Route planning system for self-driving agricultural machinery.

Abstract

Invention details;

Description

Path planning system for autonomously driving agricultural machinery

[0001] The present disclosure relates to a path planning system for autonomously driving agricultural machinery.

[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 within fields using positioning systems such as the Global Navigation Satellite System (GNSS) have been put to practical use. Research and development is also underway on work vehicles that can travel autonomously not only within fields but also outside of fields.

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

[0004] JP 2021-073602 A JP 2021-029218 A

[0005] The present disclosure provides a technique for more efficiently planning paths for autonomously driven agricultural machines.

[0006] A path planning system according to one aspect of the present disclosure is a path planning system for an autonomously driven agricultural machine. The path planning system includes a storage device that stores a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations, and a processing device that generates a route for the agricultural machine on the map for each work day. The processing device determines a specific waiting location from among the plurality of waiting locations to which the agricultural machine will move after performing the final agricultural work for each work day, based on information indicating at least one of the growth status of crops in the plurality of fields, the progress of agricultural work in the plurality of fields, the planting status in the plurality of fields, and weather conditions, and generates a route from the field where the final agricultural work will be performed to the specific waiting location.

[0007] A route planning system according to another aspect of the present disclosure is a route planning system for an agricultural machine that operates autonomously across multiple regions. The route planning system includes a storage device that stores a map of an area including the multiple regions, and a processing device. The processing device determines a time when the agricultural machine will perform the agricultural work in each of the multiple regions based on information indicating an approximate time for the agricultural work to be performed by the agricultural machine for each region, and generates a route for the agricultural machine on the map so that the agricultural machine will perform the agricultural work at the time determined for each region.

[0008] A general or specific aspect 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 computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. An apparatus may be composed of multiple devices. When an apparatus is composed of two or more devices, the two or more devices may be located in a single device or may be located separately in two or more separate devices.

[0009] According to the embodiments of the present disclosure, it is possible to more efficiently plan paths for autonomously driven agricultural machines.

[0010] 1 is a diagram for explaining an overview of an agricultural management system according to a first exemplary embodiment of the present disclosure.

[0023] FIG. 1 is a side view schematically illustrating an example of a work vehicle and an implement coupled to the work vehicle.

[0024] FIG. 2 is a block diagram illustrating an example configuration of a work vehicle and an implement.

[0025] FIG. 3 is a conceptual diagram illustrating an example of a work vehicle that performs positioning using RTK-GNSS.

[0026] FIG. 4 is a diagram illustrating an example of an operation terminal and a group of operation switches provided inside the cabin.

[0027] FIG. 5 is a block diagram illustrating an example of the hardware configuration of a management device and a terminal device.

[0028] FIG. 6 is a diagram illustrating an example of a work vehicle that automatically travels along a target route in a field.

[0029] FIG. 7 is a flowchart illustrating an example of steering control operation during autonomous driving.

[0030] FIG. 8 is a diagram illustrating an example of a work vehicle traveling along a target route P.

[0031] FIG. 9 is a diagram illustrating an example of a work vehicle that is shifted to the right from the target route P.

[0032] FIG. 10 is a diagram illustrating an example of a work vehicle that is facing in an inclined direction with respect to the target route P.

[0033] FIG. 11 is a diagram illustrating an example of a situation in which multiple work vehicles are automatically traveling inside a field and on roads outside the field.

[0034] FIG. 12 is a diagram illustrating an example of a setting screen displayed on a terminal device.

[0035] FIG. 13 is a diagram illustrating an example of an agricultural work schedule created by the management device. 22. A diagram showing an example of a map referenced during route planning. A diagram showing an example of a global route. A diagram showing another example of a global route. A diagram showing examples of global routes and local routes generated in an environment where obstacles are present. A diagram showing another example of a map of an area including multiple waiting locations. A diagram showing an example of a table indicating the correspondence between waiting locations and fields. A diagram showing an example of a map clearly indicating the correspondence between waiting locations and fields. A diagram showing an example of a table for managing the growth status of crops in each field. A table showing an example of the distribution of work days for multiple fields corresponding to the example shown in FIG. 20. A diagram showing an example of a table for managing the progress of agricultural work in each field. A diagram showing an example of the distribution of work days for multiple fields corresponding to the example shown in FIG. 22. A diagram showing an example of the correspondence between crop information and the number of fields belonging to each waiting location. A diagram showing the distribution of work days for multiple fields corresponding to the example shown in FIG. 24. A diagram showing an example of the relationship between weather conditions on each work day and specific waiting locations. A diagram showing examples of days on which agricultural work is performed and specific waiting locations selected in the example shown in FIG. 26.10 is a flowchart showing an example of an operation by a management device. FIG. 11 is a diagram for explaining an overview of an agricultural management system according to a second exemplary embodiment of the present disclosure. FIG. 12 is a flowchart showing an example of an operation executed by a management device. FIG. 13 is a diagram showing an example of an area in which an agricultural machine moves. FIG. 14 is a diagram showing an example of information indicating a guideline for the timing of agricultural work by region. FIG. 15 is a diagram showing another example of information indicating a guideline for the timing of agricultural work by region. FIG. 16 is a diagram showing an example of a work plan for each agricultural work. FIG. 17 is a diagram showing an example of a setting screen displayed on a terminal device. FIG. 18 is a diagram showing an example of a map referred to when planning a route.

[0011] (Definition of Terms) In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding cultivators, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, agricultural drones, and agricultural mobile robots. Not only can a work vehicle such as a tractor function alone as an "agricultural machinery," but the entire work vehicle and an implement attached to or towed by the work vehicle can also function as a single "agricultural machinery." Agricultural machinery performs agricultural work on the ground in a field, such as tilling, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural works are sometimes referred to as "ground work" or simply "work." Traveling while performing agricultural work by a vehicle-type agricultural machine is sometimes referred to as "work travel."

[0012] "Autonomous driving" refers to controlling the movement of an agricultural machine through the action of a control device, without manual operation by a driver. Agricultural machines that perform autonomous driving are sometimes called "autonomous agricultural machines" or "robotic agricultural machines." During autonomous driving, not only the movement of the agricultural machine but also the agricultural work operations (e.g., the operation of the implement) may be automatically controlled. When the agricultural machine is a vehicle-type machine, the traveling of the agricultural machine through autonomous driving is referred to as "autonomous driving." The control device may control at least one of the following operations required for the movement of the agricultural machine: steering, adjusting the movement speed, and starting and stopping the movement. When controlling a work vehicle equipped with an implement, the control device may control operations such as raising and lowering the implement, starting and stopping the operation of the implement, etc. Autonomous driving movement may include not only movement of the agricultural machine toward a destination along a predetermined route, but also movement of the agricultural machine following a tracking target. An autonomously driving agricultural machine may move partially based on user instructions. Furthermore, an autonomously driving agricultural machine may operate in a manual driving mode, in addition to an autonomous driving mode, in which the agricultural machine moves through manual operation by the driver. Steering an agricultural machine by the action of a control device, without manual operation, is called "automatic steering." 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 human involvement in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can travel unmanned within or outside a field (e.g., on a road). During autonomous movement, it may detect obstacles and perform obstacle avoidance operations.

[0013] A "work plan" is data that schedules one or more agricultural tasks to be performed by an agricultural machine. The work plan may include, for example, information indicating the order of agricultural tasks to be performed by the agricultural machine and the field on which each task will be performed. The work plan may also include information on the scheduled date and time for each task. A work plan that includes information on the scheduled date and time for each task is particularly referred to as a "work schedule" or simply a "schedule." The work schedule may include information on the scheduled start time and / or scheduled end time for each task to be performed on each work day. The work plan or work schedule may include information for each task, such as the content of the task, the implements to be used, and / or the type and amount of agricultural materials to be used. Here, "agricultural materials" refers to materials used in agricultural tasks performed by an agricultural machine. Agricultural materials may also be simply referred to as "materials." Agricultural materials may include materials consumed in agricultural tasks, such as pesticides, fertilizers, seeds, or seedlings. The work plan may be created by a processing device that communicates with the agricultural machine to manage the agricultural task, or a processing device mounted on the agricultural machine. The processing device can create a work plan based on information input by a user (such as a farm manager or farm worker) by operating a terminal device, for example. In this specification, a processing device that communicates with agricultural machines and manages agricultural work is referred to as a "management device." The management device may manage the agricultural work of multiple agricultural machines. In this case, the management device may create a work plan that includes information about each agricultural work to be performed by each of the multiple agricultural machines. The work plan can be downloaded by each agricultural machine and stored in a storage device. Each agricultural machine can automatically head to a field and perform the scheduled agricultural work in accordance with the work plan.

[0014] An "environmental map" is data that represents the positions or areas of objects in the environment in which the agricultural machine moves using a specified coordinate system. An environmental map may be simply referred to as a "map" or "map data." The coordinate system that defines the environmental map may be, for example, a world coordinate system such as a geographic coordinate system fixed relative to the Earth. An environmental map may also include information other than the positions of objects in the environment (for example, attribute information and other information). Environmental maps include maps in various formats, such as point cloud maps or grid maps. Data for local maps or partial maps that are generated or processed in the process of constructing an environmental map are also referred to as a "map" or "map data."

[0015] A "global path" refers to data on a path connecting a starting point to a destination point when an agricultural machine moves automatically, which is generated by a processing device that performs path planning. Generating a global path is called global path planning. In the following description, the global path is also called a "target path" or simply a "path." A global path can be defined, for example, by the coordinate values ​​of multiple points through which the agricultural machine must pass. A point through which the agricultural machine must pass is called a "waypoint," and a line segment connecting adjacent waypoints is called a "link."

[0016] A "local path" refers to a local path that can avoid obstacles and is generated sequentially when an agricultural machine automatically moves along a global path. Generating a local path is called local path planning. A local path is generated sequentially based on data acquired by one or more sensing devices provided on the agricultural machine while the agricultural machine is moving. A local path may be defined by multiple waypoints along a portion of the global path. However, if an obstacle is present near the global path, waypoints may be set to bypass the obstacle. The length of the link between waypoints on a local path is shorter than the length of the link between waypoints on the global path. The device that generates the local path may be the same as or different from the device that generates the global path. For example, a management device that manages farm work by the agricultural machine may generate the global path, and a control device installed on the agricultural machine may generate the local path.

[0017] A "waiting location" is a location provided for an agricultural machine to wait while not performing agricultural work. One or more waiting locations may be provided in an environment in which the agricultural machine performs autonomous driving. The waiting location may be, for example, a warehouse, garage, barn, parking lot, or other facility. The waiting location may be a location jointly managed or used by multiple users. The waiting location may be a warehouse, barn, garage, or parking lot at the home or business of a farmer who is different from the user of the agricultural machine. Alternatively, the waiting location may be a location operated by a business that provides a service of renting autonomous agricultural machines to users. Multiple waiting locations may be scattered throughout the environment in which the agricultural machine moves. Work such as replacing or maintaining parts or implements of the agricultural machine, or replenishing materials, may be performed at the waiting locations. In such cases, parts, tools, or materials required for those work may be stored at the waiting locations.

[0018] (Embodiments) Hereinafter, embodiments of the present disclosure will be described. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend for them to limit the subject matter described in the claims. In the following description, components having the same or similar functions are designated by the same reference numerals.

[0019] The following embodiments are examples, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, step order, display screen layout, etc. shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. Furthermore, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0020] The following description will mainly focus on 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 agricultural machinery. 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 machinery. For example, the agricultural machinery may be an agricultural drone, i.e., an unmanned aerial vehicle (UAV). Agricultural drones may be used for agricultural work that can be performed from the air, such as sowing seeds, spreading fertilizer, or spraying pesticides. Agricultural drones may also be used for sensing the growth status of crops from the air. Such drones also fall under the category of agricultural machinery in the present disclosure.

[0021] (Embodiment 1) Fig. 1 is a diagram for explaining an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. The agricultural management system shown in Fig. 1 includes an agricultural machine 100, a terminal device 400, and a management device 600. The terminal device 400 is a computer used by a user of the agricultural machine 100. The management device 600 is a computer managed by a business operator that operates the agricultural management system. The agricultural machine 100, the terminal device 400, and the management device 600 can communicate with each other via a network 80. Although Fig. 1 illustrates one agricultural machine 100, the agricultural management system may include multiple agricultural machines.

[0022] The agricultural machine 100 in this embodiment is a tractor. The agricultural machine 100 may be a work vehicle other than a tractor or another type of agricultural machine. An implement can be attached to one or both of the rear and front of the agricultural machine 100. The agricultural machine 100 can travel within a field while performing agricultural work according to the type of implement. The agricultural machine 100 may also travel within or outside a field without an implement attached.

[0023] The agricultural machine 100 has an automatic driving function. That is, the agricultural machine 100 can travel by the operation of a control device, without being manually operated. The control device in this embodiment is provided inside the agricultural machine 100, and can control both the speed and steering of the agricultural machine 100. The agricultural machine 100 can travel automatically not only within a field, but also outside the field (for example, on a road).

[0024] The agricultural machine 100 is equipped with devices used for positioning or self-location estimation, such as a GNSS receiver and a LiDAR sensor. The control device of the agricultural machine 100 causes the agricultural machine 100 to travel automatically based on the position of the agricultural machine 100 and information on the target route generated by the management device 600. In addition to controlling the travel of the agricultural machine 100, the control device also controls the operation of the implement. This allows the agricultural machine 100 to perform farm work using the implement while traveling automatically within a field. Furthermore, the agricultural machine 100 can automatically travel along a target route on roads outside the field (e.g., farm roads or public roads). When traveling automatically along roads outside the field, the agricultural machine 100 travels while generating a local route along the target route that can avoid obstacles, based on data output from sensing devices such as a camera or a LiDAR sensor. Within the field, the agricultural machine 100 may travel while generating a local path as described above, or may travel along a target path without generating a local path and stop if an obstacle is detected.

[0025] The management device 600 is a computer that manages agricultural work performed by the agricultural machine 100. The management device 600 may be, for example, a server computer that centrally manages information related to fields and agricultural work on the cloud and supports agriculture by utilizing data on the cloud. The management device 600, for example, creates a work plan for the agricultural machine 100 and performs global path planning for the agricultural machine 100 in accordance with the work plan.

[0026] The management device 600 generates a global path (target path) using different methods inside and outside the field. The management device 600 generates a target path within the field based on information about the field. For example, the management device 600 can generate a target path within the field based on various information such as the pre-registered outline of the field, the area of ​​the field, the location of the entrance and exit to the field, the width of the agricultural machine 100, the width of the implement, the type of work to be done, the type of crop being cultivated, the crop growing area, the growth status of the crop, or the spacing between crop rows or furrows. The management device 600 generates a target path within the field based on, for example, information input by a user using the terminal device 400 or another device. The management device 600 may generate a path within the field so as to cover, for example, the entire work area where work is to be performed. Alternatively, the management device 600 may generate a target route only outside the work area within the field, and may not generate a target route inside the work area. In this case, the agricultural machine 100 may recognize crop rows or furrows based on data output from a camera or LiDAR sensor, and travel while generating a local route along the recognized crop rows or furrows. On the other hand, the management device 600 generates a target route outside the field in accordance with a work plan. For example, the management device 600 can generate a target route outside the field based on various information such as the order of farm work indicated in the work plan, the location of the field where each farm work will be performed, the location of the entrance and exit to the field, the scheduled start and end times of each farm work, road surface conditions, weather conditions, or traffic conditions.

[0027] The management device 600 may further generate and edit an environmental map based on data collected by the agricultural machine 100 or other moving bodies using a sensing device such as a LiDAR sensor. The management device 600 transmits the generated work plan, target route, and environmental map data to the agricultural machine 100. The agricultural machine 100 moves and automatically performs farm work based on this data.

[0028] It should be noted that the global path planning and the generation (or editing) of the environmental map may be performed by other devices, not limited to the management device 600. For example, the control device of the agricultural machine 100 may generate or edit the global path planning or the environmental map. In this way, the device that generates the environmental map, the device that generates the work plan, and the device that performs the path planning may be distributed in different locations.

[0029] The terminal device 400 is a computer used by a user located away from the agricultural machine 100. The terminal device 400 shown in FIG. 1 is a laptop computer, but is not limited to this. The terminal device 400 may be a stationary computer such as a desktop personal computer (PC), or a mobile terminal such as a smartphone or tablet computer. The terminal device 400 displays on a display a setting screen that allows the user to input information necessary to create a work plan for the agricultural machine 100 (e.g., a schedule for each agricultural work). 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 a work plan based on that information. The terminal device 400 can also be used to register one or more fields in which the agricultural machine 100 will perform agricultural work.

[0030] The configuration and operation of the system in this embodiment will be described in more detail below.

[0031] 2 is a side view that schematically illustrates an example of the agricultural machine 100 and an implement 300 connected to the agricultural machine 100. The agricultural machine 100 in this embodiment can operate in both a manual driving mode and an automatic driving mode. In the automatic driving mode, the agricultural machine 100 can travel unmanned. The agricultural machine 100 can be automatically driven both inside and outside a field.

[0032] As shown in Fig. 2, the agricultural machine 100 includes a vehicle body 101, a prime mover (engine) 102, and a transmission 103. The vehicle body 101 is provided with wheels 104 with tires, and a cabin 105. The wheels 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 agricultural machine 100 travels to work in a field, crawlers instead of tires may be attached to one or both of the front wheels 104F and the rear wheels 104R.

[0033] The agricultural machine 100 is equipped with a plurality of sensing devices that sense the surroundings of the agricultural machine 100. In the example of Fig. 2, the sensing devices include a plurality of cameras 120, a LiDAR sensor 140, and a plurality of obstacle sensors 130.

[0034] The cameras 120 may be provided, for example, on the front, rear, left and right sides of the agricultural machine 100. The cameras 120 capture images of the environment around the agricultural machine 100 and generate image data. The images captured by the cameras 120 may be transmitted to a terminal device 400 for remote monitoring. These images may be used to monitor the agricultural machine 100 during unmanned operation. The cameras 120 may also be used to generate images for recognizing surrounding features or obstacles, white lines, signs, or indications when the agricultural machine 100 travels on roads outside of fields (farm roads or public roads).

[0035] In the example of FIG. 2 , the LiDAR sensor 140 is disposed on the lower front part of the vehicle body 101. The LiDAR sensor 140 may be disposed in another position. While the agricultural machine 100 is traveling mainly outside the field, the LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object present in the surrounding environment, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 140 is processed by a control device of the agricultural machine 100. The control device can estimate the self-position of the agricultural machine 100 by matching the sensor data with an environmental map. The control device can further detect objects such as obstacles present in the vicinity of the agricultural machine 100 based on the sensor data, and generate a local path that the agricultural machine 100 should actually travel along the global path. The control device can also generate or edit an environmental map using an algorithm such as SLAM (Simultaneous Localization and Mapping). Agricultural machine 100 may be equipped with multiple LiDAR sensors positioned at different locations and with different orientations.

[0036] The multiple obstacle sensors 130 shown in FIG. 2 are provided at the front and rear of the cabin 105. The obstacle sensors 130 may also be arranged 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 sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 is used to detect surrounding obstacles during autonomous driving and to stop or detour the agricultural machine 100. A LiDAR sensor 140 may be used as one of the obstacle sensors 130.

[0037] The agricultural machine 100 further includes a GNSS unit 110. The GNSS unit 110 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the agricultural machine 100 based on the signals received by the antenna. The GNSS unit 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. In this embodiment, the GNSS unit 110 is provided on top of the cabin 105, but may be provided in another position.

[0038] The GNSS unit 110 may include an inertial measurement unit (IMU). Signals from the IMU can be used to complement the position data. The IMU can measure the tilt and minute movements of the agricultural machine 100. By complementing the position data based on satellite signals with data acquired by the IMU, the positioning performance can be improved.

[0039] The control device of the agricultural machine 100 may use, for positioning, sensing data acquired by a sensing device such as the camera 120 or the LiDAR sensor 140, in addition to the positioning results from the GNSS unit 110. When there are features that function as characteristic points in the environment in which the agricultural machine 100 travels, such as farm roads, forest roads, public roads, or orchards, the position and orientation of the agricultural machine 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 that is pre-stored in a storage device. By using the data acquired by the camera 120 or the LiDAR sensor 140 to correct or complement position data based on satellite signals, the position of the agricultural machine 100 can be identified with higher accuracy.

[0040] 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 agricultural machine 100 by changing speeds. The transmission 103 can also switch the agricultural machine 100 between forward and reverse travel.

[0041] 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 steerable wheels, and the traveling direction of the agricultural machine 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 assisting 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 control of a control device arranged in the agricultural machine 100.

[0042] 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) axle, a universal joint, and a communication cable. The coupling device 108 allows the implement 300 to be attached to and detached from the agricultural machine 100. The coupling device 108 can change the position or attitude of the implement 300 by, for example, raising and lowering the three-point link using a hydraulic device. Power can also be transmitted from the agricultural machine 100 to the implement 300 via the universal joint. The agricultural machine 100 can cause the implement 300 to perform a predetermined task while pulling the implement 300. The coupling device may be provided at the front of the vehicle body 101. In this case, the implement can be connected to the front of the agricultural machine 100.

[0043] 2 is a rotary tiller, the implement 300 is not limited to a rotary tiller. Any implement, such as a seeder (seed sowing machine), a spreader (fertilizer applicator), a transplanter, a mower (grass cutting machine), a rake, a baler (grass collector), a harvester, a sprayer, or a harrow, can be connected to the agricultural machine 100 and used.

[0044] The agricultural machine 100 shown in Fig. 2 is capable of being driven by a driver, but may be capable of being driven only unmanned. In that case, components that are required only for driven operation, such as the cabin 105, the steering device 106, and the driver's seat 107, may not be provided in the agricultural machine 100. The unmanned agricultural machine 100 can travel autonomously or by being remotely controlled by a user.

[0045] 3 is a block diagram showing an example configuration of the agricultural machine 100 and the implement 300. The agricultural machine 100 and the implement 300 can communicate with each other via a communication cable included in the coupling device 108. The agricultural machine 100 can communicate with the terminal device 400 and the management device 600 via the network 80.

[0046] The agricultural machine 100 in the example of FIG. 3 includes a GNSS unit 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, and an operation terminal 200, as well as a group of sensors 150 that detect the operating state of the agricultural machine 100, a control system 160, a communication device 190, a group of operation switches 210, a buzzer 220, and a drive device 240. These components are communicatively connected to each other via a bus. The GNSS unit 110 includes a GNSS receiver 111, an RTK receiver 112, an inertial measurement unit (IMU) 115, and a processing circuit 116. The group of sensors 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 multiple electronic control units (ECUs) 181 to 186. The implement 300 includes a drive device 340, a control device 380, and a communication device 390. Note that Fig. 3 shows components that are relatively highly related to the automatic driving operation of the agricultural machine 100, and does not show other components.

[0047] The GNSS receiver 111 in the GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is 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.

[0048] The GNSS unit 110 shown in FIG. 3 performs positioning of the agricultural machine 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of an agricultural machine 100 performing positioning using RTK-GNSS. Positioning using RTK-GNSS uses correction signals transmitted from a reference station 60 in addition to satellite signals transmitted from multiple GNSS satellites 50. The reference station 60 can be installed near the field where the agricultural machine 100 performs work travel (for example, within 10 km of the agricultural machine 100). The reference station 60 generates correction signals, for example in RTCM format, based on the satellite signals received from the multiple GNSS satellites 50 and transmits them to the GNSS unit 110. The RTK receiver 112 includes an antenna and a modem, and receives the correction signals transmitted from the reference station 60. The processing circuit 116 of the GNSS unit 110 corrects the positioning results obtained 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, a few centimeters. Position information including latitude, longitude, and altitude information is obtained through highly accurate positioning using RTK-GNSS. The GNSS unit 110 calculates the position of the agricultural machine 100 at a frequency of, for example, about 1 to 10 times per second.

[0049] 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 this case, the GNSS unit 110 does not need to be equipped with an RTK receiver 112.

[0050] Even when RTK-GNSS is used, in a location where a correction signal from the reference station 60 cannot be obtained (for example, on a road far from a field), the position of the agricultural machine 100 is estimated by another method without relying on the signal from the RTK receiver 112. For example, the position of the agricultural machine 100 can be estimated by matching the data output from the LiDAR sensor 140 and / or the camera 120 with a highly accurate environmental map.

[0051] The GNSS unit 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 also 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, velocity, displacement, and attitude of the agricultural machine 100. The processing circuit 116 can estimate the position and orientation of the agricultural machine 100 with higher accuracy based on the signals output from the IMU 115 in addition to the satellite signals and correction signals. The signals output from the IMU 115 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 115 outputs signals at a higher frequency than the GNSS receiver 111. Using these high-frequency signals, the processing circuit 116 can measure the position and orientation of the agricultural machine 100 at a higher frequency (e.g., 10 Hz or higher). A three-axis acceleration sensor and a three-axis gyroscope may be separately provided instead of the IMU 115. The IMU 115 may be provided as a device separate from the GNSS unit 110.

[0052] The camera 120 is an imaging device that captures images of the environment around the agricultural machine 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 images of the environment around the agricultural machine 100 while the agricultural machine 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 monitor checks the environment around the agricultural machine 100 using the 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 agricultural machine 100, or a single camera may be provided. A visible light camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible light camera and an infrared camera may be provided as cameras that generate images for surveillance. The infrared camera can also be used to detect obstacles at night.

[0053] The obstacle sensor 130 detects objects present around the agricultural machine 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be provided at different positions on the agricultural machine 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the agricultural machine 100. By providing such a large number of obstacle sensors 130, it is possible to reduce blind spots in monitoring obstacles around the agricultural machine 100.

[0054] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the agricultural machine 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F, which are steered wheels. The measurement values ​​of the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the control device 180.

[0055] The axle sensor 156 measures the rotational speed of the axle connected to the wheel 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 a numerical value that indicates, for example, the number of rotations per minute (unit: rpm) of the axle. The axle sensor 156 is used to measure the speed of the agricultural machine 100.

[0056] The drive device 240 includes various devices necessary for the agricultural machine 100 to travel and drive the implement 300, such as the prime mover 102, transmission 103, steering device 106, and coupling device 108 described above. The prime mover 102 may be equipped with an internal combustion engine such as a diesel engine. The drive device 240 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0057] The buzzer 220 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 220 emits the warning sound when an obstacle is detected during autonomous driving. The buzzer 220 is controlled by the control device 180.

[0058] 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 GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, the sensor group 150, and the control device 180. The data stored in the storage device 170 may include map data (environmental map) of the environment in which the agricultural machine 100 travels and data on a global route (target route) for autonomous driving. The environmental map includes information on multiple fields in which the agricultural machine 100 performs agricultural work and the roads in their surroundings. The environmental map and the target route may be generated by a processor in the management device 600. Note that the control device 180 in this embodiment has a function of generating or editing the environmental map and the target route. The control device 180 can edit the environmental map and the target route acquired from the management device 600 according to the traveling environment of the agricultural machine 100. The storage device 170 also stores work plan data received by the communication device 190 from the management device 600. The work plan includes information about a plurality of agricultural works to be performed by the agricultural machine 100 over a plurality of work days. The work plan may be, for example, work schedule data including information about the scheduled time of each agricultural work to be performed by the agricultural machine 100 on each work day. The storage device 170 also stores computer programs that cause each ECU in the control device 180 to perform various operations, which will be described later. Such computer programs may be provided to the agricultural machine 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.

[0059] The control device 180 includes a plurality of ECUs, such as 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 generation, and an ECU 186 for map generation.

[0060] The ECU 181 controls the speed of the agricultural machine 100 by controlling the prime mover 102 , the transmission 103 , and the brakes included in the drive device 240 .

[0061] The ECU 182 controls the steering of the agricultural machine 100 by controlling the hydraulic device or electric motor included in the steering device 106 based on the measurement value of the steering wheel sensor 152 .

[0062] 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 that controls the operation of the implement 300, and transmits the signal from the communication device 190 to the implement 300.

[0063] The ECU 184 performs calculations and control to achieve autonomous driving based on data output from the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, and the sensor group 150. For example, the ECU 184 identifies the position of the agricultural machine 100 based on data output from at least one of the GNSS unit 110, the camera 120, and the LiDAR sensor 140. Within the field, the ECU 184 may determine the position of the agricultural machine 100 based only on data output from the GNSS unit 110. The ECU 184 may estimate or correct the position of the agricultural machine 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. On the other hand, outside the field, the ECU 184 estimates the position of the agricultural machine 100 by using data output from the LiDAR sensor 140 or the camera 120. For example, the ECU 184 may estimate the position of the agricultural machine 100 by matching the data output from the LiDAR sensor 140 or the camera 120 with an environmental map. During autonomous driving, the ECU 184 performs calculations necessary for the agricultural machine 100 to travel along a target path or a local path based on the estimated position of the agricultural machine 100. The ECU 184 sends a speed change command to the ECU 181 and a steering angle change command to the ECU 182. In response to the speed change command, the ECU 181 changes the speed of the agricultural machine 100 by controlling the prime mover 102, the transmission 103, or the brake. In response to the steering angle change command, the ECU 182 changes the steering angle by controlling the steering device 106.

[0064] The ECU 185 sequentially generates local routes that can avoid obstacles while the agricultural machine 100 is traveling on a road along the target route. The ECU 185 recognizes obstacles that exist around the agricultural machine 100 based on data output from the camera 120, the obstacle sensor 130, and the LiDAR sensor 140 while the agricultural machine 100 is traveling. The ECU 185 generates local routes that avoid the recognized obstacles. The ECU 185 may have a function of performing global route planning instead of the management device 600. In that case, the ECU 185 determines the destination of the agricultural machine 100 based on the work plan stored in the storage device 170, and determines a target route from the start point of the movement of the agricultural machine 100 to the destination point. The ECU 185 can create a target route that, for example, enables the agricultural machine 100 to reach the destination in the shortest time based on an environmental map including road information stored in the storage device 170.

[0065] The ECU 186 generates or edits a map of the environment in which the agricultural machine 100 travels. In the present embodiment, an environmental map generated by an external device such as the management device 600 is transmitted to the agricultural machine 100 and recorded in the storage device 170, but the ECU 186 may instead generate or edit the environmental map. When the ECU 186 generates the environmental map, the environmental map may be generated based on sensor data output from the LiDAR sensor 140. When generating the environmental map, the ECU 186 sequentially generates three-dimensional point cloud data based on the sensor data output from the LiDAR sensor 140 while the agricultural machine 100 is traveling. The ECU 186 can generate the environmental map by connecting the sequentially generated point cloud data using an algorithm such as SLAM, for example. The environmental map generated in this manner is a highly accurate three-dimensional map and can be used for self-localization estimation by the ECU 184. A two-dimensional map used for global path planning can be generated based on this three-dimensional map. In this specification, the 3D map used for self-localization and the 2D map used for global route planning are both referred to as “environment maps.” ECU 186 can also edit the map by adding various attribute information related to structures, road surface conditions, road passability, etc., recognized based on data output from camera 120 or LiDAR sensor 140.

[0066] The control device 180 realizes automatic driving through the functions of these ECUs. During automatic driving, the control device 180 controls the drive device 240 based on the measured or estimated position of the agricultural machine 100 and the target route. In this way, the control device 180 can cause the agricultural machine 100 to travel along the target route.

[0067] The multiple ECUs included in the control device 180 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as in-vehicle Ethernet (registered trademark) may be used. 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 also 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.

[0068] The communication device 190 is a device including circuits for communicating with the implement 300, the terminal device 400, and the management device 600. The communication device 190 includes circuits for transmitting and receiving signals compliant with an ISOBUS standard, such as ISOBUS-TIM, between the communication device 390 of the implement 300. This allows the implement 300 to perform desired operations and acquire information from the implement 300. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 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 monitor near the agricultural machine 100. Communication between such mobile terminals can 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).

[0069] The operation terminal 200 is a terminal through which a user performs operations related to the traveling of the agricultural machine 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 liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 200, a user can perform various operations, such as switching the autonomous 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 detachable from the agricultural machine 100. A user located away from the agricultural machine 100 may operate the detached operation terminal 200 to control the operation of the agricultural machine 100. The user may control the operation of the agricultural machine 100 by operating a computer on which necessary application software is installed, such as a terminal device 400, instead of the operation terminal 200.

[0070] 5 is a diagram showing an example of the operation terminal 200 and the operation switch group 210 provided inside the cabin 105. The switch group 210 including a plurality of switches that can be operated by the user is arranged inside the cabin 105. The operation switch group 210 may include, for example, a switch for selecting a gear position of the main transmission or the auxiliary 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 agricultural machine 100 only performs unmanned operation and does not have a function for manned operation, the agricultural machine 100 does not need to be provided with the operation switch group 210.

[0071] 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 appropriate for 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 agricultural machine 100 via the communication device 390. In addition, a signal appropriate for the state of the implement 300 can also be transmitted from the communication device 390 to the agricultural machine 100.

[0072] Next, the configurations of the management device 600 and the terminal device 400 will be described with reference to Fig. 6. Fig. 6 is a block diagram illustrating a schematic hardware configuration of the management device 600 and the terminal device 400.

[0073] The management device 600 includes a storage device 650, a processor 660, a read-only memory (ROM) 670, a random access memory (RAM) 680, and a communication device 690. These components are communicatively connected to each other via a bus. The management device 600 manages the schedule of agricultural work performed in the field by the agricultural machine 100 and can function as a cloud server that supports agriculture by utilizing the managed data. A user can input information necessary for creating a work plan using the terminal device 400 and upload the input information to the management device 600 via the network 80. The management device 600 can create an agricultural work schedule, i.e., a work plan, based on the information. The management device 600 can also generate or edit an environmental map and perform global path planning for the agricultural machine 100. Instead of the management device 600 generating the environmental map, the environmental map may be distributed from an external computer to the management device 600.

[0074] The communication device 690 is a communication module for communicating with the agricultural machine 100 and the terminal device 400 via the network 80. The communication device 690 can perform wired communication in accordance with communication standards such as IEEE 1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may perform wireless communication in accordance with the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0075] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 660 may be implemented by a microprocessor or a microcontroller. Alternatively, the processor 660 may be implemented by a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), or a combination of two or more circuits selected from these circuits. The processor 660 sequentially executes a computer program stored in the ROM 670, which describes a group of instructions for executing at least one process, to achieve the desired process.

[0076] The ROM 670 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a 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 have to be a single storage medium, but may be a collection of multiple storage media. Part of the collection of multiple storage media may be removable memory.

[0077] The RAM 680 provides a working area for temporarily loading the control program stored in the ROM 670 at boot time. The RAM 680 does not have to be a single storage medium, but may be a collection of multiple storage media.

[0078] The storage device 650 mainly functions as 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 cloud storage.

[0079] The 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 communicatively connected to one another via a bus. The input device 420 is a device for converting user instructions 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, ROM 470, RAM 480, storage device 450, and communication device 490 are described in the hardware configuration example of the management device 600, and therefore their description will be omitted.

[0080] [2. Operation] Next, the operations of the agricultural machine 100, the terminal device 400, and the management device 600 will be described.

[0081] [2-1. Autonomous Driving Operation] First, an example of the operation of the autonomous driving by the agricultural machine 100 will be described. The agricultural machine 100 in this embodiment can travel autonomously both within and outside the field. Within the field, the agricultural machine 100 drives the implement 300 to perform predetermined agricultural work while traveling along a predetermined target route. If the obstacle sensor 130 detects an obstacle while traveling within the field, the agricultural machine 100 stops traveling, emits a warning sound from the buzzer 220, and transmits a warning signal to the terminal device 400 or the management device 600. Within the field, the position of the agricultural machine 100 is determined mainly based on data output from the GNSS unit 110. On the other hand, outside the field, the agricultural machine 100 travels autonomously along a target route set on a farm road or public road outside the field. While traveling outside the field, the agricultural machine 100 travels while generating a local path based on data acquired by the camera 120 or the LiDAR sensor 140. When the agricultural machine 100 detects an obstacle outside the field, the agricultural machine 100 avoids the obstacle or stops on the spot. Outside the field, the position of the agricultural machine 100 is estimated based on the data output from the LiDAR sensor 140 or the camera 120 in addition to the positioning data output from the GNSS unit 110.

[0082] Below, we will first explain the operation of the agricultural machine 100 when it travels automatically within a field. The operation of the agricultural machine 100 when it travels automatically outside a field and the processing of global path planning and local path planning outside a field will be described later.

[0083] FIG. 7 is a diagram schematically illustrating an example of an agricultural machine 100 that automatically travels within a field along a target route. In this example, the field includes a work area 72 where the agricultural machine 100 performs work using the implement 300, and a headland 74 located near the outer periphery of the field. The user can set in advance which areas of the field on the map correspond to the work area 72 or the headland 74. 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 routes P1 are located within the work area 72, and the turning routes P2 are located within the headland 74. Although each main route P1 shown in FIG. 7 is a straight route, each main route P1 may also include a curved portion. The main path P1 can be automatically generated, for example, by a user designating two points near the edge of the field (points A and B in FIG. 7 ) while viewing a map of the field displayed on the display of the operation terminal 200 or the terminal device 400. In this case, the management device 600 generates a target path within the field by setting multiple main paths P1 parallel to a line segment connecting points A and B designated by the user and connecting these main paths P1 with a turning path P2. The dashed line in FIG. 7 represents the working width of the implement 300. The working width can be set and recorded by the user operating the operation terminal 200 or the terminal device 400. Alternatively, the working width may be automatically recognized and recorded when the implement 300 is connected to the agricultural machine 100. The spacing between the multiple main paths P1 can be set to match the working width. In this way, the target path can be created based on a user operation before automatic operation is started. The target path can be created to cover, for example, the entire working area 72 within the field. The agricultural machine 100 automatically travels back and forth from the start point of work to the end point of work along a target route such as that shown in Fig. 7. Note that the target route shown in Fig. 7 is merely an example, and the target route may be determined in any manner.

[0084] Next, an example of control by the control device 180 during automatic operation in a farm field will be described.

[0085] FIG. 8 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. 8 while the agricultural machine 100 is traveling. The speed is maintained at, for example, a preset speed. While the agricultural machine 100 is traveling, the control device 180 acquires data indicating the position of the agricultural machine 100 generated by the GNSS unit 110 (step S121). Next, the control device 180 calculates the deviation between the position of the agricultural machine 100 and the target route (step S122). The deviation represents the distance between the position of the agricultural machine 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 as to reduce the deviation. If the deviation does not exceed the threshold value in step S123, the operation of step S124 is skipped. 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 can be issued, for example, when a user remotely instructs the agricultural machine 100 to stop automatic operation, or when the agricultural machine 100 reaches its destination. If a command to end the operation has not been issued, the process returns to step S121, and the same operation is executed based on a newly measured position of the agricultural machine 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, 184 in the control device 180.

[0086] 8 , the control device 180 controls the drive device 240 based only on the deviation between the position of the agricultural machine 100 identified by the GNSS unit 110 and the target route, but the control may also take into consideration the deviation in orientation. For example, when the orientation deviation, which is the angular difference between the orientation of the agricultural machine 100 identified by the GNSS unit 110 and the direction of the target route, exceeds a preset threshold, the control device 180 may change a control parameter (for example, a steering angle) of the steering device of the drive device 240 in accordance with the deviation.

[0087] An example of steering control by the control device 180 will be described in more detail below with reference to FIGS. 9A to 9D.

[0088] FIG. 9A is a diagram showing an example of the agricultural machine 100 traveling along a target path P. FIG. 9B is a diagram showing an example of the agricultural machine 100 at a position shifted to the right from the target path P. FIG. 9C is a diagram showing an example of the agricultural machine 100 at a position shifted to the left from the target path P. FIG. 9D is a diagram showing an example of the agricultural machine 100 facing in an inclined direction with respect to the target path P. In these figures, the pose indicating the position and orientation of the agricultural machine 100 measured by the GNSS unit 110 is expressed as r(x, y, θ). (x, y) are coordinates representing the position of the reference point of the agricultural machine 100 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the Earth. In the examples shown in FIGS. 9A to 9D , the reference point of the agricultural machine 100 is at a 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 agricultural machine 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.

[0089] As shown in FIG. 9A, if the position and orientation of the agricultural machine 100 do not deviate from the target path P, the control device 180 maintains the steering angle and speed of the agricultural machine 100 without changing them.

[0090] As shown in Fig. 9B , when the position of the agricultural machine 100 has shifted to the right from the target path P, the control device 180 changes the steering angle so that the traveling direction of the agricultural machine 100 tilts to the left and approaches the path P. At this time, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted according to the magnitude of the position deviation Δx, for example.

[0091] 9C , when the position of the agricultural machine 100 has shifted to the left from the target path P, the control device 180 changes the steering angle so that the traveling direction of the agricultural machine 100 tilts to the right and approaches the path P. In this case, too, the speed may 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.

[0092] As shown in FIG. 9D , when the position of the agricultural machine 100 is not significantly deviated from the target path P but the heading is different from the direction of the target path P, the control device 180 changes the steering angle so as to reduce the azimuth deviation Δθ. 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 greater the amount of change in the steering angle according to the azimuth deviation Δθ. When the absolute value of the position deviation Δx is large, the steering angle will be changed significantly to return to the path P, which inevitably increases the absolute value of the azimuth deviation Δθ. 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) used to determine the steering angle.

[0093] Control techniques such as PID control or MPC control (model predictive control) can be applied to the steering control and speed control of the agricultural machine 100. By applying these control techniques, it is possible to smooth the control that brings the agricultural machine 100 closer to the target path P.

[0094] If an obstacle is detected by one or more obstacle sensors 130 while the agricultural machine 100 is traveling, the control device 180 stops the agricultural machine 100. At this time, the control device 180 may cause the buzzer 220 to emit a warning sound or may send a warning signal to the terminal device 400 or the management device 600. If it is possible to avoid the obstacle, the control device 180 may control the drive device 240 to avoid the obstacle.

[0095] The agricultural machine 100 in this embodiment is capable of autonomous travel not only within a field but also outside the field. Outside the field, the control device 180 can detect objects (e.g., other vehicles or pedestrians) that are located relatively far from the agricultural machine 100 based on data output from the camera 120 or the LiDAR sensor 140. The control device 180 generates a local route so as to avoid the detected objects, and performs speed control and steering control along the local route, thereby realizing autonomous travel on roads outside the field.

[0096] As described above, the agricultural machine 100 in this embodiment can automatically travel unmanned within and outside a field. FIG. 10 is a diagram schematically illustrating an example of a situation in which a plurality of agricultural machines 100 are automatically traveling inside a field 70 and on a road 76 outside the field 70. An environmental map and a target route of an area including a plurality of fields and their surrounding roads are recorded in the storage device 170. The environmental map and the target route may be generated by the management device 600 or the ECU 185. When the agricultural machine 100 travels on a road, the agricultural machine 100 travels along the target route with the implement 300 raised while sensing the surroundings using sensing devices such as the camera 120 and the LiDAR sensor 140. During travel, the control device 180 sequentially generates local routes and causes the agricultural machine 100 to travel along the local routes. This enables the agricultural machine 100 to travel automatically while avoiding obstacles. The target route may be changed during travel depending on the situation.

[0097] [2-2. Creation of Work Plan] The agricultural machine 100 in this embodiment automatically moves between fields and performs agricultural work in each field in accordance with a work plan created by the management device 600. The work plan includes information about one or more agricultural works to be performed by the agricultural machine 100. For example, the work plan includes information about one or more agricultural works to be performed by the agricultural machine 100 and the fields on which each agricultural work is to be performed. The work plan may include information about a plurality of agricultural works to be performed by the agricultural machine 100 over a plurality of work days and the fields on which each agricultural work is to be performed. More specifically, the work plan may be a database including information about a work schedule indicating which agricultural machine will perform which agricultural work in which field at what time for each work day. An example in which the work plan is data on such a work schedule will be described below. The work plan may be created by the processor 660 of the management device 600 based on information input by the user using the terminal device 400. An example of a method for creating a work schedule will be described below.

[0098] Fig. 11 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 up application software for creating a schedule and displays the setting screen 760 shown in Fig. 11 on the display device 430. The user can input information necessary for creating a work schedule on this setting screen 760.

[0099] 11 shows an example of a setting screen 760 for 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 modified as appropriate. The setting screen 760 in the example of FIG. 11 includes a date setting section 762, a crop plan selection section 763, a field selection section 764, a task 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.

[0100] 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 performed.

[0101] The crop plan selection section 763 displays a list of names of crop plans created in advance. The user can select a desired crop plan from the list. Crop plans are created in advance for each type and variety of crop and are recorded in the storage device 650 of the management device 600. A crop plan is a plan that determines which crops will be cultivated (i.e., planted) in which fields. A crop plan is created by a manager who manages multiple fields before the crops are planted in the fields. In the example of Figure 11, a crop plan for the rice variety "Koshihibuki" is selected. In this case, the content set on the setting screen 760 is associated with the crop plan for "Koshihibuki."

[0102] The field selection section 764 displays the fields on the map. The user can select any field from the displayed fields. In the example of FIG. 11, the portion showing "Field A" is selected. In this case, the selected "Field A" is set as the field where agricultural work will be performed.

[0103] The work selection section 765 displays a plurality of farming works required to cultivate the selected crop. The user can select one farming work from the plurality of farming works. In the example of FIG. 11 , "plowing" is selected from the plurality of farming works. In this case, the selected "plowing" is set as the farming work to be performed.

[0104] The worker selection section 766 displays pre-registered workers. The user can select one or more workers from the displayed multiple workers. In the example of FIG. 11 , "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 worker does not actually perform the agricultural work, but may simply remotely monitor the agricultural work performed by the agricultural machine.

[0105] 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 performing the farm work.

[0106] The machine selection section 768 is a section for setting the agricultural machine to be used in the agricultural work. The machine selection section 768 may display, for example, the type or model of the agricultural machine previously registered by the management device 600, and the type or model of the implement that can be used. The user can select a specific machine from the displayed machines. In the example of FIG. 11 , an implement with the model number "NW4511" has been selected. In this case, that implement is set as the machine to be used in the agricultural work.

[0107] 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 agricultural work.

[0108] The spray amount setting section 770 displays a numerical value input from the input device 420. The input numerical value is set as the spray amount.

[0109] When the crop plan, field, agricultural 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. Based on the received information, the processor 660 creates a schedule of agricultural work to be performed by each agricultural machine, and stores the schedule in the storage device 650.

[0110] The agricultural work information 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 about agricultural work other than the agricultural work shown in FIG. 11 may also be set.

[0111] FIG. 12 is a diagram showing an example of an agricultural work schedule created by the management device 600. The schedule in this example includes information indicating, for each registered agricultural machine, the date and time the agricultural work will be performed, the field, the work content, and the implement to be used. In addition to the information shown in FIG. 12 , the schedule may also include other information depending on the work content, such as the type of pesticide or the amount of pesticide to be sprayed. In accordance with this schedule, the processor 660 of the management device 600 issues agricultural work instructions to the agricultural machine 100. The schedule may be downloaded by the control device 180 of the agricultural machine 100 and also stored in the storage device 170. In this case, the control device 180 may autonomously start operating in accordance with the schedule stored in the storage device 170.

[0112] In the present embodiment, the work plan is created by the management device 600, but the work plan may be created by another device. For example, the processor 460 of the terminal device 400 or the control device 180 in the agricultural machine 100 may have a function of generating or updating the work plan.

[0113] [2-3. Route Planning] Next, an example of the operation of route planning in this embodiment will be described in more detail.

[0114] The management device 600 in this embodiment functions as a path planning system for the agricultural machine 100. The storage device 650 stores a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations. The processor 660 of the management device 600 functions as a processing device that generates a path (the global path described above) for the agricultural machine 100 on the map. The management device 600 generates a path for the agricultural machine 100 for each work day based on a work plan. For example, the management device 600 generates paths between fields and paths connecting the fields and waiting locations for each work day in accordance with the agricultural work schedule for each work day indicated in the work plan.

[0115] FIG. 13 is a diagram showing an example of a map referenced during route planning. This map is a two-dimensional digital map and can be generated by the management device 600 or another device. The map shown in FIG. 13 includes information on the positions (e.g., latitude and longitude) of multiple fields 70 where the agricultural machine 100 performs agricultural work and each point on roads 76 in the surrounding areas. This map also includes location information of multiple waiting locations 90 where the agricultural machine 100 temporarily waits. The waiting locations 90 are registered in advance by, for example, an administrator of the agricultural management system and recorded in the storage device 650. A map such as that shown in FIG. 13 can be created for the entire area in which the agricultural machine 100 can travel. Note that although the map shown in FIG. 13 is a two-dimensional map, a three-dimensional map may also be used for route planning.

[0116] The waiting area 90 may be, for example, a place that is shared by multiple agricultural machines. The waiting area 90 may be, for example, a facility such as a parking lot or garage that is managed and operated by a business operator that operates an agricultural management system, an agricultural cooperative, or a city, town, or village. If the waiting area 90 is a facility that is locked at night, theft of agricultural machines parked in the waiting area 90 can be prevented. A part of any field may be used as the waiting area 90. Although three waiting areas 90 are illustrated in FIG. 13 , two or four or more waiting areas 90 may be provided.

[0117] Before agricultural work begins on each work day, the management device 600 reads from the storage device 650 a map of the area including the field where agricultural work is scheduled to be performed on that work day, and generates a route (global route) for the agricultural machine 100 based on the map.

[0118] FIG. 14 is a diagram showing an example of a route to be generated. FIG. 14 illustrates a group of fields 70A where agricultural work will be performed on a certain work day, a group of fields 70B where agricultural work will be performed on the next work day, and a group of fields 70C where agricultural work will be performed on the work day after that. FIG. 14 also illustrates three waiting locations 90A, 90B, and 90C where the agricultural machine 100 waits. For ease of explanation, FIG. 14 illustrates the groups of fields 70A, 70B, and 70C and the waiting locations 90A, 90B, and 90C as being located relatively close to one another. In reality, the distances between the groups of fields 70A, 70B, and 70C and the waiting locations 90A, 90B, and 90C may be long, for example, 500 m to 10 km or more.

[0119] In Fig. 14 , of the routes generated by the management device 600, routes generated on the road 76 are indicated by arrows. Routes generated within the field are not shown. Routes within the field are generated separately from routes outside the field, as described with reference to Fig. 7 . The management device 600 generates an overall global route by connecting routes outside the field with routes within the field. Solid arrows in Fig. 14 indicate examples of routes of the agricultural machine 100 on a certain work day. Dashed arrows indicate examples of routes of the agricultural machine 100 on the next work day.

[0120] In the example shown in FIG. 14 , the management device 600 generates a route for one work day that starts from standby location 90A and passes through the group of fields 70A in order to reach standby location 90B. This is because standby location 90B is the closest standby location to the group of fields 70B where work is scheduled for the next work day. The management device 600 generates a route for the next work day that starts from standby location 90B and passes through the group of fields 70B in order to reach standby location 90C. This is because standby location 90C is the closest standby location to the group of fields 70C where work is scheduled for the next work day. In this way, the management device 600 generates a route from the field where work is last performed on each work day to the standby location that is the shortest on average from the group of fields where work is scheduled for the next work day. The agricultural machine 100 travels along the generated route.

[0121] In the example shown in FIG. 14 , on a certain work day, the agricultural machine 100 departs from a standby location 90A, visits the group of fields 70A in which work is scheduled for that day in order, and performs the work indicated in the schedule in each field. In each field, the agricultural machine 100 performs the work while automatically traveling along a work travel route, for example, by the method described with reference to FIGS. 7 to 9D . When work in one field is completed, the agricultural machine 100 enters the next field and performs the work in the same manner. In this way, when work in the last field of the day is completed, the agricultural machine 100 moves to the standby location 90A. The agricultural machine 100 waits at the standby location 90A until the next work day. On the next work day, the agricultural machine 100 departs from the standby location 90A, visits the group of fields 70B in which work is scheduled for that day in order, and performs the work indicated in the schedule in each field. When the agricultural work in the last field of the day is completed, the agricultural machine 100 moves to the standby location 90B and waits there until the next work day. Similarly, on the next work day, the agricultural machine 100 departs from the standby location 90B, performs agricultural work in the group of fields 70C in order, and then heads to the specified standby location. Through this operation, the scheduled agricultural work can be completed while moving the agricultural machine 100 efficiently along the optimal route according to the schedule. As in this example, by providing multiple standby locations, the time required for moving the agricultural machine 100 and the amount of fuel consumed can be reduced compared to when the agricultural machine 100 returns to the same location (e.g., a storage shed) each time. As a result, the efficiency of a series of agricultural works spanning multiple work days can be improved.

[0122] Next, an example of a method for generating a global route will be described in more detail with reference to FIG. 15 . FIG. 15 is a diagram showing an example of a global route generated on a certain work day. In this example, the management device 600 generates a route from a waiting location 90 back to the waiting location 90 via four fields 70. The management device 600 generates a first route 30A within the field 70 and generates a second route 30B on a road 76 around the field 70. In FIG. 15 , the first route 30A is shown only for the field 70 in the lower left, and first routes in the other fields 70 are not shown.

[0123] The management device 600 generates a first path 30A within each field 70 on the map, as indicated by the solid arrow in FIG. 15 . The management device 600 generates the first path 30A based on the user's advance settings, as described with reference to FIG. 7 . The first path 30A can be generated to cover the entire working area 72 by repeatedly moving back and forth from the start point S to the end point G. The row spacing on the first path 30A can be determined taking into consideration the width and turning performance of the agricultural machine 100 and the implement 300. The management device 600 generates the first path 30A within the field 70 based on information about the registered field 70. For example, the management device 600 generates the first path 30A based on information such as the outline and area of ​​the registered field 70, as well as the ranges of the working area 73 and headland 74 set by the user. The first path 30A can be generated for each field 70, for example, before the agricultural machine 100 starts operating in an automatic driving mode.

[0124] The management device 600 further generates a route from the waiting location 96 to the field 70 and a route connecting multiple fields 70 as second routes 30B. In the example of FIG. 15 , in addition to the road 76, the management device 600 generates a second route 30B at the entrance of the field 70 and generates a third route 30C that connects the second route 30B generated at the entrance with a start point S of the first route 30A. In addition to the road 76, the management device 600 also generates a second route 30B at the exit of the field 70 and generates a fourth route 30D that connects the second route 30B generated at the exit with an end point G of the first route 30A. In the example shown in FIG. 15 , the entrance and exit of the field 70 are common, and will be referred to as an entrance / exit 71 hereinafter. Each field 70 may have multiple entrances / exits 71, or the entrance and exit may be located in different locations. The environmental map includes not only the position information of each field 70, but also the position information of the entrances and exits 71 (or entrances and exits) of each field 70. The management device 600 can generate the second route 30B based on the position information. The management device 600 generates the third route 30C and the fourth route 30D in areas of the field 70 excluding areas where agricultural work has already been performed. This makes it possible to prevent the agricultural machine 100 from trampling over work areas 72 where agricultural work has already been performed.

[0125] The management device 600 can generate all routes for a predetermined period (e.g., half a day, one day, three days, etc.) by executing the above-described route generation process for each field 70 and the roads 76 in its vicinity. For example, for each work day, the management device 600 may generate all routes necessary to complete all of the farm work scheduled for that work day before the agricultural machine 100 starts traveling. Alternatively, the management device 600 may first generate routes for performing part of the farm work scheduled for each work day, and then, after that part of the farm work is completed, generate routes for performing the remaining farm work for that work day. Furthermore, the management device 600 may generate all routes necessary to complete all of the farm work scheduled for multiple work days at once. The management device 600 may change the routes once generated depending on various conditions, such as the progress of the farm work, weather conditions, traffic conditions, or the condition of farm roads.

[0126] The management device 600 generates the second route 30B along the road 76 in accordance with a predetermined route generation algorithm. The management device 600 may use, for example, a Dijkstra algorithm or an A ＊ The second route 30B can be generated according to a route generation algorithm based on a search algorithm such as a search ...

[0127] Through the above operations, the management device 600 can generate a global route from the start point of the agricultural machine 100 to the destination point via one or more fields 70. The management device 600 may generate a route for the agricultural machine 100 for each predetermined period (one day, half a day, three hours, etc.), for example. The management device 600 generates a global route for the agricultural machine 100 so that the agricultural machine 100 performs farm work in a specified field 70 at a specified time according to a schedule created in advance. Information on the generated global route is transmitted to the agricultural machine 100 and recorded in the storage device 170. The ECU 184, which performs automatic driving control, controls the ECUs 181 and 182 so that the agricultural machine 100 travels along the global route. As a result, the agricultural machine 100 starts traveling along the global route.

[0128] When the agricultural machine 100 is traveling outside a field, obstacles such as pedestrians or other vehicles may be present on or near the global route. In order to prevent the agricultural machine 100 from colliding with the obstacle, the ECU 185 in the control device 180 sequentially generates local routes that can avoid the obstacle while the agricultural machine 100 is traveling. The ECU 185 generates the local route based on sensing data acquired by sensing devices (such as the obstacle sensor 130, the LiDAR sensor 140, and the camera 120) included in the agricultural machine 100 while the agricultural machine 100 is traveling. The local route is defined by a plurality of waypoints along part of the global route. The ECU 185 determines whether an obstacle is present on or near the path of the agricultural machine 100 based on the sensing data. If such an obstacle is present, the ECU 185 sets a plurality of waypoints to avoid the obstacle and generates a local route. If no obstacles are present, the ECU 185 generates a local path that is approximately parallel to the global path. Information indicating the generated local path is sent to the ECU 184 for automatic driving control. The ECU 184 controls the ECUs 181 and 182 so that the agricultural machine 100 travels along the local path. This allows the agricultural machine 100 to travel while avoiding obstacles. Note that if there are traffic lights on the road on which the agricultural machine 100 is traveling, the agricultural machine 100 may, for example, recognize the traffic light based on an image captured by the camera 120, stop when the light is red, and start when the light is green.

[0129] FIG. 16 is a diagram showing an example of a global route and a local route generated in an environment where obstacles are present. In FIG. 16, a global route 30 is illustrated by a dotted arrow, and a local route 32 generated sequentially during travel is illustrated by a solid arrow. The global route 30 is defined by a plurality of waypoints 30p. The local route 32 is defined by a plurality of waypoints 32p set at intervals shorter than the intervals between the waypoints 30p. Each waypoint has, for example, position and orientation information. The management device 600 generates the global route 30 by setting the plurality of waypoints 30p at a plurality of locations, including intersections on a road 76. The intervals between the waypoints 30p may be relatively long, for example, several meters to several tens of meters. The ECU 185 generates the local route 32 by setting the plurality of waypoints 32p based on sensing data output from the sensing device while the agricultural machine 100 is traveling. The intervals between the waypoints 32p on the local route 32 are shorter than the intervals between the waypoints 30p on the global route 30. The intervals between the waypoints 32p may be, for example, on the order of several tens of centimeters (cm) to several meters (m). The local route 32 is generated within a relatively narrow range (for example, a range of about several meters) starting from the position of the agricultural machine 100. FIG. 16 shows an example of a series of local routes 32 generated while the agricultural machine 100 travels along a road 76 between fields 70 and turns left at an intersection. While the agricultural machine 100 is moving, the ECU 185 repeats the operation of generating a local route from the position of the agricultural machine 100 estimated by the ECU 184 to a point, for example, several meters ahead. The agricultural machine 100 travels along the local routes that are successively generated.

[0130] In the example shown in Fig. 16 , an obstacle 40 (e.g., a person) is present ahead of the agricultural machine 100. Fig. 16 illustrates, as a sector, an example of a range sensed by a sensing device, such as the camera 120, the obstacle sensor 130, or the LiDAR sensor 140, mounted on the agricultural machine 100. In such a situation, the ECU 185 generates a local path 32 so as to avoid the obstacle 40 detected based on the sensing data. The ECU 185 determines whether there is a possibility that the agricultural machine 100 will collide with the obstacle 40, for example, based on the sensing data and the width of the agricultural machine 100 (including the width of the implement if one is attached). If there is a possibility that the agricultural machine 100 will collide with the obstacle 40, the ECU 185 sets a plurality of waypoints 32p so as to avoid the obstacle 40, and generates the local path 32. The ECU 185 may recognize not only the presence or absence of an obstacle 40 but also the condition of the road surface (for example, mud, depressions, etc.) based on the sensing data, and if a section where travel is difficult is detected, may generate a local route 32 to avoid such a section. The agricultural machine 100 travels along the local route 32. If the obstacle 40 cannot be avoided no matter how the local route 32 is set, the control device 180 may stop the agricultural machine 100. At this time, the control device 180 may send a warning signal to the terminal device 400 or the management device 600 to alert a monitor. After stopping, if it is recognized that the obstacle 40 has moved and there is no longer a risk of collision, the control device 180 may resume travel of the agricultural machine 100.

[0131] [2-4. Determining a standby location according to the situation] Next, a more detailed example of a method for determining a standby location for an agricultural machine will be described. In the following explanation, an example will be described in which a plurality of agricultural machines, including the agricultural machine 100, are autonomously driven within a relatively wide area and perform agricultural work automatically in a plurality of fields in that area. The agricultural machine may, for example, be autonomously driven within a wide area including a plurality of areas with different weather conditions. Such an agricultural machine may be used for a service that performs agricultural work on behalf of a user in a plurality of fields in each area.

[0132] Fig. 17 is a diagram showing an example of a map of an area where an agricultural machine performs farm work. The map shown in Fig. 16 is an explanatory map created by processing an aerial photograph created by the Geospatial Information Authority of Japan. The map actually used is not necessarily based on an aerial photograph created by the Geospatial Information Authority of Japan, and may have any data format. The map is generated for the entire area where the agricultural machine travels, and is recorded in the storage device 650.

[0133] The map shown in FIG. 17 includes information on the positions (e.g., latitude and longitude) of multiple fields 70, multiple waiting locations 90, and each point on the roads 76 surrounding the fields 70. On the map shown in FIG. 17, the positions of the waiting locations 90 are indicated by triangle marks. The waiting locations 90 may be facilities such as warehouses, garages, or parking lots managed by the operator of the agricultural management system. A part of any of the fields may be used as the waiting locations 90.

[0134] Each agricultural machine operates automatically under the control of the management device 600 and performs the agricultural work assigned to it. The map is created in advance so as to cover the entire area in which all agricultural machines operated under the control of the management device 600 will travel. Each agricultural machine may be, for example, a tractor such as the above-mentioned agricultural machine 100, or may be another type of agricultural mobile body such as a rice transplanter, a combine harvester, a vegetable harvester, or an agricultural drone.

[0135] 17 illustrates five waiting locations 90. The waiting locations 90 may be set at intervals of, for example, several hundred meters to several kilometers. The number and distribution of the waiting locations 90 are determined depending on various conditions, such as the number of agricultural machines in operation, the distribution of the fields 70, the size of the area in which the agricultural machines are operated, and the road traffic environment. The waiting locations 90 are registered, for example, by an administrator of the agricultural management system. Location information of each waiting location 90 and information indicating the group of fields corresponding to each waiting location 90 are recorded in advance in the storage device 650.

[0136] The management device 600 in this embodiment determines a specific standby location from among a plurality of standby locations 90 to which each agricultural machine will move after completing the final agricultural work on each work day, based on information indicating at least one of the growth status of crops in a plurality of fields 70, the progress status of agricultural work, the planting status, and weather conditions. The management device 600 generates a route from the field in which the final agricultural work will be performed on that work day to the specific standby location. This makes it possible to appropriately select the specific standby location to which the agricultural machine will move after completing the final agricultural work on each work day, depending on various conditions such as the growth status of crops, the progress status of agricultural work, the planting status, or weather conditions.

[0137] The growth status of crops, the progress of agricultural work, planting status, or weather conditions affect work plans. For example, if crop growth or the progress of agricultural work is faster or slower than planned, it becomes necessary to review the work plan. Alternatively, if bad weather prevents the originally planned agricultural work from being carried out, it becomes necessary to review the subsequent work plan. Furthermore, if the optimal timing for agricultural work differs depending on the variety of crop, it may become necessary to adjust the work plan depending on the variety of crop being planted.

[0138] In preparation for such a case, the management device 600 in this embodiment monitors at least one of the following: the growth status of crops in each field, the progress of agricultural work, the planting status, and weather conditions. When generating a route for the agricultural machine on each work day, the management device 600 determines a waiting location after work on that work day is completed based on at least one of the growth status of crops, the progress of agricultural work, the planting status, and weather conditions. For example, the management device 600 determines a distribution of work days in the fields located around each of the multiple waiting locations based on at least one of the growth status of crops, the progress of agricultural work, the planting status, and weather conditions. Based on the determined distribution of work days, the management device 600 determines a specific waiting location to which the agricultural machine will head after completing the final agricultural work on each work day. For example, when determining a specific standby location for each work day, the management device 600 may identify a group of fields where agricultural work will be performed on the next work day based on the distribution of work days for fields located around each standby location, and determine the standby location closest to that group of fields as the specific standby location. Here, the standby location closest to the group of fields refers to the standby location among multiple standby locations that has the shortest average straight-line distance or travel distance from multiple fields included in the group of fields. Such an operation can shorten the travel distance of the agricultural machine, resulting in effects such as shorter travel time and reduced fuel consumption.

[0139] In this embodiment, data (e.g., a table) indicating the correspondence between a plurality of waiting locations and a plurality of fields is pre-recorded in the storage device 650. FIG. 18 is a diagram showing an example of a table showing an example of the correspondence between waiting locations and fields. In this table, of 100 fields (fields #1 to #100), fields #1 to #30 are associated with waiting location A, fields #31 to #60 are associated with waiting location B, and fields #61 to #100 are associated with waiting location C. In the following description, when a certain field is associated with a certain waiting location, the field is said to "belong" to that waiting location. A table such as that shown in FIG. 18 can be generated, for example, when the standby location closest to fields #1 to #30 is standby location A, the standby location closest to fields #31 to #60 is standby location B, and the standby location closest to fields #61 to #100 is standby location C. By referencing such a table, the management device 600 can determine the standby location closest to the group of fields where agricultural work scheduled for the next work day will be performed. Note that the table shown in FIG. 18 is an example, and the number of standby locations is not limited to three, but may be four or more. Furthermore, the number of fields associated with each standby location is arbitrary and is not limited to the number shown in the figure. This also applies to the subsequent figures.

[0140] FIG. 19 is a diagram showing an example of a map clearly indicating the correspondence between waiting locations and fields. The group of fields 70A belonging to waiting location 90A, the group of fields 70B belonging to waiting location 90B, and the group of fields 70C belonging to waiting location 90C are shown with different patterns. In this way, each field on which agricultural work is performed automatically by the agricultural machine 100 is associated with a single waiting location that is relatively close to that field. Note that each field does not necessarily need to be associated with the nearest waiting location. It may be better to group nearby fields into the same group based on attributes such as the crops planted or the owner. In such cases, a group of fields, rather than individual fields, may be associated with a single waiting location. In such a configuration, some fields within a group may be associated with a waiting location other than the nearest waiting location (e.g., the second-closest waiting location).

[0141] The management device 600 in this embodiment generates a work plan, such as that illustrated in FIG. 12 , for each agricultural machine based on data acquired from one or more users. Based on the work plan, the management device 600 determines a route for each agricultural machine on each work day and instructs each agricultural machine to move along the route to perform agricultural work. The work plan defines the distribution of work days in multiple fields where each agricultural machine will perform agricultural work. The management device 600 determines a specific standby location to which each agricultural machine will move after completing agricultural work on each work day, in accordance with the distribution of work days indicated by the work plan. In determining the specific standby location, the management device 600 references information (e.g., data such as a table) indicating various conditions in each field, such as the growth status of crops, the progress of agricultural work, the planting status, or weather conditions. The management device 600 updates the work plan in accordance with these conditions and determines the standby location and route for the agricultural machine on each work day in accordance with the distribution of work days indicated by the updated work plan. The management device 600 may check these conditions, for example, for each work day or at regular intervals, modify the work plan according to the conditions, and determine the waiting location for each work day according to the modified work plan.

[0142] A specific example of a method for determining a waiting location depending on the growth status of crops, the progress of agricultural work, the planting status, or the weather conditions will be described below.

[0143] FIG. 20 illustrates an example of a table for managing the growth status of crops in each field. This table includes information on the growth status (e.g., average plant height) and planned work dates for each field. Data on the growth status of crops can be acquired by a mobile object, such as a drone equipped with a LiDAR sensor or a camera. The growth status can be expressed not only by plant height but also by other indices, such as a vegetation index. The management device 600 determines planned work dates for agricultural work, such as harvesting, for each field based on the growth status of crops in each field and writes the results into the table. For example, the management device 600 determines work dates for each field so that work is performed earlier in fields where crops grow faster. In the example shown in FIG. 20 , crops grow relatively quickly in fields #31 to #60 belonging to standby location B, while crops grow relatively slowly in fields #61 to #100 belonging to standby location C. In such a case, the management device 600 advances the work days for fields #31 to #60 belonging to standby location B and delays the work days for fields #61 to #100 belonging to standby location C. Note that, for ease of explanation, the table shown in FIG. 20 includes information indicating which standby location each field corresponds to, but this information may be omitted. As shown in FIG. 18, if the correspondence between fields and standby locations is recorded in a separate table, the table shown in FIG. 20 does not need to include information about the standby locations. This also applies to the subsequent figures.

[0144] FIG. 21 is a table showing an example of the distribution of work days for multiple fields in the growth conditions shown in FIG. 20 . The management device 600 tallies, for each work day, the number of fields in which agricultural work is being performed among the fields belonging to each waiting location. For example, for each work day, the management device 600 determines the waiting location with the largest number of fields in the vicinity in which agricultural work is being performed as the specific waiting location to which the agricultural machine will head after the final agricultural work of that day is completed. In the example of FIG. 21 , the management device 600 determines waiting location B as the specific waiting location from September 1 to September 5, waiting location A as the specific waiting location from September 6 to September 10, and waiting location C as the specific waiting location from September 11 to September 15.

[0145] 20 and 21, the management device 600 updates the distribution of work days in accordance with the growth status of crops in multiple fields, and determines a specific waiting location for each work day based on the updated distribution of work days. This makes it possible to set work days for each field so that agricultural work is carried out in order of, for example, the field with the fastest crop growth, and also shortens the total travel distance of agricultural machinery, enabling agricultural work to be carried out more efficiently.

[0146] FIG. 22 shows an example of a table for managing the progress of agricultural work in each field. This table includes information on the progress and scheduled work dates of specific agricultural work in each field. The progress can be expressed, for example, by status information indicating whether the agricultural work has already been completed at that time. In the example shown in FIG. 22, the agricultural work is tillage, and the progress is expressed by statuses such as "not tilled" or "tilled." In this example, the management device 600 determines the scheduled work date for fields with a progress status of "not tilled" and writes that information into the table. The management device 600 periodically (e.g., daily) determines the work dates for the following days and updates the table for fields where tillage is not yet completed. In the example of FIG. 22, work has already been completed in fields #61 to #100 near waiting area C. In such a case, for the remaining fields where work has not been completed, the work date may be determined so that work is carried out in order, for example, starting with the field closest to the location of the agricultural machine at that time. For a field where the agricultural machine has completed plowing, the progress status is changed from "not plowing" to "plowing completed." The change in progress status may be performed automatically based on information such as a work completion notification sent from the agricultural machine. Alternatively, the work may be determined to be complete when it is detected that the agricultural machine has finished work and left the field based on the location information of the agricultural machine, and the progress status may be changed.

[0147] FIG. 23 is a diagram showing an example of the distribution of work days for multiple fields corresponding to the example shown in FIG. 22 . For each work day, the management device 600 determines the standby location with the largest number of fields around which agricultural work is being performed as the specific standby location. In this example, since agricultural work is scheduled only in fields belonging to standby location B on April 19 and April 20, standby location B is determined as the specific standby location. Since agricultural work is scheduled only in fields belonging to standby location A on April 21 and April 22, standby location A is determined as the specific standby location. Even after the distribution of work days is determined in this manner, there may be cases where work does not proceed as planned and progress falls behind schedule. In such cases, the management device 600 updates the progress status and corrects the work days for each field based on the updated progress status.

[0148] 22 and 23, the management device 600 updates the distribution of work days according to the progress of agricultural work in multiple fields and determines a specific waiting location for each work day based on the updated distribution of work days. This makes it possible to determine appropriate waiting locations and optimize route planning according to the progress of agricultural work, for example. This shortens the total travel distance of agricultural machinery and enables agricultural work to be carried out more efficiently.

[0149] FIG. 24 is a diagram showing an example of the correspondence between the crop information and the number of fields belonging to each waiting location. The crop information indicates, for example, the variety of the crop to be planted. In the example of FIG. 24, rice varieties such as "Koshihikari A," "Koshihikari B," and "Hinohikari" are recorded as the crop information. In such a case, the management device 600 determines the work days for each field so that agricultural work in fields planted with the same variety of crop is performed intensively over a short period of time. In the example shown in FIG. 24, fields planted with "Koshihikari A" are concentrated around waiting location B, fields planted with "Koshihikari B" are concentrated around waiting location A, and fields planted with "Hinohikari" are concentrated around waiting location C. Agricultural work such as plowing or transplanting is performed in the order of "Koshihikari A," "Koshihikari B," and "Hinohikari." In this case, the management device 600 advances the work day in the fields surrounding standby location B, then sets the work day in the fields surrounding standby location A, and delays the work day in the fields surrounding standby location C.

[0150] Fig. 25 is a diagram showing the distribution of work days for multiple fields corresponding to the example shown in Fig. 24. In this example, the management device 600 determines the work days for each field so that the agricultural machine moves to the group of fields belonging to standby location B, the group of fields belonging to standby location A, and the group of fields belonging to standby location C in that order. As a result, the management device 600 determines standby location B from April 19 to April 21, standby location A from April 22 to April 27, and standby location C from April 28 to May 3 as the specific standby locations.

[0151] 24 and 25, the management device 600 updates the distribution of work days according to the crop conditions in multiple fields and determines a specific waiting location for each work day based on the updated distribution of work days. This makes it possible to determine appropriate waiting locations and optimize route planning, for example, when agricultural work needs to be performed intensively in a short period of time in fields cultivated with the same variety of crop. As a result, the total travel distance of the agricultural machinery can be shortened, enabling agricultural work to be performed more efficiently.

[0152] FIG. 26 is a diagram illustrating an example of the relationship between weather conditions on each work day and specific waiting locations. In this example, waiting locations A, B, and C are far from each other, with varying weather conditions. The management device 600 obtains weather data for the locations where each waiting location is located, for example, from a server computer that distributes weather data via a network such as the Internet. In the example of FIG. 26, sunny weather is expected only at waiting location B for several days starting from April 19, while rain is expected to fall at least one day at waiting locations A and C. Thereafter, sunny weather will be seen at waiting locations A and B, and the weather at waiting location C will gradually improve from the rain. In this case, the management device 600 determines the work days for each field so that agricultural work is first carried out in the field surrounding waiting location B, then in the field surrounding waiting location A, and finally in the field surrounding waiting location C.

[0153] Figure 27 is a diagram showing an example of days on which farm work (plowing in this example) will be performed and the specific waiting locations that will be selected in the example shown in Figure 26. In this example, from April 19 to April 21, plowing will be performed in the fields surrounding waiting location B, so waiting location B is selected as the specific waiting location. From April 22 to April 24, plowing will be performed in the fields surrounding waiting location A, so waiting location A is selected as the specific waiting location. From April 25 to April 26, plowing will be performed in the fields surrounding waiting location C, so waiting location C is selected as the specific waiting location.

[0154] 26 and 27 , the management device 600 updates the distribution of work days according to the weather conditions at the locations where each of the multiple standby locations is located, and determines a specific standby location for each work day based on the updated distribution of work days. This makes it possible, for example, to avoid agricultural work in locations with bad weather and prioritize agricultural work in locations with good weather. Even if the originally planned schedule needs to be changed due to worsening weather, it is possible to determine an appropriate standby location and optimize the route plan. This makes it possible to perform agricultural work using agricultural machinery more efficiently.

[0155] 20 to 27, the management device 600 determines a specific waiting location based on any one of the growth status of crops in each field, the progress of agricultural work, the planting status, and the weather conditions. Alternatively, the management device 600 may determine a specific waiting location based on any two or more of the growth status of crops, the progress of agricultural work, the planting status, and the weather conditions. By considering these conditions in a combined manner, it becomes possible to plan a more appropriate route according to the situation, thereby further improving the efficiency of agricultural machine operation.

[0156] As described above, the management device 600 in this embodiment determines the distribution of work days in the fields located around each standby location based on at least one of the growth status of crops in the multiple fields, the progress of agricultural work, the planting status, and weather conditions. The management device 600 determines a specific standby location to which the agricultural machine will move after performing the final agricultural work on each work day based on the distribution of work days. For example, when determining the specific standby location for each work day, the management device 600 may identify a group of fields on which agricultural work will be performed on the next work day based on the distribution of work days, and determine the standby location closest to the group of fields as the specific standby location. Alternatively, when determining the specific standby location for each work day, the management device 600 may determine the standby location closest to the first field on which the final agricultural work will be performed on that work day as the specific standby location. That is, the management device 600 may determine, as the specific standby location, the standby location closest to the first field where the last agricultural work is performed on that work day, or the standby location closest to the second field where the first agricultural work is performed on the next work day identified from the distribution of work days. If the standby location closest to the first field and the standby location closest to the second field are different, the management device 600 may determine, as the specific standby location, the standby location closest to the first field or the standby location closest to the second field, whichever standby location has the shorter travel distance when traveling from the first field to the second field via the standby location. This shortens the travel distance and travel time between the field and the standby location, enabling efficient operation while reducing fuel consumption.

[0157] Fig. 28 is a flowchart showing an example of the operation of the management device 600 in this embodiment. By executing the operations of steps S141 to S144 shown in Fig. 28, the management device 600 performs global path planning for the agricultural machine on a certain work day and can cause the agricultural machine to perform automatic driving. The path planning operation shown in Fig. 28 can be performed at any timing before the agricultural machine starts to move. The path planning may be performed immediately before the agricultural machine starts to move, or may be performed the day before the agricultural machine starts to move.

[0158] In step S141, the management device 600 acquires information indicating at least one of the growth status of crops in each field, the progress of agricultural work, the planting status, and the weather conditions. The information may be managed by the management device 600 itself, or by a device different from the management device 600. The growth status of crops, the progress of agricultural work, the planting status, and the weather conditions may be managed in a distributed manner by multiple devices. The information acquired here may be, for example, information such as that shown in FIG. 20, FIG. 22, FIG. 24, and / or FIG. 26.

[0159] In step S142, the management device 600 determines a specific standby location to which the agricultural machine will move after performing the final agricultural work on the current work day. For example, the management device 600 may determine a first group of fields on which agricultural work will be performed on the current work day based on the information acquired in step S141, and determine the first standby location closest to the first group of fields as the specific standby location. Alternatively, the management device 600 may determine a second group of fields on which agricultural work will be performed on the next work day based on the information acquired in step S141, and determine the second standby location closest to the second group of fields as the specific standby location. If the first standby location and the second standby location are different, the management device 600 may select, as the specific standby location, one of the first and second standby locations, whichever results in the shorter travel distance of the agricultural machine.

[0160] In step S143, the management device 600 generates a route for the work day. That is, the management device 600 generates a global route from the waiting location, which is the starting point for the work day, to the waiting location determined in step S142, via one or more fields where agricultural work will be performed that day. This route can be determined, for example, so as to minimize the total travel distance of the agricultural machine.

[0161] In step S144, the management device 600 transmits a movement command including information about the generated route to the agricultural machine. In addition to the route information, this movement command may also include, for example, schedule information indicating at what time and in which field agricultural work should be performed. In response to this movement command, the control device of the agricultural machine starts automatic operation at the specified time and moves along the specified route. The agricultural machine moves while generating a local route that can avoid obstacles, for example, by the method described with reference to FIG. 16 .

[0162] Through the above operations, the management device 600 can generate a route for the agricultural machine on a certain work day. For example, by performing the operations shown in FIG. 28 for each work day, the management device 600 can generate a route for the agricultural machine on each work day and instruct the agricultural machine to move. Note that the management device 600 may once send a movement command to the agricultural machine and then perform the operations shown in FIG. 28 again to modify the route or waiting location. For example, a sudden change in weather may occur while the agricultural machine is moving, making it impossible to perform the originally scheduled work. Even in such cases, the waiting location and route can be appropriately changed by performing the operations shown in FIG. 28 (for example, at regular intervals) after the agricultural machine has started to move.

[0163] The management device 600 in the above embodiment generates routes for multiple agricultural machines for each work day. In this case, the management device 600 determines a specific standby location from among multiple standby locations to which each agricultural machine will move after performing its final agricultural work on each work day, based on information indicating at least one of the following: the growth status of crops in multiple fields, the progress of agricultural work in multiple fields, the planting status in multiple fields, and weather conditions. The management device 600 generates a route from the field where the final agricultural work will be performed to the specific standby location for each agricultural machine. This makes it possible to determine an optimal route for each agricultural machine that minimizes the total travel distance. Note that the number of agricultural machines is not limited to multiple, and may be single.

[0164] Second Embodiment Next, a second embodiment of the present disclosure will be described. In the following description, differences from the first embodiment will be mainly described, and overlapping points will not be described.

[0165] FIG. 29 is a diagram illustrating an overview of an agricultural management system according to a second exemplary embodiment of the present disclosure. The agricultural management system illustrated in FIG. 29 includes multiple agricultural machines 100 and a management device 600. FIG. 29 also illustrates multiple terminal devices 400 used by multiple users. The management device 600 is a computer managed by a business operator who operates the agricultural management system. Each agricultural machine 100 and each terminal device 400 can communicate with the management device 600 via a network 80. Although FIG. 1 illustrates three agricultural machines 100 as an example, the agricultural management system may include two or fewer or four or more agricultural machines 100. The agricultural management system may include multiple different types of agricultural machines, such as tractors, rice transplanters, combine harvesters, and / or agricultural drones. Each agricultural machine 100 performs its assigned agricultural work in a designated field in accordance with instructions from the management device 600.

[0166] The agricultural management system shown in FIG. 1 may be used, for example, for an agricultural work agency service using multiple autonomously operated agricultural machines 100. In such a system, each of the multiple agricultural machines 100 may be controlled to move between multiple fields managed by multiple users who are contract users and perform specified agricultural work in the specified field. The management device 600 may create a work plan for each agricultural machine 100 based on information indicating a rough plan for agricultural work input by each user using their respective terminal device 400, and may plan a route for each agricultural machine 100 based on the work plan. When the agricultural management system is used for such a service, the management device 600 may perform processing related to billing each user. Note that the management device 600 may be a collection of multiple computers. For example, the management device 600 may include a computer that creates a work plan for each agricultural machine 100, a computer that plans a route for each agricultural machine 100, and a computer that performs billing processing for each user.

[0167] The agricultural work proxy service described above may be provided over a wide area, such as a country, a state, a region, a prefecture, or an area spanning multiple countries. In this case, the area where the service is provided may include multiple areas with different climates or weather conditions. Weather conditions such as temperature, humidity, precipitation, and amount of sunshine may vary depending on the area. Therefore, the time when each agricultural work (e.g., tilling, sowing, planting, pest control, fertilizing, harvesting, etc.) should be performed may also vary depending on the area. Therefore, the management device 600 in this embodiment acquires information indicating the approximate timing of agricultural work for each area, which is pre-recorded in a storage device, and determines the time when each agricultural machine 100 should perform the agricultural work in each area based on the information. The information indicating the approximate timing of agricultural work may be created for each type of agricultural work, such as tilling, sowing, planting, pest control, fertilizing, or harvesting. The management device 600 determines the route that each agricultural machine 100 should travel so that each agricultural machine 100 performs the specified agricultural work at the time determined for each area. The management device 600 refers to a map of the area in which each agricultural machine 100 will travel, generates a route on the map along which each agricultural machine 100 should travel, and transmits the route information to each agricultural machine 100. Each agricultural machine 100 moves based on the received route information and performs predetermined agricultural work in the field assigned to it. Each agricultural machine 100 has a configuration similar to that of the agricultural machine 100 in the first embodiment. Each agricultural machine 100 is capable of traveling within and outside the field (for example, on roads) by autonomous driving.

[0168] The terminal device 400 is a computer used by a user located remotely from the agricultural machine 100. The terminal device 400 may be a mobile terminal such as a laptop computer, smartphone, or tablet computer as shown in FIG. 29 , or a stationary computer such as a desktop PC. Each terminal device 400 displays a setting screen on its display for the user to input information necessary to create a work plan (e.g., a schedule for each agricultural work). 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 a work plan based on that information. The terminal device 400 can also be used to register one or more fields in which the agricultural machine 100 will perform agricultural work.

[0169] Next, an example of the operation of the route planning in this embodiment will be described in more detail.

[0170] The management device 600 functions as a path planning system for each agricultural machine 100 that performs automatic driving across multiple regions. The storage device 650 stores a map of an area that includes multiple regions. For example, the storage device 650 stores a map of a relatively wide area that includes multiple regions with different climates or weather conditions. The processor 660 of the management device 600 functions as a processing device that generates a path (the aforementioned global path) for each agricultural machine 100 on the map.

[0171] FIG. 30 is a flowchart showing an outline of the operation executed by the management device 600. In this embodiment, information indicating an approximate timing for agricultural work to be performed by each agricultural machine 100 for each region is recorded in the storage device 650 in advance. The management device 600 acquires the information from the storage device 650 (step S241). Based on the information, the management device 600 determines a timing for each agricultural machine 100 to perform the agricultural work in each of a plurality of regions (step S242). The management device 600 generates a route for each agricultural machine 100 on a map so that each agricultural machine 100 performs the agricultural work at the timing determined for each region (step S243). For example, the management device 600 determines a plurality of work days on which each agricultural machine 100 will perform the agricultural work at the timing determined for each region, and generates a route for each agricultural machine 100 on each work day. The management device 600 transmits a movement command including information on the generated route to each agricultural machine 100 (step S244). In addition to route information, this movement command may also include, for example, schedule information indicating at what time and in which field agricultural work should be performed. In response to this movement command, the control device 180 of each agricultural machine 100 starts automatic operation at the specified time, moves the agricultural machine 100 along the specified route, and causes the agricultural machine 100 to perform agricultural work in the field.

[0172] Fig. 31 is a diagram showing an example of areas in which the agricultural machines 100 travel. In this example, each agricultural machine 100 travels over a wide area across Japan for a relatively long period of time (for example, from several weeks to several months or longer), and performs agricultural work in fields in each area. In the example shown in Fig. 31 , the areas in which the agricultural machines 100 perform agricultural work are divided into eight areas A to H. Area A is located in the southernmost region, followed by areas B, C, D, E, F, and G, which are distributed generally from south to north, with area H being located at the northernmost position.

[0173] Each area shown in Figure 31 is 10,000 square kilometers (km ２ ) or more than 100,000 km ２ Each region may have an area of ​​30 km2 or more and may contain 1000 or more fields. ２An area may have an area of ​​100 or more and / or 100 or more fields. Two adjacent areas can be accessed from each other via roads. In this specification, one field is defined as agricultural land surrounded by paths such as ridges or farm roads. Each field may be, for example, a field, rice paddy, orchard, or pasture.

[0174] Fig. 32 is a diagram showing an example of information indicating the approximate timing of agricultural work by region in the example shown in Fig. 31. The information indicating the approximate timing of agricultural work by region can be created in the form of a table such as that shown in Fig. 32. The table shown in Fig. 32 indicates the approximate timing (e.g., recommended timing) for a specific agricultural work in each region. Such a table can be created, for example, for each type of agricultural work and stored in the storage device 650.

[0175] In countries located in the Northern Hemisphere, such as Japan, regions located further south generally tend to be warmer and regions located further north tend to be colder. In such countries, the recommended times for various agricultural tasks (e.g., tilling, sowing, planting, fertilizing, pest control, mowing, harvesting, etc.) performed to grow crops tend to be earlier in southern regions and later in northern regions. When the recommended times for individual agricultural tasks differ depending on the region, it is preferable to determine the time when the agricultural machine 100 will perform the agricultural task in accordance with the recommended time for the agricultural task for each region. For example, it may be preferable to control the movement of the agricultural machine 100 in accordance with changes in temperature, such that the agricultural machine 100 performs agricultural tasks in a relatively warm region and then moves to a colder region to perform agricultural tasks there. Therefore, the management device 600 in this embodiment determines the time when each agricultural machine 100 will perform agricultural tasks in each region, based on information indicating the approximate times for each agricultural task in each region, as illustrated in FIG. 32 . The management device 600 generates a route for each agricultural machine 100 on each work day so that each agricultural machine 100 performs the agricultural work at a time determined for each region. For example, the management device 600 may create a work plan for each agricultural machine 100 across multiple work days based on information indicating an approximate time for agricultural work for each region, and generate a route for each agricultural machine 100 on each work day in accordance with the work plan. Each agricultural machine 100 moves along the generated route and performs agricultural work in each field indicated in the work plan. Each agricultural machine 100 may automatically travel on roads, including public roads, to move between regions.

[0176] In the examples shown in FIGS. 31 and 32 , the information indicating the approximate timing of agricultural work for each region indicates that the agricultural work season tends to be later in regions located further north. In such a case, the management device 600 determines the timing when the agricultural machine 100 will perform the agricultural work in each region in accordance with this trend, such that the agricultural machine 100 gradually moves north as the days pass. Conversely to this example, there are cases where the information indicating the approximate timing of agricultural work for each region indicates that the agricultural work season tends to be later in regions located further south. For example, in the Southern Hemisphere, it is generally warmer in regions located further north and colder in regions located further south, and there is a tendency for the agricultural work season to be later in regions located further south. In such a case, the management device 600 may determine the timing when the agricultural machine 100 will perform the agricultural work in each region in accordance with this trend, such that the agricultural machine 100 gradually moves south as the days pass. In this way, the management device 600 may generate a route for each agricultural machine 100 on each work day so that the agricultural machine 100 gradually moves from areas with relatively high temperatures to areas with lower temperatures in accordance with changes in temperature.

[0177] Here, an area with a climate or weather conditions suitable for a certain agricultural activity at a certain time is referred to as a "working front," analogous to a weather front. In the example shown in FIG. 31 , the working front moves generally from south to north as the days pass. However, the working front often does not necessarily follow such a simple progression. Climate can vary not only depending on latitude but also on various geographical conditions, such as altitude, topography, and the degree of influence of seasonal winds. Furthermore, the recommended timing for similar agricultural activities may differ depending on the variety of crops grown in each region. Therefore, the working front generally does not simply move from south to north or north to south. Even in such cases, by appropriately creating information indicating the approximate timing of agricultural activities for each region, agricultural activities can be carried out at the appropriate time in each region.

[0178] Information indicating the approximate timing of agricultural work for each region may be created based on, for example, information on recommended timing for each agricultural work published by organizations such as agricultural cooperatives in each region. The information may be created by a system administrator, or may be automatically created by the system based on information published on the Internet, etc. The information may be changed for each agricultural work season, or may be used for multiple seasons after being created once.

[0179] In the examples shown in FIGS. 31 and 32 , each agricultural machine 100 performs agricultural work in all of the eight regions shown. This configuration is not limiting, and each agricultural machine 100 may perform agricultural work only in some of the regions. For example, it may be predetermined which region each agricultural machine 100 will perform agricultural work in. As an example, a different agricultural machine group may be assigned to perform agricultural work in each region. In this case, the management device 600 may create a work plan for each agricultural machine 100 so that a first agricultural machine group performs agricultural work in multiple fields in region A at a first time period (e.g., mid-March), and then a second agricultural machine group performs agricultural work in a field in region B at a second time period (e.g., late March). Similarly, work plans for each agricultural machine may be created for regions C to H so that the agricultural machine group responsible for each region performs agricultural work in the fields in the respective regions at appropriate times based on information indicating the approximate timing of agricultural work. Alternatively, one agricultural machine fleet may perform agricultural work in fields in two or more areas, such as a first agricultural machine fleet covering areas A and B, a second agricultural machine fleet covering areas B and C, and a third agricultural machine fleet covering areas C and D.

[0180] The system of this embodiment may be used to perform multiple types of agricultural work in multiple areas using multiple types of agricultural machinery, such as a tractor, a rice transplanter, a grass cutter, a drone, and / or a combine harvester.

[0181] FIG. 33 is a diagram showing another example of information indicating the approximate timing of agricultural work by region. FIG. 33 shows an example of a table including information indicating the approximate timing of multiple types of agricultural work performed in rice cultivation in paddy fields by region. In this example, the area in which the agricultural machine 100 performs agricultural work is divided into six regions a to f. The table shown in FIG. 33 records the approximate timing (e.g., recommended timing) for each of six types of agricultural work (plowing, plowing, planting, herbicide application, fertilizer application, and harvesting) by region. Note that the types of agricultural work are not limited to this example and vary depending on the crop being grown. As shown in FIG. 33 , different types of agricultural machinery may be used depending on the type of agricultural work. For example, plowing and plowing may be performed by a tractor equipped with an implement (e.g., a rotary tiller, plow, or harrow). Rice planting may be performed by a rice transplanter. Herbicide application and fertilizer application may be performed by a drone. Harvesting may be performed by a combine harvester. In the example shown in FIG. 33 , unlike the example shown in FIG. 32 , the estimated timing of agricultural work is expressed as a period including specific date information (e.g., "March 11th to April 17th"). In this way, information indicating the estimated timing of agricultural work can be recorded in various formats. Note that if certain agricultural machines (e.g., rice transplanters or combine harvesters) are restricted by law from traveling on public roads, the system may be configured without including those agricultural machines.

[0182] The management device 600 in this embodiment creates a work plan for each agricultural machine 100 based on information indicating a target time for one or more types of agricultural work for each region, as exemplified in Fig. 32 or 33. The management device 600 generates a route for each agricultural machine 100 for each work day in accordance with the created work plan, and issues instructions for movement and agricultural work to each agricultural machine 100.

[0183] The work plan includes information on one or more agricultural tasks to be performed by each agricultural machine 100. For example, the work plan includes information on one or more agricultural tasks to be performed by each agricultural machine 100 and the fields on which each agricultural task is to be performed. The work plan may include information on a plurality of agricultural tasks to be performed by each agricultural machine 100 over a plurality of work days and the fields on which each agricultural task is to be performed. More specifically, the work plan may be a database including information on a work schedule indicating which agricultural machine will perform which agricultural task in which field at what time for each work day. An example in which the work plan is data on such a work schedule will be described below.

[0184] FIG. 34 is a diagram showing an example of a work plan for each agricultural machine 100. The work plan in this example includes, for each registered agricultural machine 100, information indicating the date and time when agricultural work will be performed, the field, the work content, and the implement to be used. The work plan is not limited to the format shown in FIG. 34 and may include other information related to the work. For example, information such as the type of pesticide or fertilizer or the amount to be applied may be included in the work plan. In accordance with such a work plan, the processor 660 of the management device 600 generates a route for each agricultural machine 100 for each work day and issues agricultural work instructions to each agricultural machine 100. The work plan may be downloaded by the control device 180 of the agricultural machine 100 and may also be stored in the storage device 170. In this case, the control device 180 may autonomously start operation according to the schedule indicated by the work plan stored in the storage device 170.

[0185] The management device 600 may create a work plan based not only on information indicating the approximate timing of agricultural work, but also on information input by each user using the terminal device 400. For example, the management device 600 may create a work plan based on information indicating a rough plan for each type of agricultural work in one or more fields managed by each user.

[0186] Fig. 35 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 up application software for creating a work plan and displays the setting screen 760 shown in Fig. 35 on the display device 430. The user can input outline plan information required for creating a work plan on this setting screen 760.

[0187] 35 shows an example of a setting screen 760 for 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 modified as appropriate. The setting screen 760 in the example of FIG. 35 includes a period setting section 761, a time setting section 762, a planting variety selection section 763, a field selection section 764, an operation selection section 765, a machine selection section 766, a fertilizer selection section 767, and an application amount setting section 768.

[0188] The period input by the user is displayed in the period setting section 761. The user inputs the period during which the user wishes to perform the farm work. The days included in the input period are set as candidate days for performing the farm work.

[0189] The time setting section 762 displays the work time input by the user. The user inputs the work time for which the user wishes to perform the farm work. The work time is specified by a start time and an end time. The input work time is set as a candidate time for performing the farm work.

[0190] The crop variety selection section 763 displays a list of varieties of crops to be cultivated (i.e., planted). The user can select a desired variety from the list. In the example of Fig. 35, the rice variety "Koshiibuki" has been selected.

[0191] The field selection section 764 displays the fields on the map. The user can select any field from the displayed fields. In the example of FIG. 35, the portion showing "Field A" is selected. In this case, the selected "Field A" is set as the field where agricultural work will be carried out. The user can also select multiple fields at the same time.

[0192] The work selection section 765 displays a plurality of farming works required to cultivate the selected crop. The user can select one farming work from the plurality of farming works. In the example of FIG. 35 , "plowing" is selected from the plurality of farming works. In this case, the selected "plowing" is set as the farming work to be performed.

[0193] The machine selection section 766 is a section for setting the agricultural machine to be used in the agricultural work. The machine selection section 766 may display, for example, the types or models of agricultural machines previously registered by the management device 600, and the types or models of available implements. The user can select a specific machine from the displayed machines. In the example of FIG. 35 , an implement with the model number "NW4511" has been selected. In this case, the implement is set as the machine to be used in the agricultural work.

[0194] The names of multiple fertilizers that have been registered in advance are displayed in the fertilizer selection section 767. The user can select a specific fertilizer from the multiple fertilizers that are displayed. The selected fertilizer is set as the fertilizer to be used in the farm work.

[0195] The spray amount setting section 770 displays a numerical value input from the input device 420. The input numerical value is set as the spray amount.

[0196] When the desired period, work hours, crop variety, field, work, 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.

[0197] The agricultural work information 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 about agricultural work other than the agricultural work shown in FIG. 35 may also be set.

[0198] The management device 600 creates a work plan for each agricultural work to be performed by each agricultural machine 100 based on information received from each user's terminal device 400 and information indicating the estimated timing of the agricultural work for each region. For example, the management device 600 determines the actual work date and work time for each agricultural work for each region, taking into consideration the desired period and desired work time for the agricultural work input by each user and the information indicating the estimated timing of the agricultural work. Specifically, the management device 600 determines the date and time for performing the agricultural work in each field by comprehensively considering the number, distribution, and usage status of the agricultural machines 100 deployed in the region, the distribution of fields where agricultural work is performed in the region, the work date and time desired by each user, and the estimated timing of the work in the region. An algorithm using artificial intelligence (AI), such as a deep neural network, may be used to determine the date and time for performing the agricultural work in each field. The management device 600 notifies the terminal device 400 used by the user of the determined date and time for performing the agricultural work. If the determined date and time of the agricultural work is different from the date and time desired by the user, the user may be notified of this fact. The management device 600 executes a route plan for each agricultural machine 100 for each work day based on the determined date and time of the agricultural work in each field.

[0199] Below, a specific example of a method for planning a route for each work day of the agricultural machine 100 will be described. In the following explanation, an example will be described in which the agricultural machine 100 is a work vehicle such as a tractor, and the route outside the field is generated on a road (a farm road or a public road). Note that if the agricultural machine 100 is an air vehicle such as a drone, the route outside the field does not need to be generated on a road.

[0200] FIG. 36 is a diagram showing an example of a map that is referenced when planning a route. FIG. 36 shows a small example of a map of a certain area in Japan. This map corresponds to the map shown in FIG. 17. This map is a two-dimensional digital map, and can be generated by the management device 600 or another device. Such a map can be generated in advance for the entire area in which the agricultural machine 100 will travel, and can be recorded in the storage device 650. Note that although the maps shown in FIGS. 36 and 17 are two-dimensional maps, three-dimensional maps may also be used for route planning.

[0201] 17 includes information on the positions (e.g., latitude and longitude) of multiple fields 70 where the agricultural machine 100 performs farm work and each point on the roads 76 in the surrounding areas. This map also includes location information on multiple waiting locations 90 where the agricultural machine 100 temporarily waits. The waiting locations 90 can be registered in advance by, for example, an administrator of the agricultural management system and recorded in the storage device 650.

[0202] 17 can be created for the entire region in which the agricultural machine 100 travels. In this way, the map can include information indicating a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations in each region.

[0203] Before agricultural work on each work day starts, the management device 600 reads from the storage device 650 a map of an area including the field where agricultural work is scheduled to be performed on that work day, and generates a route (global route) for the agricultural machine 100 based on the map and the work plan. Based on the work plan, the management device 600 determines a specific standby location from among multiple standby locations to which the agricultural machine 100 will move after performing the final agricultural work on each work day, and generates a route from the field where the final agricultural work will be performed to the specific standby location. The method for generating the route for the agricultural machine 100 on each work day is the same as the method in the first embodiment. For example, as described with reference to FIG. 14 or FIG. 15 , the management device 600 can generate a route for the agricultural machine 100 on each work day.

[0204] After creating the work plan, the management device 600 may modify the work plan depending on the situation. For example, using a method similar to that of the first embodiment, the management device 600 may update the work plan depending on at least one of the growth conditions of crops in a plurality of fields, the progress of agricultural work, the planting conditions, and the weather conditions. In this case, the management device 600 generates a route for the agricultural machine 100 for each work day in accordance with the updated work plan. This makes it possible to appropriately set the route for the agricultural machine 100 for each work day depending on various conditions such as the growth conditions of crops, the progress of agricultural work, the planting conditions, or the weather conditions.

[0205] The growth status of crops, the progress of agricultural work, planting status, or weather conditions affect work plans. For example, if crop growth or the progress of agricultural work is faster or slower than planned, it becomes necessary to review the work plan. Alternatively, if bad weather prevents the originally planned agricultural work from being carried out, it becomes necessary to review the subsequent work plan. Furthermore, if the optimal timing for agricultural work differs depending on the variety of crop, it may become necessary to adjust the work plan depending on the variety of crop being planted.

[0206] In preparation for the above-mentioned cases, the management device 600 may monitor at least one of the growth status of crops, the progress of agricultural work, the planting status, and the weather conditions in each field. When generating a route for the agricultural machine 100 for each work day, the management device 600 may revise the work plan for that work day and thereafter based on at least one of the growth status of crops, the progress of agricultural work, the planting status, and the weather conditions. The management device 600 can determine a distribution of work days in the fields located around each of the multiple standby locations based on the revised work plan. The management device 600 can determine a specific standby location to which the agricultural machine 100 will head after performing the final agricultural work on each work day based on the determined distribution of work days, and can generate routes between the fields and routes connecting the fields and the standby locations. When determining the specific standby location for each work day, the management device 600 may, for example, identify a group of fields where agricultural work will be performed on the next work day based on the distribution of work days for the fields located around each standby location, and determine the standby location closest to that group of fields as the specific standby location. Such an operation can shorten the travel distance of the agricultural machine, thereby achieving effects such as shortening travel time and reducing fuel consumption.

[0207] In this embodiment, as in the examples shown in Figures 20 to 27, the management device 600 can be configured to revise the work plan based on any one of the growth status of crops in each field, the progress of agricultural work, the planting status, and the weather conditions. Instead of such an operation, the management device 600 may revise the work plan based on any two or more of the growth status of crops, the progress of agricultural work, the planting status, and the weather conditions. By taking these conditions into consideration in a composite manner, it becomes possible to plan a more appropriate route according to the situation, and the operation of the agricultural machine can be made more efficient.

[0208] Other Embodiments The configurations and operations of the above-described embodiments are merely examples, and the present disclosure is not limited to the above-described embodiments. Other embodiments will be described below.

[0209] In the first embodiment described above, the processor 660 in the management device 600 manages at least one of the growth status of crops, the progress of agricultural work, the planting status, and the weather conditions, and determines waiting locations for each work day and plans global routes for the agricultural machine. Alternatively, for example, a processing device different from the management device 600 may determine waiting locations for each work day and plan global routes for the agricultural machine. In this case, the processing device can acquire information indicating at least one of the growth status of crops, the progress of agricultural work, the planting status, and the weather conditions from the management device 600, and determine specific waiting locations for each work day and generate routes for the agricultural machine based on that information. Such a processing device may be a control device provided inside the agricultural machine.

[0210] In the above-described second embodiment, the processor 660 in the management device 600 creates a work plan for the agricultural machine 100 based on information indicating the approximate timing of agricultural work for each region, and plans a route for the agricultural machine 100 based on the work plan. Instead of this configuration, for example, a processing device different from the management device 600 may plan the route for the agricultural machine 100. In that case, the processing device can acquire the work plan from the management device 600 and generate a route for the agricultural machine 100 for each work day based on the information. Such a processing device may be the control device 180 provided inside the agricultural machine 100. Note that, although a plurality of agricultural machines 100 are included in the system in the above-described embodiment, there may be only one agricultural machine 100.

[0211] The technology in each of the above embodiments may be applied not only to work vehicles such as tractors, but also to agricultural drones (i.e., UAVs), for example. Unlike the example shown in Fig. 16, the processing device that performs path planning for the agricultural drone does not need to generate a path along the road 76. For example, a path that linearly connects a waiting location and a field, and between fields, may be generated as the path for the agricultural drone.

[0212] The system for performing path planning or automatic driving control in the above embodiments can also be retrofitted to an agricultural machine that does not have those functions. Such a system can be manufactured and sold independently of the agricultural machine. The computer program used in such a system can also be manufactured and sold independently of the agricultural machine. The computer program can be provided, for example, by being stored on a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunications line (for example, the Internet).

[0213] As described above, the present disclosure includes a path planning system, an agricultural machine control system, and an agricultural machine described in the following items.

[0214] [Item 1] A path planning system for autonomously driving agricultural machinery, comprising: a storage device that stores a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations; and a processing device that generates a route for the agricultural machinery on the map for each work day, wherein the processing device determines, from among the plurality of waiting locations, a specific waiting location to which the agricultural machinery will move after performing the final agricultural work on each work day, based on information indicating at least one of the growth conditions of crops in the plurality of fields, the progress of agricultural work in the plurality of fields, the planting conditions in the plurality of fields, and weather conditions; and generates a route from the field where the final agricultural work will be performed to the specific waiting location.

[0215] According to the above configuration, it is possible to determine an appropriate waiting location for each work day based on at least one of the growth status of crops in multiple fields, the progress of agricultural work, the planting status, and weather conditions, and to generate a route from the field where the last agricultural work will be performed on that work day to the appropriate waiting location. This makes it possible to determine an appropriate waiting location according to the conditions of each work day, without having to determine the waiting location in advance.

[0216] [Item 2] The processing device determines a distribution of work days in the fields located around each of the plurality of waiting locations based on at least one of the growth status of the crop, the progress of the agricultural work, the planting status, and the weather conditions, and determines the specific waiting location for each work day based on the distribution of work days.

[0217] This makes it possible to appropriately determine the distribution of working days in the fields located around each waiting location based on at least one of the crop growth conditions, the progress of agricultural work, the planting conditions, and the weather conditions, and to appropriately determine specific waiting locations for each working day in accordance with the distribution of working days.

[0218] [Item 3] The path planning system according to Item 2, wherein when determining the specific waiting location for each work day, the processing device identifies a group of fields where agricultural work will be performed on the next work day based on the distribution of the work days, and determines the waiting location closest to the group of fields as the specific waiting location.

[0219] This allows the agricultural machine to be moved to a standby location closest to the group of fields where agricultural work will be performed on the next work day, thereby shortening the travel distance of the agricultural machine and reducing energy consumption associated with movement.

[0220] [Item 4] The path planning system according to Item 2, wherein when determining the specific waiting location for each work day, the processing device determines as the specific waiting location the waiting location closest to a first field in which the final agricultural work is performed on that work day, or the waiting location closest to a second field in which the first agricultural work is performed on a next work day identified from the distribution of work days.

[0221] This allows the agricultural machine to be moved to a standby location closest to the first field where the last agricultural work is performed on each work day, or the second field where the first agricultural work is performed on the following work day, thereby shortening the travel distance of the agricultural machine and reducing energy consumption associated with its movement.

[0222] [Item 5] The path planning system according to Item 4, wherein the processing device determines, as the specific waiting location, one of the waiting locations closest to the first field and the waiting locations closest to the second field, which has a shorter travel distance when traveling from the first field via the waiting location to the second field.

[0223] This allows the agricultural machine to be moved to the standby location that has the shorter travel distance between the standby location closest to the first field where the last agricultural work is performed on each work day and the standby location closest to the second field where the first agricultural work is performed on the following work day, thereby further reducing energy consumption associated with the movement of the agricultural machine.

[0224] [Item 6] The path planning system according to any one of Items 2 to 5, wherein the processing device updates the distribution of work days according to the growth status of the crops in the plurality of fields.

[0225] This allows an appropriate standby location to be determined based on the distribution of work days updated according to the growth status of the crop, and the agricultural machine to be moved to that standby location.

[0226] [Item 7] The path planning system according to any one of Items 2 to 6, wherein the processing device updates the distribution of work days according to the progress of the agricultural work in the plurality of fields.

[0227] This allows an appropriate standby location to be determined based on the distribution of work days updated in accordance with the progress of agricultural work, and the agricultural machine to be moved to that standby location.

[0228] [Item 8] The path planning system according to any one of Items 2 to 7, wherein the processing device updates the distribution of work days according to the crop conditions in the plurality of fields.

[0229] This allows an appropriate standby location to be determined based on the distribution of work days updated according to the crop situation, and the agricultural machine to be moved to that standby location.

[0230] [Item 9] The route planning system according to any one of Items 2 to 8, wherein the processing device updates the distribution of work days according to the weather conditions in the areas where each of the plurality of waiting locations is located.

[0231] This allows an appropriate standby location to be determined based on the distribution of work days updated according to weather conditions, and the agricultural machine to be moved to that standby location.

[0232] [Item 10] The route planning system according to any one of Items 1 to 9, wherein the processing device, when determining the specific waiting location for each work day, acquires the information from a management device that manages at least one of the growth status of the crops, the progress of the agricultural work, the planting status, and the weather conditions.

[0233] This allows the processing device to grasp at least one of the growth status of the crop, the progress of the agricultural work, the planting status, and the weather conditions based on the information obtained from the management device, and to determine an appropriate waiting location.

[0234] [Item 11] The path planning system according to any one of Items 1 to 10, wherein the processing device transmits, to the agricultural machine, information indicating the generated path or a command to move the agricultural machine along the path.

[0235] This allows the agricultural machine to move along the appropriate route generated by the processing device.

[0236] [Item 12] The path planning system described in any of Items 1 to 11, wherein the processing device generates paths for a plurality of agricultural machines including the agricultural machine on each work day, determines a specific waiting location from among the plurality of waiting locations to which each agricultural machine will move after performing its final agricultural work on each work day based on the information indicating at least one of the growth status of crops in the plurality of fields, the progress of agricultural work in the plurality of fields, the planting status in the plurality of fields, and weather conditions, and generates a path from the field where the final agricultural work will be performed to the specific waiting location for each agricultural machine.

[0237] This allows the routes of multiple agricultural machines over multiple work days to be appropriately determined based on at least one of the growth conditions of crops in multiple fields, the progress of agricultural work, planting conditions, and weather conditions, thereby further improving the efficiency of agricultural work using multiple agricultural machines.

[0238] [Item 13] A control system comprising: the path planning system according to any one of items 1 to 12; and a control device that moves the agricultural machine along the path generated by the processing device.

[0239] [Item 14] An agricultural machine comprising: the control system according to item 13; and a drive device controlled by the control device.

[0240] [Item 15] A route planning system for an agricultural machine that operates automatically across multiple regions, comprising: a storage device that stores a map of an area that includes the multiple regions; and a processing device that determines a time when the agricultural machine will perform the agricultural work in each of the multiple regions based on information that indicates an approximate time for the agricultural work to be performed by the agricultural machine in each region, and generates a route for the agricultural machine on the map so that the agricultural machine will perform the agricultural work at the time determined for each region.

[0241] According to the above configuration, it is possible to determine the time when an agricultural machine will perform agricultural work in each area based on information indicating the approximate timing of agricultural work in each area, and to generate a route for the agricultural machine according to the determined time. This makes it possible to have the agricultural machine automatically operate along an appropriate route according to the approximate timing for each area.

[0242] [Item 16] The path planning system according to Item 15, wherein the processing device determines a plurality of work days on which the agricultural machine will perform the agricultural work during the period determined for each region, and generates a path for the agricultural machine on each work day.

[0243] This allows appropriate routes to be generated for each work day based on the estimated time of year for each region.

[0244] [Item 17] The path planning system according to Item 15 or 16, wherein the processing device creates a work plan for the agricultural machine across multiple work days based on the information indicating an approximate timing for the agricultural work for each region, and generates a route for the agricultural machine for each work day in accordance with the work plan.

[0245] This makes it possible to appropriately generate routes for agricultural machines on each work day in accordance with work plans created based on seasonal guidelines for each region.

[0246] [Item 18] The path planning system according to Item 17, wherein the processing device updates the work plan according to at least one of the growth conditions of crops in the plurality of fields, the progress of agricultural work in the plurality of fields, the planting conditions in the plurality of fields, and weather conditions, and generates a path for the agricultural machine for each work day according to the updated work plan.

[0247] This allows work plans to be flexibly updated based on at least one of the crop growth conditions, agricultural work progress, planting conditions, and weather conditions in multiple fields, and the routes of agricultural machinery on each work day to be optimized.

[0248] [Item 19] The route planning system according to Item 17 or 18, wherein the map includes information indicating a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations in each region, and the processing device determines, based on the work plan, a specific waiting location from among the plurality of waiting locations to which the agricultural machine will move after performing the final agricultural work on each work day, and generates a route from the field where the final agricultural work will be performed to the specific waiting location.

[0249] This makes it possible to determine an appropriate waiting location for each work day based on at least one of the growth status of crops in multiple fields, the progress of agricultural work, planting status, and weather conditions, and to generate a route from the field where the last agricultural work of that work day is performed to that waiting location.This makes it possible to determine an appropriate waiting location according to the conditions of each work day, without having to determine the waiting location in advance.

[0250] [Item 20] The path planning system according to any one of Items 15 to 19, wherein, when the information indicating the approximate timing of the agricultural work for each region indicates that the agricultural work tends to be performed later in regions located further north, the processing device determines the timing for the agricultural machine to perform the agricultural work in each of the plurality of regions in accordance with the trend, such that the agricultural machine gradually moves north as days pass.

[0251] This makes it possible to have agricultural machinery carry out agricultural work at the appropriate time in line with the trend, in cases where the recommended timing for agricultural work tends to be later in northern regions.

[0252] [Item 21] The path planning system according to any one of Items 15 to 20, wherein, when the information indicating the approximate timing of the agricultural work for each region indicates a tendency for the agricultural work to be performed later in regions located further south, the processing device determines a time when the agricultural machine will perform the agricultural work in each of the plurality of regions in accordance with the tendency, such that the agricultural machine gradually moves south as days pass.

[0253] This makes it possible to have agricultural machinery carry out agricultural work at the appropriate time in line with the trend in the south, where the recommended timing for agricultural work tends to be later in the region.

[0254] [Item 22] The path planning system according to any one of Items 15 to 21, wherein the processing device transmits, to the agricultural machine, information indicating the generated path or a command to move the agricultural machine along the path.

[0255] This allows the agricultural machine to move along the appropriate route generated by the processing device.

[0256] [Item 23] The path planning system according to any one of Items 15 to 22, wherein the processing device generates paths for each of the plurality of agricultural machines so that the plurality of agricultural machines, including the agricultural machine, perform the agricultural work during the period determined for each region.

[0257] This allows the routes of each agricultural machine to be generated appropriately according to the approximate agricultural work season for each region, thereby further improving the efficiency of agricultural work using multiple agricultural machines.

[0258] [Item 24] The path planning system according to Item 23, wherein the processing device acquires information indicating an approximate timing for each region for each of a plurality of types of agricultural work, determines, based on the information, when a plurality of agricultural machines assigned to each of the plurality of types of agricultural work will perform each of the agricultural work in each region, and generates a path for each agricultural machine so that each agricultural machine performs its respective agricultural work at the determined timing.

[0259] This allows multiple types of agricultural work to be carried out efficiently using multiple agricultural machines in accordance with the recommended agricultural work season for each region.

[0260] [Item 25] The path planning system described in Item 24, wherein the processing device acquires, from a plurality of terminal devices used by a plurality of users, information indicating a rough plan for each type of agricultural work in one or more fields managed by each user, creates a work plan for each agricultural machine based on the information indicating the rough plan and the information indicating the estimated timing for each area acquired for each type of agricultural work, and generates a route for each agricultural machine on each work day in accordance with the work plan.

[0261] This makes it possible to generate an appropriate route that matches, for example, the outline plan for each type of farm work created by the user and the estimated timing of farm work for each region.

[0262] [Item 26] A control system comprising: the path planning system according to any one of items 15 to 25; and a control device that moves the agricultural machine along the path generated by the processing device.

[0263] [Item 27] ​​An agricultural machine comprising: the control system according to Item 26; and a drive device controlled by the control device.

[0264] [Item 28] A method executed by a processing device in a path planning system for autonomously operating agricultural machinery, comprising: acquiring a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations; and generating a route for the agricultural machine on the map for each work day, wherein generating the route comprises: acquiring information indicating at least one of the growth conditions of crops in the plurality of fields, the progress of agricultural work in the plurality of fields, the planting conditions in the plurality of fields, and weather conditions; determining, based on the information, from among the plurality of waiting locations, a specific waiting location to which the agricultural machine will move after performing the final agricultural work for each work day; and generating a route from the field where the final agricultural work will be performed to the specific waiting location.

[0265] [Item 29] A method executed by a processing device in a route planning system for an agricultural machine that operates automatically across multiple regions, the method including: acquiring a map of an area including the multiple regions; acquiring information indicating an approximate timing for agricultural work to be performed by the agricultural machine for each region; determining a timing for the agricultural machine to perform the agricultural work in each of the multiple regions based on the information; and generating a route for the agricultural machine on the map so that the agricultural machine performs the agricultural work at the timing determined for each region.

[0266] The technology of the present disclosure can be applied to a path planning system for agricultural machinery such as a tractor, a harvester, a rice transplanter, a riding tiller, a vegetable transplanter, a grass cutter, a seed sowing machine, a fertilizer applicator, or an agricultural robot.

[0267] 30...global route, 32...local route, 40...obstacle, 50...GNSS satellite, 60...reference station, 70...field, 72...working area, 74...headland, 76...road, 80...network, 90...waiting area, 100...agricultural machine, 101...vehicle body, 102...engine, 103...transmission, 104...wheel, 105...cabin, 106...steering device, 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...s Steering wheel sensor, 154... turning angle sensor, 156... rotation sensor, 160... control system, 170... storage device, 180... control device, 181 to 186... ECU, 190... communication device, 200... operation terminal, 210... operation switch group, 220... buzzer, 240... drive device, 300... implement, 340... drive device, 380... control device, 390... communication device, 400... terminal device, 420... input device, 430... display device, 450... storage device, 460... processor, 470... ROM, 480... RAM, 490... communication device, 600... management device, 660... processor, 670... storage device, 670... ROM, 680... RAM, 690... communication device

Claims

DEPCT6718 / 07 / 25671. The route planning system for self-driving agricultural machinery consists of a data storage device to store maps including numerous fields, multiple waiting areas, and roads connecting these fields and waiting areas, and a processing unit to create routes on the map for the agricultural machinery each day. The processing unit: determines, from multiple waiting areas, the specific waiting area where the agricultural machinery will move after performing the final agricultural task of the day, based on data representing the growth status of at least one crop in a number of areas, the progress of agricultural work in multiple fields, the planting status in the fields, and weather conditions, and creates a route from the field where the final agricultural task was performed to the specific waiting area. 2.The routing system for claim 1, whereby the processing unit: determines the distribution of working days in the fields near each waiting area, considering at least one crop planting status, agricultural work progress, planting status, or weather status, and assigns a specific waiting area for each working day based on the working day distribution.

3. The routing system for claim 2, whereby in assigning a specific waiting area for each working day, the processing unit identifies the group of fields to perform agricultural work on the next working day, based on the working day distribution, and assigns the waiting area closest to the group of fields as the specific waiting area.

4. The routing system for claim 2, whereby in assigning a specific waiting area for each working day, the processing unit assigns the waiting area closest to the first field to perform the final agricultural work on that working day, or the waiting area closest to the second field, with the first agricultural work to be performed on the next working day, dividing the working day into specific waiting areas. 5.The routing system of Claim 4, where the processor determines a specific waiting area between the waiting area closest to the first field and the waiting area closest to the second field, resulting in shorter travel distances for agricultural machinery when moving from field 1 to field 2 through waiting area 6. The routing system of one of Claim 2 through 5, where the processor updates the distribution of working days to reflect the growth status of crops in numerous fields.

7. The routing system of one of Claim 2 through 6, where the processor updates the distribution of working days to reflect the progress status of agricultural work in numerous fields.

8. The routing system of one of Claim 2 through 7, where the processor updates the distribution of working days to reflect the planting status in most areas.

9. The routing system of one of Claim 2 through 8, where the processor updates the distribution of working days to reflect the weather conditions in the area where each waiting area is located. 10.

11. A routing system under any of Claims 1 through 10 where the processing unit receives information from a handling device that manages at least one crop growth state, i.e., the agricultural work progress state, growing condition, or weather condition, in order to determine a specific waiting area for each workday.

12. A routing system under any of Claims 1 through 10 where the processing unit sends information representing the created route or instructions to move agricultural machinery along the route to the agricultural machinery.The routing system of any one of the claims 1 through 11 shall, whereby the processing unit: creates routes for multiple agricultural machines, including the agricultural machines for each day's work, determined from multiple waiting areas, the specific waiting area that each agricultural machine moves to after performing the final task of the day's agricultural work, based on information representing the growth status of at least one crop in multiple fields, the progress of agricultural work in multiple fields, field growing conditions, or weather, and creates a route from the field which is the final task of the agricultural work to the specific waiting area for each agricultural machine.

13. The control system shall consist of: the routing system of any one of the claims 1 through 12 and a controller that moves the agricultural machines along the routes created by the processing unit.

14. The agricultural machines shall consist of the control system of claim 13; and the drive equipment controlled by the controller. 15.A routing system for self-driving agricultural machinery across multiple districts. The routing system comprises: a data storage device for storing maps of the region, including multiple districts, and a processing unit that determines the duration of agricultural machinery operation in each district, based on rough guideline data for each district's agricultural work schedule, and creates routes on the map for the agricultural machinery to operate according to the specified duration for each district.

16. The routing system of Claim 15, where the processing unit determines the number of working days that agricultural machinery will operate during a specified period for each district and creates routes for the agricultural machinery for each working day.

17. The routing system of Claim 15 or 16, where the processing unit creates a work plan for agricultural machinery over several working days, based on rough guideline data for agricultural work in each district, and creates agricultural machinery routes for each working day according to the plan. 18.The routing system of Claim 17, whereby the processing unit updates the scheduling in accordance with the crop growth status in at least one field, the status of agricultural work progress in multiple fields, the status of planting in multiple fields, and weather conditions, and constructs routes for agricultural machinery to operate daily according to the updated scheduling.

19. The routing system of Claim 17 or 18, whereby: the map contains information representing multiple fields, multiple waiting areas, and the roads connecting multiple fields and waiting areas in each district, and the processing unit determines the specific waiting area where agricultural machinery will move after performing the final agricultural work of the day, working from multiple waiting areas depending on the scheduling, and constructs routes from the field where the final agricultural work must be performed to the specific waiting area. 20.The routing system of one of Claims 15 through 19, where, in cases where preliminary data for the agricultural working period of each district tends to show that the agricultural working period is later in the northern region, the processing unit will determine the duration for agricultural machinery to operate in each region by gradually moving the machinery northward as time passes according to the trend.

21. The routing system of one of Claims 15 through 20, where, in cases where preliminary data for the agricultural working period of each district tends to show that the agricultural working period is later in the southern region, the processing unit will determine the duration for agricultural machinery to operate in each region by gradually moving the machinery southward as time passes according to the trend.

22. The routing system of one of Claims 15 through 21, where the processing unit sends information showing the created route or instructions to move agricultural machinery along the route to the agricultural machinery. 23.The routing system of either claim 15 to 22, whereby the processing unit creates routes for a certain number of agricultural machines, each including multiple agricultural machines, so that a certain number of agricultural machines can perform agricultural work within a specified time period for each district.

24. The routing system of claim 23, whereby the processing unit: receives approximate information for a period of time for each type of agricultural work in each district; determines the time period for each agricultural machine assigned to multiple types of agricultural work in sequence to be performed according to the assigned type of agricultural work in each district based on the information; and creates routes for each agricultural machine so that each agricultural machine can perform the assigned type of agricultural work within the specified time period. 25.The routing system of Claim 24, whereby the processor: receives from numerous terminal devices used by numerous users data representing rough plans for each type of agricultural work in one or more fields managed by individual users; plans each agricultural machine based on the rough plan data and received data as a general guideline for each type of agricultural work in each district; and creates the route for each agricultural machine on each workday according to the plan.

26. The control system consists of: the routing system of either Claim 15 to 25, and the controller moves the agricultural machine along the route created by the processor.

27. The agricultural machine consists of the control system of Claim 26; and the drive device controlled by the controller.

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