when a second travel distance from the field where the specific agricultural work has been performed via the standby location to the field where the next agricultural work will be performed is shorter than a first travel distance from the field where the specific agricultural work has been performed via the storage location to the field where the next agricultural work will be performed. The control device may move the agricultural machine to the storage location when the second travel distance is longer than the first travel distance.

[0212] The communication device may receive, as the schedule, a schedule including information on a start time of the next agricultural work. The control device may move the agricultural machine to a waiting location when a time difference between a finish time of a specific agricultural work and the start time of the next agricultural work is equal to or greater than a predetermined time.

[0213] A method for controlling an autonomously operating agricultural machine according to another embodiment of the present disclosure includes obtaining a schedule of farm work to be performed by the agricultural machine from a storage device, and controlling the operation of the agricultural machine in accordance with the schedule. Controlling the operation of the agricultural machine includes, after a specific farm work included in the schedule is completed, moving the agricultural machine to a standby location different from a preset storage location of the agricultural machine based on the next farm work included in the schedule.

[0214] A computer program for controlling an autonomously operating agricultural machine according to yet another embodiment of the present disclosure causes a computer to obtain a schedule of farm work to be performed by the agricultural machine from a storage device, and to control the operation of the agricultural machine in accordance with the schedule. Controlling the operation of the agricultural machine includes moving the agricultural machine to a standby location different from a preset storage location of the agricultural machine based on the next farm work included in the schedule after a specific farm work included in the schedule is completed.

[0215] FIG. 19 is a diagram for explaining an overview of the agricultural management system according to this embodiment. The agricultural management system shown in FIG. 19 includes a work vehicle 100, a terminal device 400, and a management device 600. The configuration shown in FIG. 19 is the same as the configuration shown in FIG. 1 except that the second terminal device 500 is removed. The terminal device 400 corresponds to the first terminal device 400 in the example of FIG. 1. The terminal device 400 is a computer used by a user who remotely monitors the work vehicle 100. The management device 600 is a computer managed by a business operator who operates the agricultural management system. The work vehicle 100, the terminal device 400, and the management device 600 can communicate with each other via a network 80. Although one work vehicle 100 is illustrated in FIG. 19, the agricultural management system may include multiple work vehicles or other agricultural machines. The configurations of the work vehicle 100, the terminal device 400, and the management device 600 are the same as the configurations in the example of FIG. 1.

[0216] The terminal device 400 in this embodiment may include an input device for inputting the location information of the storage location of the work vehicle 100 and one or more waiting locations.

[0217] Figure 20 is a block diagram showing an example of the configuration of the work vehicle 100 and the implement 300 in this embodiment. The configuration shown in Figure 20 is similar to the configuration shown in Figure 3, except that the second terminal device 500 and the ECU 186 in the control device 180 are omitted.

[0218] 21 is a block diagram illustrating a schematic hardware configuration of the management device 600 and the terminal device 400. The configuration shown in FIG. 21 is similar to the configurations of the management device 600 and the first terminal device 400 shown in FIG.

[0219] [Transportation to storage and waiting areas] Next, an example of movement control that is performed after the work vehicle 100 completes a specific farm task will be described.

[0220] The work vehicle 100 performs agricultural work in one or more fields per day. What agricultural work the work vehicle 100 performs in which field at what date and time is determined according to a schedule. The control device 180 controls the drive device 240 so that the work vehicle 100 performs agricultural work in a specified field 70 at a specified time according to the schedule.

[0221] In this embodiment, the control device 180 moves the work vehicle 100 to a waiting location different from the preset storage location based on the next farm work included in the schedule after a specific farm work included in the schedule is completed. More specifically, the control device 180 moves the work vehicle 100 to a destination selected from the storage location and one or more waiting locations based on the positional relationship between the field where the specific farm work was performed, the field where the next farm work is performed, the storage location, and the one or more waiting locations after a specific farm work included in the schedule is completed. The position information of the storage location and the one or more waiting locations is registered in advance based on an operation performed by a user using the input device 420 of the terminal device 400, and is stored in the storage devices 650 and 170.

[0222] Below, an example will be described in which the "specific agricultural work" is the last agricultural work performed on each work day, and the "next agricultural work" is the first agricultural work performed on the next work day.

[0223] FIG. 22 is a diagram for explaining the operation of the work vehicle 100 moving to a station 96, which is a waiting place, for the next work day's work after performing a day's farm work. FIG. 22 illustrates a plurality of fields 70A in which the work vehicle 100 performs farm work on a certain work day, a plurality of fields 70B in which the work vehicle 100 performs farm work on the next work day, a storage place 90 for the work vehicle 100, a user's home 92 that remotely monitors the work vehicle 100, and a station 96 for the work vehicle 100 to wait. The station 96 is an example of a waiting place. The field 70A includes four fields 70A1, 70A2, 70A3, and 70A4. The field 70B includes two fields 70B1 and 70B2. The number of fields in which farm work is performed on one work day can be set arbitrarily. The locations of the field 70A, the field 70B, the storage location 90, and the station 96 are recorded in advance in the storage device 170 together with data of the environmental map.

[0224] The storage location 90 may be, for example, a garage, barn, or parking lot adjacent to the user's home 92 or business. The station 96 may be a location managed or used jointly by multiple users. The station 96 may be a facility such as a parking lot or garage managed and operated by a city, town, village, agricultural cooperative, or company. If the station 96 is a facility that is locked at night, the theft of the work vehicle 100 parked at the station 96 can be prevented. Although one station 96 is illustrated in FIG. 22, multiple stations (i.e., waiting places) may be provided. At the station 96, services such as replacement or maintenance of parts of the work vehicle 100 or the implement 300, or replenishing materials (such as pesticides, fertilizers, seedlings, or seeds) may be provided. The station 96 may be provided for a fee. In that case, the management device 600 may charge the user according to the usage record of the station 96 by the work vehicle 100. In the example of Fig. 22, station 96 is near field 70B, but station 96 may be located away from field 70B. In the example of Fig. 22, field 70A, field 70B, storage location 90, and station 96 are relatively close to each other, but this is by way of example only. Field 70A, field 70B, storage location 90, and station 96 may be farther away from each other, for example, 1 km to 10 km or more.

[0225] In FIG. 22, the route traveled by the work vehicle 100 is illustrated by arrows. The solid arrow shows an example of the route from when the work vehicle 100 leaves the storage location 90 to when the work vehicle 100 finishes the day's farm work. The dashed arrow shows an example of the route that the work vehicle 100 moves to the station 96 after finishing the last farm work of the day. In this example, the work vehicle 100 leaves the storage location 90, visits the multiple fields 70A where farm work is scheduled for that day in order, and performs the farm work shown in the schedule in each field. In each field, the work vehicle 100 performs the farm work while performing automatic travel, for example, by the method described with reference to FIG. 8. When the farm work is finished in one field, the work vehicle 100 enters the next field and performs the farm work in the same way. In this way, when the farm work in the last field 70A4 of the day is finished, the control device 180 of the work vehicle 100 judges whether to return the work vehicle 100 to the storage location 90 or to move it to the station 96. This determination is made by the ECU 185 in the control device 180.

[0226] The control device 180 determines whether to move the work vehicle 100 to the storage location 90 or to the station 96 based on the positional relationship between the storage location 90, the field 70A4 where the last agricultural work of the work day was performed, the field 70B1 where the first agricultural work is to be performed on the next work day, and the station 96. For example, the control device 180 moves the work vehicle 100 to the station 96 when the second travel distance of the route from the field 70A4 to the field 70B1 via the station 96 is shorter than the first travel distance of the route from the field 70A4 to the field 70B1 where the next agricultural work is to be performed via the storage location 90. Conversely, when the second travel distance is longer than the first travel distance, the control device 180 moves the work vehicle 100 to the storage location 90. The control device 180 calculates the first travel distance and the second travel distance based on the environmental map stored in the storage device 170. For example, the control device 180 calculates the distance of the shortest route from the field 70A4 through the storage location 90 to the field 70B1 where the next agricultural work is to be performed as the first travel distance. Similarly, the control device 180 calculates the distance of the shortest route from the field 70A4 through the station 96 to the field 70B1 where the next agricultural work is to be performed as the second travel distance. The control device 180 compares the first travel distance with the second travel distance, and if the first travel distance is shorter, returns the work vehicle 100 to the storage location 90, and if the second travel distance is shorter, moves the work vehicle 100 to the station 96. This operation can reduce the time and fuel consumption required for the movement of the work vehicle 100, and can improve the efficiency of a series of agricultural works.

[0227] During movement, the work vehicle 100 detects obstacles such as pedestrians or other vehicles using the obstacle sensor 130, the LiDAR sensor 140, and the camera 120, and travels while controlling steering and speed to avoid the obstacles. The work vehicle 100 also recognizes traffic lights based on images captured by the camera 120, for example, and performs operations such as stopping at red lights and starting at green lights.

[0228] In this embodiment, the control device 180 judges whether to move to the station 96 when the farm work in the field 70A4 is completed, but this judgment may be made at other times. In this embodiment, the field in which the farm work is to be performed last on each work day is determined in advance. For this reason, for example, the above judgment can be made when departing from the storage location 90, while farm work is being performed in one of the fields 70A, or while traveling on a road. However, due to the influence of a sudden change in weather, the farm work may not proceed as scheduled. In that case, the field in which the farm work is to be performed first on the next work day may be changed from the original plan. As in the above example, by judging whether to move to the station 96 when the last farm work is completed on each work day, such unexpected schedule changes can be flexibly dealt with.

[0229] When the work vehicle 100 is moved to the station 96, the control device 180 may transmit a notification to the terminal device 400 used by the user at the home 92 or another location. This notification may include information identifying the station 96, such as the name or location of the station 96. The notification may be transmitted directly from the work vehicle 100 to the terminal device 400, or may be transmitted via the management device 600. By transmitting such a notification, the user can know that the work vehicle 100 will not return to the storage location 90 but will wait at the station 96.

[0230] When the work vehicle 100 arrives at the station 96, it waits at the station 96 until the next work day. On the next work day, as shown in FIG. 23, the work vehicle 100 departs from the station 96 and sequentially visits the fields 70B1 and 70B2 in which agricultural work is scheduled for that work day, and performs the agricultural work. When the last agricultural work of that work day is completed, the control device 180 determines whether to move to the station 96 or return to the storage location 90 based on the position of the field in which the first agricultural work scheduled for the next work day is to be performed, as described above. FIG. 23 shows an example of a route when the work vehicle 100 returns to the storage location 90. Such a route may be adopted when the field in which the first agricultural work scheduled for the next work day is to be performed is closer to the storage location 90 than the station 96. When returning the work vehicle 100 to the storage location 90 as in this example, the control device 180 may transmit a notification to the terminal device 400. Such a notification may include information indicating the time when the work vehicle 100 is scheduled to return to the storage location 90. This allows the user to know that the work vehicle 100 will be returning to the storage location 90. If multiple waiting locations are set, the control device 180 may determine the destination with the shortest travel distance from among the multiple waiting locations and the storage location 90, and move the work vehicle 100 to that destination. Thereafter, the same operation is repeated until agricultural work is completed on all work days included in the schedule.

[0231] FIG. 24 is a diagram showing an example in which multiple stations 96 (96A and 96B) are provided in the environment in which the work vehicle 100 travels. In this example, the control device 180 selects one location from the storage location 90, station 96A, or station 96B after agricultural work in the field 70B2 is completed. In the example of FIG. 24, station 96B is located near the field 70C where agricultural work scheduled for the next work day will be performed. In this case, by moving to station 96B, the travel distance can be minimized, so the control device 180 moves the work vehicle 100 to station 96B.

[0232] An example of the operation of the controller 180 will now be described in more detail with reference to FIG.

[0233] 25 is a flowchart showing an example of a control method executed by the control device 180. In this example, the work vehicle 100 is parked at the storage location 90 until it starts moving for farm work. In this state, the control device 180 waits for an instruction to start moving from the management device 600 (step S201). The processor 660 of the management device 600 issues an instruction to start moving to the control device 180 according to the schedule stored in the storage device 650 as the scheduled start time of the first farm work of the day approaches.

[0234] When the control device 180 receives an instruction to start moving, it creates a route to the field where the first agricultural work of the day will be performed (step S202). The control device 180 moves the work vehicle 100 along the route to the field and starts the agricultural work (step S203). In the field, the control device 180 controls the work vehicle 100 by the method described with reference to FIG. 8, for example, and causes the work vehicle 100 to perform work travel. When the agricultural work is completed (Yes in step S204), the control device 180 refers to the schedule and determines whether or not there is any uncompleted agricultural work remaining among the agricultural work scheduled for that day (step S205). If there is uncompleted agricultural work, the control device 180 returns to step S202, creates a route to the next field, and moves the work vehicle to that field. The control device 180 repeats the operations of steps S202 to S205 until the last agricultural work of the work day is completed.

[0235] When the last agricultural work on the work day is completed, the control device 180 refers to the schedule and judges whether there is agricultural work on the next work day (step S206). If there is agricultural work on the next work day, the control device 180 calculates the shortest travel distance (first travel distance) when moving to the field where agricultural work is first performed on the next work day via the storage location 90, and the shortest travel distance (second travel distance) when moving to the field via the station 96 (step S207). Here, if multiple stations (waiting locations) are provided, the travel distance calculated for the station with the shortest travel distance is set as the second travel distance. The control device 180 compares the first travel distance with the second travel distance (step S208). If the first travel distance is shorter than the second travel distance, the control device 180 creates a route to the storage location 90 and moves the work vehicle 100 along the route to the storage location 90 (step S209). Conversely, if the first travel distance is longer than the second travel distance, the control device 180 creates a route to the station 96 and moves the work vehicle 100 along the route to the station 96 (step S210). After steps S209 and S210, the process returns to step S201. The control device 180 also executes the above operations for the next work day. The control device 180 executes the above operations for each work day until it is determined in step S206 that there is no farm work for the next work day.

[0236] If it is determined in step S206 that there is no farm work to be done on the next work day, the control device 180 creates a route from the current position of the work vehicle 100 to the storage location 90, and causes the work vehicle 100 to travel along that route. In this way, the control device 180 causes the work vehicle 100 to return to the storage location 90.

[0237] The above operations shorten the distance traveled by the work vehicle 100 for agricultural work carried out in multiple fields over multiple work days, and reduce travel time and fuel consumption. This allows a series of agricultural works to be carried out more efficiently. According to this embodiment, the control device 180 of the work vehicle 100 automatically carries out the above operations without the user having to give instructions to the work vehicle 100. This eliminates the need for the user to perform operations.

[0238] (Modification of the second embodiment) The configuration and operation of the second embodiment described above are merely examples, and the present disclosure is not limited to the configuration and operation described above. Modifications of the second embodiment will be described below.

[0239] In the above-mentioned second embodiment, the control device 180 determines whether to return to the storage location or move to the waiting location after the last agricultural work on each work day is completed. The control device 180 is not limited to such an operation, and may determine whether to head to the next field, return to the storage location, or move to the waiting location, for example, each time each agricultural work is completed. For example, consider a case where agricultural work in a plurality of fields 70A and agricultural work in a plurality of fields 70B shown in FIG. 22 are performed by the work vehicle 100 on the same day. In this case, the control device 180 may determine the destination based on the time difference between the time when the work in each field is completed and the scheduled start time of the next agricultural work. For example, the control device 180 may determine whether the above-mentioned time difference is greater than a threshold value each time agricultural work in a field is completed, and determine the destination based on the result of the determination. If the time difference is equal to or less than the threshold value, the control device 180 moves the work vehicle 100 directly to the next field. Conversely, if the time difference is greater than the threshold, the control device 180 may perform processing similar to steps S207 and S208 shown in Fig. 25 to determine whether to move the work vehicle 100 to a storage location or a waiting location. An appropriate value for the threshold depends on the positional relationship between the field where the farm work has been completed, the field where the next farm work will be performed, the storage location, and the waiting location. Therefore, the control device 180 may determine the threshold depending on these positional relationships.

[0240] The control device 180 may calculate the estimated shortest travel distance from the field where the farm work has been completed to the next field each time farm work is completed, and determine the destination based on the calculation result. For example, if the calculated travel distance is equal to or less than a threshold value (e.g., 100 m, 500 m, or 1 km, etc.), the control device 180 may move the work vehicle 100 directly to the next field. Conversely, if the calculated travel distance is greater than the threshold value, the control device 180 may determine whether to move the work vehicle 100 directly to the next field, return to a storage location, or move to a waiting location, depending on the time until the scheduled start time of the next scheduled farm work.

[0241] The control device 180 may group a number of fields located relatively close to each other into a field group, and may determine whether to move the work vehicle 100 directly to the next field, return to a storage location, or move to a waiting location each time farm work is completed in each field group on each work day. This is because fields belonging to the same field group are located close to each other, and therefore there is often no need to move the work vehicle 100 to a storage location or waiting location between farm work in those fields. Note that, for example, when farm work is being performed in multiple fields belonging to one field group, it may be necessary to replace implements or replenish materials. In such a case, the control device 180 may move the work vehicle 100 to a storage location or waiting location to replace implements or replenish materials.

[0242] In the embodiment shown in FIG. 25, when the second travel distance is shorter than the first travel distance, the control device 180 moves the work vehicle 100 to the station 96. Instead of such an operation, the control device 180 may move the work vehicle 100 to the station 96 when a specific agricultural work (for example, the last agricultural work performed on a certain work day) and the next agricultural work (for example, the first agricultural work performed on the next work day) are the same and the second travel distance is shorter than the first travel distance. When the specific agricultural work and the next agricultural work are different, the control device 180 may move the work vehicle 100 to the storage location 90 regardless of the first travel distance and the second travel distance. When the specific agricultural work and the next agricultural work are different, for example, the content of the agricultural work to be performed is different, such as plowing and pesticide spraying. In that case, it may be necessary to return to the storage location 90 for work such as replacing the implement. When the specific farm work is different from the next farm work, the above-described operation of returning the work vehicle 100 to the storage location 90 allows necessary work, such as changing the implement, to be carried out at the storage location 90.

[0243] Alternatively, the control device 180 may move the work vehicle 100 to the station 96 when the specific agricultural work and the next agricultural work are the same and the travel distance from the station 96 to the field where the next agricultural work is to be performed (third travel distance) is shorter than the travel distance from the field where the specific agricultural work was performed to the storage location 90 (fourth travel distance).

[0244] In the above embodiment, the control device 180 inside the work vehicle 100 performs all of the following: determining the destination of the work vehicle 100, creating the route of the work vehicle 100, and driving control. Instead of this form, a part of the operation of the control device 180 described above may be executed by the processor 660 of the management device 600. For example, the processor 660 may determine the destination and create the route. In that case, the control device 180 may be configured to control the automatic operation of the work vehicle 100 based on the destination information and route information transmitted from the management device 600. The management device 600 may manage the operation of multiple agricultural machines including the work vehicle 100. In that case, the management device 600 may instruct each agricultural machine to operate based on the schedule of the farm work performed by each agricultural machine.

[0245] The device performing the automatic driving control in the above embodiments can also be attached later to an agricultural machine that does not have those functions. Such a device can be manufactured and sold independently of the agricultural machine. A computer program used in such a device can also be manufactured and sold independently of the agricultural machine. The computer program can be provided, for example, by being stored in a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunication line (for example, the Internet). [Industrial Applicability]

[0246] The technology disclosed herein can be applied to management systems for agricultural machines such as tractors, harvesters, rice transplanters, riding tillers, vegetable transplanters, grass cutters, seeding machines, fertilizer applicators, or agricultural robots. [Explanation of symbols]

[0247] 50: GNSS satellite, 60: reference station, 70: field, 72: work area, 74: headland, 76: road, 80: network, 90: storage location, 92: user's home, 94: stopover location, 96: station (waiting location), 100: work vehicle, 101: vehicle body, 102: engine, 103: transmission, 104: tire, 105: cabin, 106: steering 107: driver's seat, 108: coupling device, 110: positioning device, 111: GNSS receiver, 112: RTK receiver, 115: inertial measurement unit (IMU), 116: processing circuit, 120: camera, 130: obstacle sensor, 140: LiDAR sensor, 150: sensor group, 152: steering wheel sensor, 154: turning angle sensor, 156: rotation sensor, 160: control system, 170: storage Storage device, 180: control device, 181, 182, 183, 184, 185, 186: ECU, 190: communication device, 200: operation terminal, 210: operation switch group, 220: buzzer, 230: state detection device, 232: camera, 240: drive device, 300: implement, 340: drive device, 380: control device, 390: communication device, 400: first terminal device, 420: input device, 430: display device, 450: storage device, 460: processor, 470: ROM, 480: RAM, 490: communication device, 500: second terminal device, 520: input device, 530: display device, 550: storage device, 560: processor, 570: ROM, 580: RAM, 590: communication device, 600: management device, 660: processor, 670: storage device, 670: ROM, 680: RAM, 690: communication device

Claims

1. A control system for an agricultural machine, comprising: A control device for controlling automatic operation of the agricultural machine, when preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of a part of the agricultural machine, maintenance of the part of the agricultural machine, and replenishing of materials is necessary for agricultural work in the field, the control device generates a target route to a stop-off point located outside the field where the preparatory work will be performed, based on data of an environmental map including position information of the stop-off point, before the agricultural work, and moves the agricultural machine to the stop-off point along the target route. Control system.

2. 2. The control system of claim 1, wherein the control device determines whether the preparation work is necessary based on signals output from one or more sensors for detecting the mounting state of the implement, deterioration of the implement, deterioration of parts of the agricultural machine, or a shortage of materials.

3. The control system according to claim 2 , wherein the one or more sensors include at least one of an image sensor arranged to capture an image of the implement, a part of the agricultural machine, or materials, and a sensor that measures a remaining amount of the materials.

4. The control system according to claim 1 , wherein the control device transmits a notification to a computer used by an operator performing the preparatory work when the agricultural machine is moved to the stopover area.

5. 5. A control system according to claim 1, wherein the control device automatically drives the agricultural machine to a predetermined storage location for the agricultural machine or to a field where the next scheduled agricultural work is to be performed after the preparatory work has been completed.

6. the control device determines whether or not the preparatory work is necessary for a next agricultural work in another field each time an agricultural work by the agricultural machine in the field is completed; 6. A control system according to claim 1, further comprising: a control unit for controlling a farm machine according to claim 2; a control unit for controlling a farm machine according to claim 3; and a control unit for controlling a farm machine according to claim 4;

7. the control device determines whether or not the preparation work is necessary based on signals output from one or more sensors provided in the agricultural machine after a day's agricultural work by the agricultural machine is completed; If the preparatory work is not required, moving the agricultural machine to a predetermined storage location for the agricultural machine; If the preparatory work is required, moving the agricultural machine to the stopover area, and after the preparatory work is completed, moving the agricultural machine to the storage location. A control system according to any one of claims 1 to 6.

8. The control device includes: Sending a signal to a computer at the candidate stopover location requesting execution of the preparation work; When a response indicating that the preparation work is possible is received from the computer, the candidate site is determined to be the stopover site; when a response indicating that the preparation work is possible is not received from the computer, moving the agricultural machine to a preset storage location of the agricultural machine without determining the stopover location. A control system according to any one of claims 1 to 6.

9. The control device includes: transmitting a signal to a first computer in a first candidate site selected from among a plurality of candidate sites, the signal requesting execution of the preparatory work; When a response indicating that the preparation work is possible is received from the first computer, the first candidate site is determined to be the stop-off site; if no response is received from the first computer indicating that the preparatory work is possible, transmitting a signal to a second computer in a second candidate site selected from among the plurality of candidate sites to request the execution of the preparatory work; determining the second candidate site as the stop-off site when a response indicating that the preparation work is possible is received from the second computer; A control system according to any one of claims 1 to 6.

10. A control system according to any one of claims 1 to 9, wherein the control device, when moving the agricultural machine to the stopover location, transmits a notification to a terminal device used by a user of the agricultural machine, the notification including information indicating the stopover location and details of the preparatory work.

11. An agricultural machine including a control device for controlling automatic operation; A management device that manages the agricultural machine; Equipped with the control device causes the agricultural machine to perform agricultural work in a field based on instructions from the management device, and when preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of a part of the agricultural machine, maintenance of the part of the agricultural machine, and replenishing of materials is necessary for the agricultural work, generates a target route to a stop-off point located outside the field where the preparatory work will be performed based on data of an environmental map including position information of the stop-off point, before the agricultural work, and moves the agricultural machine to the stop-off point along the target route. Agricultural management systems.

12. 12. The agricultural management system according to claim 11, wherein the control device acquires information indicating the content of the agricultural work from the management device, and determines whether preparatory work is required based on the content of the agricultural work and the state of the agricultural machine.

13. The agricultural management system described in claim 12, wherein the control device determines that the preparatory work is necessary if any of the attachment state of the implements of the agricultural machine, the type of materials, and the amount of materials do not correspond to the content of the agricultural work indicated by the information obtained from the management device, and determines that the preparatory work is not necessary if any of the attachment state of the implements, the type and amount of materials correspond to the content of the agricultural work.

Images