Agricultural machine control system and agricultural management system

Abstract

To more efficiently perform agricultural work by an agricultural machine that performs an automatic operation.SOLUTION: A control system controls an agricultural machine that performs an automatic operation. The control system includes: a storage device that stores a schedule of agricultural work to be executed by the agricultural machine; and a control device that controls the motion of the agricultural machine according to the schedule. After specific agricultural work included in the schedule is completed, the control device moves the agricultural machine to a waiting location different from a storage location of the agricultural machine that has been set in advance, on the basis of the next agricultural work included in the schedule.SELECTED DRAWING: Figure 13

Description

Technical Field

[0001] The present disclosure relates to a control system for agricultural machinery and an agricultural management system.

Background Art

[0002] Research and development are underway for the automation of agricultural machinery used in fields. For example, work vehicles such as tractors, combines, and rice transplanters that automatically travel within a field using a positioning system such as GNSS (Global Navigation Satellite System) have been put into practical use. Research and development of work vehicles that automatically travel not only within the field but also outside the field including public roads are also underway.

[0003] Patent Documents 1 and 2 disclose an example of a system for automatically driving an unmanned work vehicle between two fields separated from each other by a road.

[0004] Patent Document 3 discloses a vehicle control system that automatically moves a vehicle to a base for filling the energy used for the vehicle's travel during a time period when the schedule of the vehicle user is not registered.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] The present disclosure provides a technique for more efficiently performing agricultural work by an agricultural machine that performs automatic driving.

Means for Solving the Problems

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

[0008] [Item a1] An agricultural machine control system, comprising a control device for controlling the automatic operation of the agricultural machine, wherein when a preparatory operation including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of parts of the agricultural machine, maintenance of parts of the agricultural machine, and replenishment of materials is required for agricultural work, the control device moves the agricultural machine to a stop location where the preparatory operation is to be performed before the agricultural work. Control system.

[0009] [Item a2] The control device determines whether the preparatory operation is necessary based on signals output from one or more sensors for detecting the attachment state of the implement, the deterioration of the implement, the deterioration of parts of the agricultural machine, or the shortage of materials, according to the control system described in item a1.

[0010] [Item a3] The one or more sensors include at least one of an image sensor arranged to be able to image the implement, parts of the agricultural machine, or materials, and a sensor for measuring the remaining amount of the materials, according to the control system described in item a2.

[0011] [Item a4] When moving the agricultural machine to the stop location, the control device sends a notification to a computer used by an operator who performs the preparatory operation, according to the control system described in any one of items a1 to a3.

[0012] [Item a5] After the preparation work is completed, the control device moves the agricultural machine to a preset storage location of the agricultural machine or a field where the next scheduled agricultural work will be performed, the control system according to any one of items a1 to a4.

[0013] [Item a6] After each agricultural work by the agricultural machine is completed, the control device determines whether the preparation work is required for the next agricultural work, the control system according to any one of items a1 to a5.

[0014] [Item a7] After one day of agricultural work by the agricultural machine is completed, the control device determines whether the preparation work is required based on a signal output from one or more sensors provided in the agricultural machine, If the preparation work is not required, the control device moves the agricultural machine to a preset storage location of the agricultural machine, If the preparation work is required, the control device moves the agricultural machine to the stopover location, and after the preparation work is completed, moves the agricultural machine to the storage location, The control system according to any one of items a1 to a6.

[0015] [Item a8] The control device sends a signal requesting execution of the preparation work to a computer at a candidate stopover location, when receiving a response indicating that the preparation work is possible from the computer, determines the candidate location as the stopover location, when not receiving a response indicating that the preparation work is possible from the computer, moves the agricultural machine to a preset storage location of the agricultural machine without determining the stopover location, The control system according to items a1 to a6.

[0016] [Item a9] The control device Send a signal requesting execution of the preparation work to a first computer at a first candidate location selected from among a plurality of candidate locations. When a response indicating that the preparation work is possible is received from the first computer, determine the first candidate location as the stopover location. When a response indicating that the preparation work is possible is not received from the first computer, send a signal requesting execution of the preparation work to a second computer at a second candidate location selected from among the plurality of candidate locations. When a response indicating that the preparation work is possible is received from the second computer, determine the second candidate location as the stopover location. The control system according to items a1 to a6.

[0017] [Item a10] When moving the agricultural machine to the stopover location, the control device according to any one of items a1 to a9 sends a notification including information indicating the stopover location and the content of the preparation work to a terminal device used by a user of the agricultural machine.

[0018] [Item a11] An agricultural machine including a control device for controlling autonomous driving, A management device for managing the agricultural machine, Comprising, Based on an instruction from the management device, the control device causes the agricultural machine to perform agricultural work. For the agricultural work, when at least one of replacement of implements attached to the agricultural machine, maintenance of the implements, replacement of parts of the agricultural machine, maintenance of parts of the agricultural machine, and replenishment of materials is required for the preparation work, before the agricultural work, move the agricultural machine to a stopover location where the preparation work is to be performed. An agricultural management system.

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

[0020] [Item a13] When any one of the attachment state of the implement of the agricultural machine, the type of material, and the amount of material does not conform to the content of the farming work indicated by the information acquired from the management device, the control device determines that the preparatory work is necessary, and when any one of the attachment state of the implement, the type and amount of material conforms to the content of the farming work, the control device determines that the preparatory work is not necessary, for the agricultural management system described in item a12.

[0021] [Item b1] A control system for an agricultural machine that performs automatic driving, A storage device that stores a schedule of farming work to be performed by the agricultural machine, A control device that controls the operation of the agricultural machine according to the schedule, comprising After a specific farming work included in the schedule is completed, the control device moves the agricultural machine to a standby location different from the preset storage location of the agricultural machine based on the next farming work included in the schedule. Control system.

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

[0023] [Item b3] When the second moving distance from the field where the specific farming operation is performed, through the storage location, to the field where the next farming operation is performed is shorter than the first moving distance from the field where the specific farming operation is performed, through the standby location, to the field where the next farming operation is performed, the control system according to item b1 or b2 moves the agricultural machine to the standby location.

[0024] [Item b4] When the second moving distance is longer than the first moving distance, the control system according to item b3 moves the agricultural machine to the storage location.

[0025] [Item b5] When the time from when the specific farming operation ends to when the next farming operation starts is equal to or longer than a predetermined time, the control system according to any one of items b1 to b4 moves the agricultural machine to the standby location.

[0026] [Item b6] The storage device stores a plurality of farming operations performed by the agricultural machine over a plurality of working days, including the farming operation that is performed last on each working day as the specific farming operation and the farming operation that is performed first on each working day as the next farming operation. The control system according to any one of items b1 to b5.

[0027] [Item b7] The control system according to any one of items b1 to b6 further includes an input device for inputting the storage location, which is a location managed by the user of the agricultural machine, and the standby location, which is a location jointly used by the plurality of users, into the control device.

[0028] [Item b8] An agricultural machine including a management device for managing the schedule of farming operations, a control device for controlling automatic driving, and a communication device for receiving the schedule from the management device. is provided with After a specific farming operation included in the schedule received by the communication device is completed, the control device moves the agricultural machine to a standby location different from the preset storage location of the agricultural machine based on the next farming operation included in the schedule. Agricultural management system.

[0029] [Item b9] The communication device receives a schedule including information indicating the field where the specific farming operation is performed and information indicating the field where the next farming operation is performed as the schedule. The control device moves the agricultural machine to the standby location based on the positional relationship between the storage location, the field where the specific farming operation was performed, the field where the next farming operation is to be performed, and the standby location. The agricultural management system according to Item b8.

[0030] [Item b10] The control device moves the agricultural machine to the standby location when a second moving distance from the field where the specific farming operation was performed through the standby location to the field where the next farming operation is to be performed is shorter than a first moving distance from the field where the specific farming operation was performed through the storage location to the field where the next farming operation is to be performed. The agricultural management system according to Item b8 or b9.

[0031] [Item b11] The control device moves the agricultural machine to the storage location when the second moving distance is longer than the first moving distance. The agricultural management system according to Item b10.

[0032] [Item b12] The communication device receives a schedule including information on the start time of the next farming operation as the schedule. The control device moves the agricultural machine to the standby location when the time difference between the end time when the specific farming operation is completed and the start time of the next farming operation is equal to or greater than a predetermined time. The agricultural management system according to any one of Items b8 to b11.

[0033] The comprehensive or specific aspects of the present disclosure may be implemented by an apparatus, a system, a method, an integrated circuit, a computer program, or a non-transitory computer-readable storage medium, or any combination thereof. The computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. The apparatus may be composed of a plurality of apparatuses. When the apparatus is composed of two or more apparatuses, the two or more apparatuses may be arranged within one device, or may be separately arranged within two or more separate devices.

Advantages of the Invention

[0034] According to an embodiment of the present disclosure, it becomes possible to more efficiently perform farming operations by an agricultural machine that performs autonomous driving.

Brief Description of the Drawings

[0035]

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Mode for Carrying Out the Invention

[0036] Hereinafter, embodiments of the present disclosure will be described. However, a more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and overlapping descriptions regarding substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art. The inventor provides the accompanying drawings and the following description for those skilled in the art to fully understand the present disclosure, and does not intend to limit the subject matter described in the claims by these. In the following description, components having the same or similar functions are denoted by the same reference numerals.

[0037] 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, order of steps, layout of the display screen, etc. shown in the following embodiments are merely examples, and various modifications are possible as long as there is no technical contradiction. Also, as long as there is no technical contradiction, it is possible to combine one aspect with another aspect.

[0038] (Embodiment 1) The control system for an agricultural machine according to Exemplary Embodiment 1 of the present disclosure includes a control device that controls the automatic operation of the agricultural machine. When, for agricultural work, a preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of parts of the agricultural machine, maintenance of parts of the agricultural machine, and replenishment of materials is necessary, the control device moves the agricultural machine to a stopover location where the preparatory work is to be performed before the agricultural work.

[0039] According to the above configuration, when preparatory work for agricultural work is necessary, the agricultural machine can be automatically moved to a stopover location where the preparatory work is to be performed. The necessity of the preparatory work can be determined, for example, by the control device or a management device connected to the control device via a network. With the above configuration, the agricultural machine can be automatically moved to the stopover location without the user determining the necessity of the preparatory work and giving an instruction to move the agricultural machine. Therefore, the labor of the user can be saved, and the preparation for agricultural work can be performed more efficiently.

[0040] In the present disclosure, "agricultural machine" means a machine used for agricultural purposes. Examples of agricultural machines include tractors, harvesters, rice transplanters, ride-on management machines, vegetable transplanters, lawn mowers, seeders, fertilizer spreaders, and agricultural mobile robots. Not only when a work vehicle such as a tractor functions alone as an "agricultural machine", but also when a working machine (implement) attached to or towed by the work vehicle and the entire work vehicle function as one "agricultural machine" in some cases. An agricultural machine performs agricultural work such as tillage, seeding, control, fertilization, planting of crops, or harvesting on the ground in a farm field. These agricultural works may be referred to as "ground work" or simply "work". The act of a vehicle-type agricultural machine traveling while performing agricultural work may be referred to as "work traveling".

[0041] "Automatic driving" means controlling the movement of an agricultural machine by the function of a control device without manual operation by a driver. An agricultural machine that performs automatic driving may be called an "automatically driven agricultural machine" or a "robot agricultural machine". During automatic driving, not only the movement of the agricultural machine but also the operations of agricultural work may be automatically controlled. When the agricultural machine is a vehicle-type machine, the running of the agricultural machine by automatic driving is called "automatic running". The control device can control at least one of steering, adjustment of moving speed, start and stop of movement necessary for the movement of the agricultural machine. When controlling a work vehicle equipped with a working machine, the control device may control operations such as raising and lowering of the working machine, start and stop of the operation of the working machine. The movement by automatic driving may include not only the movement of the agricultural machine toward a destination along a predetermined route but also the movement following a following target. An agricultural machine that performs automatic driving may be provided with a function of moving based on a user's instruction partially. Further, an agricultural machine that performs automatic driving may operate in a manual driving mode in which it moves by manual operation by a driver in addition to the automatic driving mode. Performing the steering of an agricultural machine by the function of a control device without manual operation is called "automatic steering". Part or all of the control device may be outside the agricultural machine. Communication such as control signals, commands, or data may be performed between the control device outside the agricultural machine and the agricultural machine. An agricultural machine that performs automatic driving may move autonomously while sensing the surrounding environment without a person's involvement in the control of the movement of the agricultural machine. An agricultural machine capable of autonomous movement can run unmanned in a field or outside the field (for example, on a road). During autonomous movement, detection of obstacles and obstacle avoidance operations may be performed.

[0042] "Maintenance" of an implement or a part is an act performed to enable the original function or performance of the implement or the part to be exhibited. Maintenance may include acts such as servicing, repairing, adjusting, modifying, inspecting, or reinforcing.

[0043] "Materials" means the materials used in the farming operations performed by agricultural machinery. Materials are also referred to as "agricultural materials". Materials can include materials consumed by farming operations, such as pesticides, fertilizers, seeds, or seedlings.

[0044] "A stopping place" is a place where an agricultural machine stops for preparatory work. A stopping place can be, for example, a maintenance factory, a store for parts or materials, an individual's workplace, or a materials warehouse. The stopping place can vary depending on the content of the preparatory work. Replacement, repair, or maintenance of implements or parts can be performed, for example, at a maintenance factory, a store, or an individual's workplace. Refilling of materials can be performed, for example, at a materials warehouse, a store, or an individual's workplace. At the stopping place, a worker or a machine such as a robot performs predetermined preparatory work.

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

[0046] The control device may move the agricultural machine to different stops according to the content of the preparation work. The storage device may store data indicating the correspondence between the preparation work and the positions of the stops. Based on the data, the control device can determine a stop corresponding to the preparation work and generate a route to the stop. By moving the agricultural machine along the generated route, the agricultural machine can reach the stop.

[0047] The storage device of the control system may pre-record the schedule of the farming operations to be performed by the agricultural machine. The control device may control the movement of the agricultural machine according to the schedule. The schedule may include, for example, information indicating the date and time and the field where the farming operation is to be performed for each farming operation performed by the agricultural machine. When the control device determines that preparation work is required for one farming operation included in the schedule, it moves the agricultural machine to a stop where the preparation work is to be performed before the farming operation.

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

[0049] The control device may determine whether preparatory work is necessary based on the usage time of the implement or parts. For example, the usage time from the start time of using the implement or parts to the present may be recorded, and when the usage time exceeds a threshold value, it may be determined that preparatory work for replacement is necessary.

[0050] The control device may determine whether preparatory work is necessary based on data indicating the consumption amount of materials for each farming operation performed by the agricultural machine. For example, when the amount of materials consumed by the farming operations performed from the time when the previous material replenishment was carried out to the present exceeds a threshold value, the control device may determine that preparatory work for replenishing the material is necessary. The consumption amount of materials for each farming operation may be recorded in the storage device together with the aforementioned schedule, for example.

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

[0052] After the preparatory work is completed, the control device may move the agricultural machine to a preset storage location of the agricultural machine or to a field where the next scheduled farming operation is to be performed. The storage location may be, for example, a shed at the owner's home of the agricultural machine or a garage at the business office of the agricultural operator. The field where the next scheduled farming operation is to be performed can be identified, for example, by referring to the schedule stored in the storage device. The locations of the storage location and the field may be recorded in the storage device in advance.

[0053] Each time an agricultural operation by the agricultural machine is completed, the control device may determine whether preparatory work is required for the next agricultural operation. Whether preparatory work is required can be determined based on the output of the sensor or measuring instrument as described above. The control device may judge the necessity of preparatory work each time each agricultural operation included in the schedule stored in the storage device, for example.

[0054] After the agricultural operations for one day by the agricultural machine are completed, the control device may determine whether preparatory work is required based on the signals output from one or more sensors provided in the agricultural machine. If preparatory work is not required, the control device moves the agricultural machine to the preset storage location of the agricultural machine. On the contrary, if preparatory work is required, the control device moves the agricultural machine to the stopover location where the preparatory work is to be performed, and after the preparatory work is completed, moves the agricultural machine to the storage location. By such an operation, after the last agricultural operation scheduled for one day is completed, if preparatory work is required for the next agricultural operation scheduled for the next day or later, the agricultural machine can be stopped at the stopover location where the preparatory work is to be performed and returned to the storage location after the preparatory work is completed.

[0055] When preparatory work is required, the control device may perform the following operations (a1) to (a3). (a1) Send a signal requesting execution of preparatory work to the computer at the candidate stopover location. (a2) When a response indicating that the preparatory work is possible is received from the computer, determine that candidate location as the stopover location. (a3) When a response indicating that the preparatory work is possible is not received from the computer, move the agricultural machine to the preset storage location without determining the stopover location. By the above operations, the agricultural machine can be moved to the candidate location only when preparatory work is possible at the candidate location. The computer at the candidate location may be configured to send a response indicating that the preparatory work is possible to the control device based on, for example, the operation of the operator at the candidate location.

[0056] The control system may include a storage device that stores a database including position information of each of a plurality of candidate locations that are candidate stopping places, and information indicating one or more preparatory operations performed at each of the plurality of candidate locations. The control device may determine, with reference to the database, one candidate location capable of performing the preparatory operations necessary for the farming work as the stopping place from among the plurality of candidate locations.

[0057] When preparatory operations are necessary, the control device may perform the following operations (b1) to (b3). (b1) Transmit a signal requesting execution of the preparatory operations to a first computer at a first candidate location selected from among the plurality of candidate locations. (b2) When a response indicating that the preparatory operations are possible is received from the first computer, determine the first candidate location as the stopping place. (b3) When a response indicating that the preparatory operations are possible is not received from the first computer, transmit a signal requesting execution of the preparatory operations to a second computer at a second candidate location selected from among the plurality of candidate locations. (b4) When a response indicating that the preparatory operations are possible is received from the second computer, determine the second candidate location as the stopping place. By the above operations, it is possible to search for a candidate location where the preparatory operations can be executed from among the plurality of candidate locations. Therefore, even when it is not possible to execute the preparatory operations at a certain candidate location due to reasons such as a shortage of parts, materials, or personnel, it is possible to determine a candidate location where the preparatory operations are possible from other candidate locations.

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

[0059] During the operation of the agricultural machine in the field, the control device may determine whether preparatory work is required. For example, during the agricultural operation, when the control device detects a failure or malfunction of an implement or component based on a signal output from one or more sensors, it may determine that preparatory work is required. In that case, the control device may interrupt the agricultural operation of the agricultural machine and move it to a stopover location. Alternatively, after the agricultural operation in that field is completed or after all the agricultural operations of the day are completed, the control device may move the agricultural machine to a stopover location. In that case, the control device may send a notification to the terminal device at the stage when it determines that preparatory work is required, and after the agricultural operation in that field or all the agricultural operations of the day are completed, it may inform the user to stop by at the stopover location and then return to the storage location.

[0060] When a change in the schedule of the agricultural operation originally planned due to the preparatory work being carried out at the stopover location is necessary, the management device that manages the schedule may modify the schedule taking into account the time required for the preparatory work. In that case, the control device may send a notification indicating that the schedule has been changed to the first terminal device. The notification may include information indicating the changed schedule of the agricultural operation. Thereby, the user can grasp that the schedule has been changed by looking at the notification.

[0061] An agricultural management system according to another embodiment of the present disclosure includes an agricultural machine including a control device that controls autonomous driving, and a management device that manages the agricultural machine. The control device causes the agricultural machine to perform agricultural work based on an instruction from the management device. When preparation work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of parts of the agricultural machine, maintenance of parts of the agricultural machine, and replenishment of materials is required for the agricultural work, the control device moves the agricultural machine to a stopover location where the preparation work is performed before the agricultural work.

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

[0063] The management device may instruct the control device of the agricultural machine to execute agricultural work based on, for example, a schedule of agricultural work stored in a storage device included in the agricultural management system. The control device can move the agricultural machine to a field and cause the agricultural machine to perform agricultural work in the field according to an instruction from the management device.

[0064] The control device may obtain information indicating the content of the agricultural work from the management device and determine whether preparation work is required based on the content of the agricultural work and the state of the agricultural machine. The state of the agricultural machine can be, for example, the attachment state of the implement, the state of the parts of the agricultural machine, or the degree of shortage of materials.

[0065] When any one of the attachment state of the implement of the agricultural machine, the type of material, and the amount of material does not conform to the content of the agricultural work indicated by the information acquired from the management device, the control device may determine that preparatory work is necessary. Conversely, when any one of the attachment state of the implement, the type of material, and the amount of material conforms to the content of the agricultural work, the control device may determine that preparatory work is not necessary. For example, when the implement used in the next agricultural work is not attached to the agricultural machine, or when the material used in the next agricultural work is not sufficiently loaded on the agricultural machine, it is determined that preparatory work is necessary. In that case, the control device moves the agricultural machine to a stopover location where the preparatory work is to be performed. Thereby, the preparatory work according to the agricultural work can be appropriately performed.

[0066] A method for controlling the automatic operation of an agricultural machine according to another embodiment of the present disclosure includes determining whether preparatory work including at least one of replacement of an implement attached to the agricultural machine, maintenance of the implement, replacement of parts of the agricultural machine, maintenance of parts of the agricultural machine, and replenishment of materials is necessary for the agricultural work, and moving the agricultural machine to a stopover location where the preparatory work is to be performed before the agricultural work when the preparatory work is necessary.

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

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

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

[0070] The work vehicle 100 in the present embodiment is a tractor. The tractor can attach implements to one or both of the rear and front portions. The tractor can travel in the field while performing agricultural work according to the type of implement. The tractor may travel in or outside the field without attaching an implement.

[0071] The work vehicle 100 is provided with an automatic driving function. That is, the work vehicle 100 can travel by the action of a control device without manual operation. The control device in the present embodiment is provided inside the work vehicle 100 and can control both the speed and steering of the work vehicle 100. The work vehicle 100 can automatically travel not only in the field but also outside the field including public roads.

[0072] The work vehicle 100 is provided with a positioning device 110 including a GNSS receiver. The control device automatically drives the work vehicle 100 based on the position of the work vehicle 100 specified by the positioning device 110 and a target route pre-stored in the storage device. In addition to controlling the running of the work vehicle 100, the control device also controls the operation of the implement. Thereby, the work vehicle 100 can perform work using the implement while automatically running.

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

[0074] The first terminal device 400 is a computer used by a user located at a place away from the work vehicle 100. Although the first terminal device 400 shown in FIG. 1 is a smartphone, it is not limited thereto. The first terminal device 400 may be a mobile terminal such as a smartphone, a tablet computer, or a laptop computer, or a stationary computer such as a desktop PC. The first terminal device 400 can be used for monitoring the work vehicle 100. For example, the first terminal device 400 can display on a display a video captured by one or more cameras provided in the work vehicle 100. The user can view the video and check the situation around the work vehicle 100. The first terminal device 400 further receives a notification when the work vehicle 100 heads to a specific stopover location for preparatory work. The user can view the notification and know that preparatory work is being carried out at the stopover location. The first terminal device 400 can also be configured to receive a completion notification transmitted when the preparatory work is completed. The user can view the completion notification and know the completion of the preparatory work. The terminal device 400 further displays on a display a setting screen for the user to input information necessary for creating a schedule of farming operations performed by the work vehicle 100. When the user inputs the necessary information on the setting screen and performs a transmission operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates and records a schedule of farming operations based on the information. The management device 600 transmits the schedule of farming operations to the work vehicle 100. The work vehicle 100 moves between a plurality of fields according to the received schedule and performs farming operations in each field. The terminal device 400 may include an input device for inputting the storage location of the work vehicle 100 and the location information of one or more stopover locations.

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

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

[0077] [1. Configuration] FIG. 2 is a side view schematically showing an example of the work vehicle 100 and the implement 300 connected to the work vehicle 100. The work vehicle 100 in this embodiment has functions of both a manual driving mode and an automatic driving mode. In the automatic driving mode, the work vehicle 100 can travel unmanned. The work vehicle 100 can perform automatic driving both inside and outside the field (including roads).

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

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

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

[0081] The positioning device 110 may include an inertial measurement unit (IMU). The signal from the IMU can be used to complement the position data. The IMU can measure the inclination and minute movement of the work vehicle 100. By using the data obtained by the IMU to complement the position data based on satellite signals, the positioning performance can be improved.

[0082] The work vehicle 100 shown in FIG. 2 further includes a LiDAR sensor 140. In this example, the LiDAR sensor 140 is disposed at the lower front part of the vehicle body 101. The LiDAR sensor 140 may be provided at other positions. While the work vehicle 100 is moving, the LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction of each measurement point on an object existing 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 the control device of the work vehicle 100. The control device can execute processes such as generation of an environmental map based on the sensor data by using an algorithm such as SLAM (Simultaneous Localization and Mapping). The generation of the environmental map may be executed by another computer such as a management device 600 outside the work vehicle 100. The sensor data output from the LiDAR sensor 140 can also be used for obstacle detection.

[0083] The positioning device 110 may use the data acquired by the camera 120 or the LiDAR sensor 140 for positioning. When there are features in the environment where the work vehicle 100 travels that function as feature points, based on the data acquired by the camera 120 or the LiDAR sensor 140 and the environmental map previously recorded in the storage device, the position of the work vehicle 100 can be estimated with high accuracy. By using the data acquired by the camera 120 or the LiDAR sensor 140 to correct or complement the position data based on satellite signals, the position of the work vehicle 100 can be specified with higher accuracy.

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

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

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

[0087] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also referred to as a "three-point link" or "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The implement 300 can be attached to and detached from the work vehicle 100 by the coupling device 108. The coupling device 108 can raise and lower the three-point link by, for example, a hydraulic device, and change the position or posture of the implement 300. Also, power can be transmitted from the work vehicle 100 to the implement 300 via the universal joint. The work vehicle 100 can cause the implement 300 to perform a predetermined operation while pulling the implement 300. The coupling device may be provided in front of the vehicle body 101. In that case, an implement can be connected in front of the work vehicle 100.

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

[0089] The work vehicle 100 shown in FIG. 2 can be manned, but may also support only unmanned operation. In that case, components that are only necessary for manned operation, such as the cabin 105, the steering device 106, and the driver's seat 107, do not have to be provided on the work vehicle 100. The unmanned work vehicle 100 can travel by autonomous driving or remote operation by the user.

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

[0091] In the example of FIG. 3, the work vehicle 100 includes, in addition to the positioning device 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, and the operation terminal 200, a sensor group 150 that detects the operating state of the work vehicle 100, a control system 160, a communication device 190, an operation switch group 210, a buzzer 220, a state detection device 230, and a drive device 240. These components are connected to be communicable with each other via a bus. The positioning device 110 includes a GNSS receiver 111, an RTK receiver 112, an inertial measurement unit (IMU) 115, and a processing circuit 116. The sensor group 150 includes a steering wheel sensor 152, a cut angle sensor 154, and an axle sensor 156. The control system 160 includes a storage device 170 and a control device 180. The control device 180 includes a plurality of electronic control units (ECUs) 181 to 186. The implement 300 includes a drive device 340, a control device 380, and a communication device 390. Note that FIG. 3 shows components that are relatively highly related to the operation of the automatic driving by the work vehicle 100, and illustration of other components is omitted.

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

[0093] The positioning device 110 shown in FIG. 3 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of a work vehicle 100 that performs positioning by RTK-GNSS. In positioning by RTK-GNSS, in addition to satellite signals transmitted from a plurality of GNSS satellites 50, correction signals transmitted from a reference station 60 are used. The reference station 60 can be installed near the field where the work vehicle 100 travels (for example, at a position within 1 km from the work vehicle 100). The reference station 60 generates, for example, correction signals in RTCM format based on the satellite signals received from the plurality of GNSS satellites 50 and transmits them to the positioning device 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 positioning device 110 corrects the positioning result by the GNSS receiver 111 based on the correction signals. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, several centimeters of error. Position information including latitude, longitude, and altitude information is obtained by high-precision positioning by RTK-GNSS. The positioning device 110 calculates the position of the work vehicle 100, for example, at a frequency of about once to ten times per second.

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

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

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

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

[0098] The camera 120 is an imaging device that captures the environment around the work vehicle 100. The camera 120 includes, for example, an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 120 may also include an optical system including one or more lenses and a signal processing circuit. While the work vehicle 100 is in motion, the camera 120 captures the environment around the work vehicle 100 and generates image (e.g., video) data. The camera 120 can, for example, capture video at a frame rate of 3 frames per second (fps) or higher. The images generated by the camera 120 can be used, for example, when a remote monitor uses the first terminal device 400 to check the environment around the work vehicle 100. The images generated by the camera 120 may also be used for positioning or obstacle detection. As shown in FIG. 2, a plurality of cameras 120 may be provided at different positions of the work vehicle 100, or a single camera may be provided. A visible camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both the visible camera and the infrared camera may be provided as cameras that generate images for monitoring. The infrared camera can also be used for detecting obstacles at night.

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

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

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

[0102] The drive device 240 includes various devices necessary for the running of the work vehicle 100 and the driving of the implement 300, such as the aforementioned prime mover 102, transmission 103, steering device 106, and coupling device 108. The prime mover 102 can be equipped with an internal combustion engine such as a diesel engine. The drive device 240 may be equipped with a traction electric motor instead of or together with the internal combustion engine.

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

[0104] The state detection device 230 is a device including one or more sensors for detecting the mounting state of the implement 300, the deterioration of the implement 300, the deterioration of the parts of the work vehicle 100, or the shortage of materials. The one or more sensors can include, for example, at least one of an image sensor arranged so as to be able to image the implement 300, the parts of the work vehicle 100, or the materials consumed in agricultural work, and a sensor for measuring the remaining amount of materials. Specific examples of the state detection device 230 will be described later.

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

[0106] The control device 180 includes a plurality of ECUs. The plurality of ECUs include, for example, an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for implement control, an ECU 184 for automatic driving control, an ECU 185 for route creation, and an ECU 186 for state estimation. The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the brakes included in the drive device 240. The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic device or the electric motor included in the steering device 106 based on the measured value of the steering wheel sensor 152. The ECU 183 controls operations such as the three-point link and the PTO shaft included in the hitch device 108 in order to cause the implement 300 to perform a desired operation. The ECU 183 also generates a signal for controlling the operation of the implement 300 and transmits the signal from the communication device 190 to the implement 300. The ECU 184 performs calculations and controls for realizing automatic driving based on the signals output from the positioning device 110, the steering wheel sensor 152, the cut angle sensor 154, and the axle sensor 156. During automatic driving, the ECU 184 sends a command value for speed change to the ECU 181 and a command value for steering angle change to the ECU 182. The ECU 181 changes the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, or the brakes based on the command value for speed change. The ECU 182 changes the steering angle by controlling the steering device 106 based on the command value for steering angle change. The ECU 185 creates a target route of the work vehicle 100 and records the information in the storage device 170. The ECU 185 determines the destination of the work vehicle 100 based on the work schedule stored in the storage device 170 and determines the route from the current position of the work vehicle 100 to the destination. The ECU 185 creates, as the target route, a route that can reach the destination in the shortest time, for example, based on the environmental map including the road information stored in the storage device 170. The ECU 186 estimates the state of the work vehicle 100 or the implement 300 based on the signal output from the state detection device 230 and determines whether preparatory work is necessary. When the ECU 186 determines that preparatory work is necessary, it determines a stopover point according to the preparatory work.When the stopover location is determined, the ECU 185 creates a target route to the stopover location. The ECU 185 stores the created target route in the storage device 170. The ECU 184 controls the drive device 240 to make the work vehicle 100 travel along the target route. When the ECU 186 determines the stopover location, it instructs the communication device 190 to send notifications to the first terminal device 400 used by the user and the second terminal device 500 used by the worker who performs preparatory work at the stopover location.

[0107] Due to the functions of these ECUs, the control device 180 realizes automatic driving, determination of the necessity of preparatory work, determination of the stopover location, creation of the target route, and communication with other devices. During automatic driving, the control device 180 controls the drive device 240 based on the position of the work vehicle 100 measured or estimated by the positioning device 110 and the target route stored in the storage device 170. Thereby, the control device 180 can make the work vehicle 100 travel along the target route.

[0108] The plurality of ECUs included in the control device 180 can communicate with each other according to 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 each of these functions may be realized by a plurality of ECUs. An in-vehicle computer integrating at least some of the functions of the ECUs 181 to 186 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 186, and any number of ECUs may be provided according to the functions. Each ECU includes a processing circuit including one or more processors.

[0109] The communication device 190 is a device including a circuit for communicating with the implement 300, the first terminal device 400, the second terminal device 500, and the management device 600. The communication device 190 includes a circuit for performing transmission and reception of signals compliant with the ISOBUS standard, such as ISOBUS-TIM, with the communication device 390 of the implement 300. Thereby, it is possible to cause the implement 300 to execute a desired operation or to acquire information from the implement 300. The communication device 190 may further include an antenna and a communication circuit for performing transmission and reception of signals via the network 80 with the respective communication devices of the first terminal device 400, the second terminal device 500, and the management device 600. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G and the Internet. The communication device 190 may be provided with a function of communicating with a mobile terminal used by a monitor near the work vehicle 100. Between such a mobile terminal, communication compliant with any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth (registered trademark), may be performed.

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

[0111] FIG. 5 is a schematic diagram showing an example of the operation terminal 200 and the operation switch group 210 provided inside the cabin 105. Inside the cabin 105, an operation switch group 210 including a plurality of switches operable by the user is arranged. 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 the automatic driving mode and the manual driving mode, a switch for switching between forward and reverse, and a switch for raising and lowering the implement 300. Note that when the work vehicle 100 only performs unmanned driving and does not have a manned driving function, the work vehicle 100 does not need to be provided with the operation switch group 210.

[0112] In the implement 300 shown in FIG. 3, the drive device 340 performs operations necessary for the implement 300 to execute a predetermined task. The drive device 340 includes a device suitable for the use 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 execute various operations in response to a signal transmitted from the work vehicle 100 via the communication device 390. Also, a signal corresponding to the state of the implement 300 can be transmitted from the communication device 390 to the work vehicle 100.

[0113] Next, an example of the state detection device 230 will be described with reference to FIG. 6.

[0114] FIG. 6 is a rear view showing an example of the configuration on the rear side of the work vehicle 100. The work vehicle 100 shown in FIG. 6 is provided with a camera 232 for photographing the implement 300 on the rear side. The camera 232 is an example of the state detection device 230. The camera 232 in this example is arranged so as to be able to photograph the connection portion between the implement 300 and the connection device 108 of the work vehicle 100. The camera 232 may include an image sensor such as a CCD or a CMOS, and a signal processing circuit that processes a signal output from the image sensor. In this example, the ECU 186 in the control device 180 recognizes the mounting state of the implement 300 based on the image photographed by the camera 232. The ECU 186 can recognize, for example, whether the implement 300 corresponding to the next scheduled agricultural work is correctly mounted based on the image. For the recognition, an algorithm using a learned model trained by, for example, machine learning may be used. The ECU 186 can determine whether preparatory work such as replacement or maintenance of the implement 300 is necessary based on the recognition result.

[0115] When the ECU 186 determines that preparatory work such as replacement or maintenance of the implement 300 is necessary, it determines the location to stop for such preparatory work (for example, a maintenance factory, a store, or the warehouse of the user's acquaintance, etc.). In this embodiment, a database in which the types of preparatory work and the location information of the stop locations are associated is stored in the storage device 170 in advance. The ECU 186 refers to the database, acquires the location information of the stop location where the necessary preparatory work is to be carried out, and sends the location information to the ECU 185. The ECU 185 creates a target route to the stop location based on the location information. For example, a route that reaches the stop location in the shortest distance from the current position of the work vehicle 100 can be created as the target route. When the ECU 185 creates the target route, it sends the information to the ECU 184. The ECU 184 controls the drive device 240 so that the work vehicle 100 travels according to the target route.

[0116] The state detection device 230 may include a camera that photographs locations other than the connection part between the implement 300 and the work vehicle 100. Such a camera can be arranged to photograph specific parts on the implement 300 or the work vehicle 100. For example, depending on the type of the implement 300 or the work vehicle 100, a camera that photographs parts such as rotary claws, cutting blades, or planting claws may be arranged. In that case, the ECU 186 can estimate the degree of wear or damage of the part based on the image of the part, and determine whether preparatory work such as replacement or repair of the part is necessary based on the estimation result. Alternatively, the ECU 186 may detect tire wear, crawler tension or wear, or chain slack, etc. based on the image acquired by a camera that photographs the tires or crawlers, and determine whether preparatory work is required.

[0117] Instead of or in addition to the camera, the state detection device 230 may include a sensor that measures the wear amount of specific parts (such as claws or cutting blades) in the work vehicle 100 or the implement 300. Such a sensor can be, for example, a laser scanner, an ultrasonic sensor, or another type of distance measuring sensor. With these sensors, the shape of the claw or the cutting blade can be measured, and thus the wear amount can be estimated based on the shape.

[0118] The implement 300 may be a working machine that uses agricultural materials (such as fertilizers, seeds, agricultural chemicals, or seedlings) consumed by performing agricultural operations, such as a fertilizer applicator, a seeder, an agricultural chemical sprayer, or a planter. Alternatively, like a rice transplanter, the work vehicle 100 itself may be equipped with a function of planting seedlings. In such a case, the state detection device 230 may include a sensor (such as a weight sensor) that measures the remaining amount of the material. The control device may determine whether preparatory work for replenishing the material is necessary based on the remaining amount of the material measured by the sensor.

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

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

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

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

[0123] The processor 660 can be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 660 can be realized by a microprocessor or a microcontroller. Alternatively, the processor 660 can also be realized by an FPGA (Field Programmable Gate Array) equipped with a CPU, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an ASSP (Application Specific Standard Product) , or a combination of two or more circuits selected from these circuits. The processor 660 sequentially executes a computer program describing a group of instructions for executing at least one process stored in the ROM 670 to realize a desired process.

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

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

[0126] The storage device 650 mainly functions as a database storage. The storage device 650 can be, for example, a magnetic storage device or a semiconductor storage device. An example of the magnetic storage device is a hard disk drive (HDD). An example of the 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 a network 80, such as cloud storage.

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

[0128] The second terminal device 500 includes an input device 520, a display device 530, a storage device 550, a processor 560, a ROM 570, a RAM 580, and a communication device 590. These components are communicably connected to each other via a bus. The input device 520 is a device for converting an instruction from a user (for example, a worker at a stopover location) into data and inputting it to a computer. The input device 520 can be, for example, a keyboard, a mouse, or a touch panel. The display device 530 can be, for example, a liquid crystal display or an organic EL display. The explanations of each of the processor 560, the ROM 570, the RAM 580, the storage device 550, and the communication device 590 are as described in the hardware configuration example of the management device 600, and the explanations thereof are omitted.

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

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

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

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

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

[0134] In the example shown in FIG. 9, the control device 180 controls the drive device 240 based only on the deviation between the position of the work vehicle 100 specified by the positioning device 110 and the target path, but it may also control by further considering the deviation in orientation. For example, when the deviation in orientation, which is the angular difference between the direction of the work vehicle 100 specified by the positioning device 110 and the direction of the target path, exceeds a preset threshold value, the control device 180 may change the control parameter (for example, the steering angle) of the steering device of the drive device 240 according to the deviation.

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

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

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

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

[0139] As shown in FIG. 10C, when the position of the work vehicle 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 work vehicle 100 inclines to the right and approaches the path P. Also in this case, the speed may be changed together with the steering angle. The amount of change in the steering angle can be adjusted according to, for example, the magnitude of the position deviation Δx.

[0140] As shown in FIG. 10D, when the position of the work vehicle 100 is not greatly deviated from the target path P but the direction is different from the direction of the target path P, the control device 180 changes the steering angle so that the azimuth deviation Δθ becomes smaller. Also in this case, the speed may be changed together with the steering angle. The magnitude of the steering angle can be adjusted according to, for example, the magnitudes of the position deviation Δx and the azimuth deviation Δθ respectively. For example, the smaller the absolute value of the position deviation Δx, the larger the amount of change in the steering angle corresponding to the azimuth deviation Δθ may be made. When the absolute value of the position deviation Δx is large, the steering angle will be changed greatly to return to the path P, so inevitably the absolute value of the azimuth deviation Δθ will become large. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to make the azimuth deviation Δθ approach zero. Therefore, it is reasonable to relatively increase the weight (i.e., control gain) of the azimuth deviation Δθ for determining the steering angle.

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

[0142] In addition, when an obstacle is detected by one or more obstacle sensors 130 during traveling, the control device 180 stops the work vehicle 100. The control device 180 may control the drive device 240 to avoid the obstacle when the obstacle is detected. The control device 180 can also detect an object (for example, another vehicle or a pedestrian, etc.) existing at a position relatively far from the work vehicle 100 based on the data output from the LiDAR sensor 140. The control device 180 can also realize automatic driving on a public road by performing speed control and steering control to avoid the detected object.

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

[0144] [2-2. Creation of Work Schedule] The work vehicle 100 in the present embodiment automatically executes movement between farm fields and farming operations in each farm field according to the work schedule recorded in the storage device 170. The work schedule may include information on a plurality of farming operations performed over a plurality of working days. Specifically, the work schedule can be a database including information indicating at what time, which agricultural machine, in which farm field, and which farming operation is to be performed for each working day. The work schedule can be created by the processor 660 of the management device 600 based on the information input by the user using the terminal device 400. Hereinafter, an example of a method for creating a work schedule will be described.

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

[0146] FIG. 12 shows an example of the setting screen 760 in the case where plowing involving fertilizer application is performed in a paddy field for rice cultivation as an agricultural work. The setting screen 760 is not limited to what is shown and can be changed as appropriate. The setting screen 760 in the example of FIG. 12 includes a date setting section 762, a cropping plan selection section 763, a field selection section 764, a work selection section 765, a worker selection section 766, a time setting section 767, a machine selection section 768, a fertilizer selection section 769, and a spraying amount setting section 770.

[0147] The date input by the input device 420 is displayed in the date setting section 762. The input date is set as the date of performing the agricultural work.

[0148] A list of names of pre-created cropping plans is displayed in the cropping plan selection section 763. The user can select a desired cropping plan from the list. The cropping plan is created in advance for each type and variety of crop and recorded in a storage device 650 of the management device 600. The cropping plan is a plan for which crop to cultivate in which field. The cropping plan is performed by an administrator or the like who manages a plurality of fields before cultivating the crop in the field. A field is a partitioned farmland where a crop is cultivated (i.e., planted). In the example of FIG. 12, the cropping plan for the rice variety "Koshiibuki" is selected. In this case, the content set on the setting screen 760 is associated with the cropping plan for "Koshiibuki".

[0149] In the field selection unit 764, the fields in the environmental map are displayed. The user can select any field from the displayed fields. In the example of FIG. 12, the part indicating "Field A" is selected. In this case, the selected "Field A" is set as the field where farming operations are to be performed.

[0150] In the operation selection unit 765, a plurality of farming operations necessary for cultivating the selected crop are displayed. The user can select one farming operation from the plurality of farming operations. In the example of FIG. 12, "tillage" is selected from the plurality of farming operations. In this case, the selected "tillage" is set as the farming operation to be performed.

[0151] In the worker selection unit 766, the pre-registered workers are displayed. The user can select one or more workers from the displayed plurality of workers. In the example of FIG. 12, among the plurality of workers, "Worker B, Worker C" are selected. In this case, the selected "Worker B, Worker C" are set as the workers in charge of performing or managing the farming operation. Note that in this embodiment, since the agricultural machine automatically performs the farming operation, the worker may not actually perform the farming operation and may only remotely monitor the farming operation performed by the agricultural machine.

[0152] In the time setting unit 767, the working time input from the input device 420 is displayed. The working time is specified by the start time and the end time. The input working time is set as the scheduled time for the farming operation to be performed.

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

[0154] In the fertilizer selection unit 769, the names of a plurality of fertilizers registered in advance by the management device 600 are displayed. The user can select a specific fertilizer from among the plurality of displayed fertilizers. The selected fertilizer is set as the fertilizer to be used in the farming operation.

[0155] In the application rate setting unit 770, the numerical value input from the input device 420 is displayed. The input numerical value is set as the application rate.

[0156] On the setting screen 760, when the cropping plan, field, farming operation, operator, working time, fertilizer, and application rate are input and "Register" is selected, the communication device 490 of the terminal device 400 transmits the input 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 for the farming operations to be executed by each agricultural machine and stores it in the storage device 650.

[0157] Note that the information on the farming operations managed by the management device 600 is not limited to the above. For example, the type and application rate of agricultural chemicals used in the field may be set on the setting screen 760. Information regarding farming operations other than those shown in FIG. 12 may also be set.

[0158] FIG. 13 is a diagram showing an example of a schedule for farming operations created by the management device 600. The schedule in this example includes information indicating the date and time when the farming operation is to be performed, the field, the work content, and the implement used, for each registered agricultural machine. In addition to the information shown in FIG. 13, the schedule may include information such as agricultural chemicals or the application rate of agricultural chemicals, depending on the work content. According to such a schedule, the processor 660 of the management device 600 issues an instruction for the farming operation to the work vehicle 100. The schedule can be downloaded by the control device 180 of the work vehicle 100 and also stored in the storage device 170. In that case, the control device 180 may start operating spontaneously according to the schedule stored in the storage device 170.

[0159] [2-3. Determination of the necessity of preparatory work and movement to the stopover location] Next, a specific example of the operation for determining the necessity of preparatory work and moving the work vehicle 100 to the stopover location will be described.

[0160] FIG. 14 is a diagram for explaining the operation of the work vehicle 100 moving to the stopover location 94 where preparatory work is performed for the next farming operation. FIG. 14 illustrates a plurality of fields 70 where the work vehicle 100 performs farming operations, a storage location 90 for the work vehicle 100, the home 92 of a user who remotely monitors the work vehicle 100, and a stopover location 94 where preparatory work is performed. The respective positions of the field 70, the storage location 90, and the stopover location 94 are recorded in advance in the storage device 170 together with the data of the environmental map. The storage location 90 can be, for example, a warehouse, a shed, or a parking lot adjacent to the user's home 92 or business office. The stopover location 94 can be, for example, a repair shop, a parts or implement sales store, a supply warehouse, or an individual's workplace. The work vehicle 100 performs farming operations in one or more fields 70 per day. Which field 70 the work vehicle 100 performs farming operations on at what date and time can be determined according to the schedule transmitted from the management device 600. The schedule data is downloaded in advance and stored in the storage device 170. The control device 180 controls the drive device 240 so that the work vehicle 100 performs farming operations in the designated field 70 at the designated time according to the schedule.

[0161] In FIG. 14, the route along which the work vehicle 100 travels is illustrated by arrows. The solid-line arrow shows an example of the route when the work vehicle 100 departs from the storage location 90 and enters each field 70. The dashed-line arrow shows an example of the route when the work vehicle 100 moves from the field 70 after finishing the farming operation to the stopover location 94. The dotted-line arrow shows an example of the route when the work vehicle 100 returns from the stopover location 94 to the storage location 90.

[0162] In this example, the work vehicle 100 departs from the storage location 90, visits in order a plurality of fields 70 where farming operations are scheduled for the day, and performs the farming operations shown in the schedule at each field. At each field, the work vehicle 100 performs farming operations while performing autonomous driving in the manner described with reference to FIG. 8, for example. When the farming operations at one field are completed, the work vehicle 100 enters the next field and performs farming operations in the same manner. In this way, the work vehicle 100 automatically performs farming operations at a plurality of fields 70. The control device 180 determines whether preparatory work is necessary based on a signal output from the state detection device 230, for example, after all the farming operations scheduled for one day are completed, or after each farming operation is completed. For example, as described with reference to FIG. 6, the control device 180 can determine whether there is a defect such as a failure in the parts of the work vehicle 100 or the implement 300 based on an image of the parts of the work vehicle 100 or the implement 300 taken by the camera 232. Alternatively, the control device 180 can determine whether the materials are insufficient based on a signal output from a sensor that measures the remaining amount of materials such as fertilizer, seeds, agricultural chemicals, or seedlings. Based on these determination results, the control device 180 determines whether preparatory work such as replacement or maintenance of the parts of the work vehicle 100 or the implement 300, or replenishment of materials is necessary.

[0163] When the control device 180 determines that preparatory work is necessary, it determines the stopping place 94 where the preparatory work is to be performed with reference to the database stored in the storage device 170. The control device 180 creates a target route to the stopping place 94 and controls the drive device 240 so that the work vehicle 100 travels along the target route. The control device 180 creates a target route from, for example, the field 70 where the last farming operation scheduled for one day is performed, or any field 70 where the farming operation is completed, to the stopping place 94. That is, the control device 180 creates a target route on the map at least on the road from the field 70 to the stopping place 94.

[0164] As a result, the work vehicle 100 can automatically move to the stopover location 94 along the target route. In FIG. 14, an example of the target route to the stopover location 94 is shown by a dashed arrow. As the target route, for example, a route that reaches the stopover location 94 in the shortest time can be selected.

[0165] During movement, the work vehicle 100 detects obstacles such as pedestrians or other vehicles using the obstacle sensor 130, the LiDAR sensor 140, and the camera 120, and heads towards the stopover location 94 while controlling the steering and speed to avoid the obstacles. The work vehicle 100 also performs operations such as recognizing a traffic signal based on an image captured by the camera 120, stopping at a red signal, and starting at a green signal.

[0166] When moving the work vehicle 100 to the stopover location 94, the control device 180 sends a notification to the first terminal device 400 used by the user at the home 92 or other location and the second terminal device 500 used by the worker who performs preparatory work at the stopover location 94. This notification may include information such as the content of the work and the scheduled arrival time at the stopover location 94. The notification may be sent directly from the work vehicle 100 to the first terminal device 400 and the second terminal device 500, or may be sent via the management device 600.

[0167] At the stopover location 94, for example, preparatory work such as replacement or inspection of parts or implements 300, or replenishment of materials is performed. The content of the preparatory work is notified in advance to the second terminal device 500, and the worker can make preparations such as preparing replacement parts, tools for maintenance, or materials to be replenished based on the notification. When the work vehicle 100 reaches the stopover location 94, the worker can immediately perform the preparatory work. When the preparatory work is completed, the worker operates the second terminal device 500 to perform the work completion process.

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

[0169] When the control device 180 receives the completion notification, the control device 180 may transmit a notification indicating that the preparation work has been completed to the first terminal device 400 used by the user. This notification may include, for example, information that the preparation work has been completed and the scheduled time of arrival at the storage location 90. If the preparation work is performed for a fee, information on the fee for the preparation work may be included in the notification. The fee for the preparation work may be determined according to the content of the preparation work. The fee may be determined by the worker or may be determined in advance for each preparation work. Information on the fee for each preparation work may be recorded, for example, in the storage device 650 of the management device 600. The second terminal device 500 may obtain fee information according to the content of the performed preparation work from the management device 600 and determine the fee. Note that if the preparation work is performed by an individual such as an acquaintance of the user, the preparation work may be performed free of charge.

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

[0171] As a result, the work vehicle 100 automatically moves to the storage location 90. This operation can be performed, for example, after the last farming operation scheduled for a day is completed and when preparatory work for the next farming operation scheduled for the day after the next day is carried out. If there are still farming operations to be completed on the same day after the preparatory work, as shown in FIG. 15, the control device 180 may move the work vehicle 100 to the field 70 where the next farming operation is to be performed and resume the farming operation.

[0172] In the above example, the control device 180 determines whether preparatory work is necessary after the completion of the last farming operation scheduled for a day or after the completion of each farming operation. Not limited to such an example, for example, before starting the farming operations for a day, it may be determined whether preparatory work is necessary for the first farming operation to be performed on that day.

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

[0174] As a result, the necessary preparatory work is carried out before the farming operation. After the completion of the preparatory work, as illustrated by the dotted arrow in FIG. 16, the control device 180 creates a route on the map along the road from the stopover location 94 to the field 70 where the first farming operation is to be performed on that day, and moves the work vehicle 100 along that route. As a result, the work vehicle 100 can start the farming operation in a state where the necessary preparatory work has been completed.

[0175] After the preparation work, as indicated by the solid-line arrow in FIG. 16, the work vehicle 100 sequentially moves to a plurality of fields 70 scheduled for that day and performs farming operations. When all the farming operations are completed, the work vehicle 100 returns to the storage location 90. Also in this example, when the farming operation at each field is completed or when all the farming operations are completed, the control device 180 may determine whether preparation work is required. If it is determined that preparation work is required, the control device 180 determines a stopover location corresponding to the preparation work and moves the work vehicle 100 to that stopover location. The stopover location determined at this time may be the same as or different from the stopover location 94 where the preparation work was previously performed.

[0176] The operation shown in FIG. 16 can also be applied when the work vehicle 100 departs from the storage location 90 without the implement attached and preparation work for attaching the implement is performed at the stopover location 94. For example, consider a case where a specific implement is required for the first farming operation of the day, but the implement cannot be used due to a failure. In that case, the work vehicle 100 may depart from the storage location 90 without attaching the implement. When the control device 180 detects based on the output of the sensor that the implement is not attached, the control device 180 may determine that preparation work for attaching the implement is required. The control device 180 determines a stopover location 94 where the preparation work can be performed and causes the work vehicle 100 to travel toward the stopover location 94. The stopover location 94 may be, for example, an implement sales store or the warehouse of the user's acquaintance (e.g., another farmer). According to this embodiment, operations such as going to the sales store to buy an implement or going to another farmer to borrow an implement can also be automated. As in this example, attaching an implement starting from a state where the implement is not attached is also interpreted as corresponding to "exchanging" the implement in the present disclosure.

[0177] Next, an example of the operation of the control device 180 will be described in more detail with reference to FIG. 17.

[0178] FIG. 17 is a flowchart showing an example of a control method executed by the control device 180. In this example, the work vehicle 100 is parked at the storage location 90 until starting to move for agricultural work. In this state, the control device 180 waits for an instruction to start moving from the management device 600 (step S201). The processor 660 of the management device 600 gives an instruction to start moving to the control device 180 when, for example, the scheduled start time of the first agricultural work of the day approaches according to the schedule (see FIG. 13) stored in the storage device 650.

[0179] In the example of FIG. 17, when receiving the instruction to start moving, the control device 180 determines whether preparatory work is necessary (step S202). Whether preparatory work is necessary can be determined based on signals output from one or more sensors included in the state detection device 230 as described above. If no preparatory work is required, the process proceeds to step S208. If preparatory work is necessary, the control device 180 determines a stopover location according to the preparatory work (step S203). The control device 180 determines a stopover location according to the necessary preparatory work by referring to, for example, a database stored in the storage device 170.

[0180] FIG. 18 is a diagram showing an example of a database indicating the correspondence between the content of preparatory work and the stopover location. Such a database can be created in advance and stored in the storage device 170. The control device 180 can determine an appropriate stopover location from the content of the necessary preparatory work by referring to the database. The database may include position information of each stopover location. Alternatively, the position information of each stopover location may be recorded in the storage device 170 as separate data. The database may include fee information for each preparatory work. The fee may be determined individually by the operator at the stopover location.

[0181] In the example shown in FIG. 17, when the control device 180 determines a stopover location, it creates a route to the stopover location based on the location information of the stopover location (step S204). The control device 180 determines, for example, the shortest reachable route to the stopover location. Next, the control device 180 instructs the communication device 190 to send a notification to the second terminal device 500 (step S205). The notification may include, for example, information on the work content and the scheduled arrival time at the stopover location. The information on the work content may be, for example, information such as the types and quantities of necessary parts, implements, or materials. The worker at the stopover location prepares for the preparatory work by looking at this notification. The control device 180 may also send a notification to the first terminal device 400 indicating that the preparatory work is being carried out. Such a notification enables the user to know that the preparatory work will be carried out soon. If the schedule changes due to the preparatory work, the control device 180 may send a notification including the information on the changed schedule from the communication device 190 to the first terminal device 400. The changed schedule may be created, for example, by the processor 660 of the management device 600 and sent to the control device 180.

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

[0183] When the work vehicle 100 arrives at the stopover location, the preparatory work is carried out. When the preparatory work is completed, the worker at the stopover location operates the second terminal device 500 to send a signal indicating the completion of the work to the work vehicle 100. The control device 180 determines whether the preparatory work is completed based on whether a signal indicating the completion of the work has been received (step S207).

[0184] When the preparation work is completed, the control device 180 refers to the schedule and determines whether there is any unfinished farming work among the farming work scheduled for that day (step S208). If there is unfinished farming work, the control device 180 then creates a route to the next scheduled farmland (step S209). The control device 180 moves the work vehicle 100 to that farmland and starts the farming work (step S210). In the farmland, the control device 180 controls the work vehicle 100 in the method described with reference to, for example, FIG. 8, and causes the work vehicle 100 to perform a work run. When the farming work is completed (Yes in step S211), the control device 180 returns to step S202 and determines again whether preparation work is required for the next farming work. Here, if all the farming work to be performed on that day is completed, the control device 180 determines whether preparation work is required for the next farming work scheduled for the next day or subsequent working days. Thereafter, the same operation is repeated until it is determined in step S208 that there is no unfinished farming work.

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

[0186] By the above operations, the work vehicle 100 can determine whether preparation work is required for the next scheduled farming work, move to a stopover location where the preparation work is performed if necessary, and return to the storage location 90 after the preparation work is completed. According to this embodiment, the work vehicle 100 automatically executes the above operations without the user giving an instruction to the work vehicle 100. Therefore, the preparation work required for the next farming work can be efficiently performed.

[0187] In the example of FIG. 17, the control device 180 determines whether preparatory work is necessary each time the farming work in one field is completed. Instead of such an operation, for example, the necessity of preparatory work may be determined only when all the farming work scheduled for one day is completed.

[0188] (Modification Example of Embodiment 1) The configurations and operations of the above-described embodiments are merely examples, and the present disclosure is not limited to the above-described embodiments. Hereinafter, modification examples of Embodiment 1 will be exemplified.

[0189] In the example shown in FIG. 18, one stop location corresponds to one type of preparatory work. Not limited to such an example, a plurality of candidate stop locations may be set for one type of preparatory work. In that case, the control device 180 may transmit a signal requesting execution of the preparatory work to a computer at one candidate location selected from the candidate stop locations. When the control device 180 receives a response indicating that the preparatory work is possible from the computer, it may determine that candidate location as the stop location. On the contrary, when the control device 180 does not receive a response indicating that the preparatory work is possible from the computer, it may return the work vehicle 100 to the storage location 90 without determining the stop location.

[0190] The control device 180 may transmit a signal requesting the execution of preparatory work to the first computer at the first candidate location selected from among a plurality of candidate locations. When receiving a response from the first computer indicating that the preparatory work is possible, the control device 180 may determine the first candidate location as the stop location. On the contrary, when not receiving a response from the first computer indicating that the preparatory work is possible, the control device 180 may transmit a signal requesting the execution of preparatory work to the second computer at the second candidate location selected from among the plurality of candidate locations. In that case, when receiving a response from the second computer indicating that the preparatory work is possible, the control device 180 can determine the second candidate location as the stop location. When not receiving a response from the second computer either indicating that the preparatory work is possible, the control device 180 may send a similar signal to the computer at another candidate location to inquire whether the preparatory work is possible, or may return the work vehicle 100 to the storage location 90 without determining the stop location.

[0191] In the above embodiment, the control device 180 inside the work vehicle 100 performs all of the determination of the stop location, the creation of the route of the work vehicle 100, and the driving control. Instead of such a form, a part of the operation of the control device 180 may be executed by the processor 660 of the management device 600. For example, the processor 660 may execute the determination of the stop location and the creation of the route. In that case, the control device 180 may be configured to control the automatic driving of the work vehicle 100 based on the stop location information and the route information transmitted from the management device 600.

[0192] While the work vehicle 100 is performing agricultural work in one field, the control device 180 may determine the necessity of preparatory work based on the outputs of one or more sensors. If it is determined that preparatory work is necessary during the agricultural work, the control device 180 may interrupt the agricultural work of the work vehicle 100 and move it to a stopover location. Alternatively, the control device 180 may move the work vehicle 100 to a stopover location after the agricultural work in that field is completed or after all the agricultural work for that day is completed. In that case, the control device 180 sends a notification to the first terminal device 400 at the stage when it is determined that preparatory work is necessary, and after the agricultural work in that field or all the agricultural work for that day is completed, it may inform the user that after the preparatory work is performed at the stopover location, the vehicle will return to the storage location.

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

[0194] A control system for an agricultural machine that performs autonomous driving according to an exemplary embodiment 2 of the present disclosure includes a storage device and a control device. The storage device stores the schedule of agricultural work to be performed by the agricultural machine. The control device controls the operation of the agricultural machine according to the schedule. After a specific agricultural work included in the schedule is completed, the control device moves the agricultural machine to a standby location different from the preset storage location of the agricultural machine based on the next agricultural work included in the schedule.

[0195] According to the above configuration, the agricultural machine can be moved to a standby location different from the storage location of the agricultural machine based on the next agricultural operation included in the schedule. For example, the control device can move the agricultural machine to one of the storage location and the standby location based on the location of the field where the next agricultural operation will be performed (hereinafter, also referred to as the "next field"). Thereby, for example, after the agricultural operations scheduled for one day are completed, if the field where the next agricultural operation scheduled for the day after tomorrow or later is closer to the standby location than the storage location, the operation of moving the agricultural machine to the standby location becomes possible. Alternatively, the control device may move the agricultural machine to one of the storage location and the standby location based on the scheduled time (or date and time) when the next agricultural operation is to start. For example, when the free time from the completion of the agricultural operation in a certain field to the scheduled start time of the next agricultural operation is relatively long (for example, 6 hours or more), the control device returns the agricultural machine to the storage location, and when the free time is relatively short (for example, 2 hours or more and less than 6 hours), the control device may move the agricultural machine to a standby location relatively close to the next field. When the free time until the next agricultural operation is short and there is no need for the agricultural machine to wait, the control device may directly move the agricultural machine to the next field. By the operations as described above, the agricultural machine can be moved to the standby location according to the next scheduled agricultural operation, and the agricultural machine can be moved from the standby location to the field in accordance with the scheduled start time of the next agricultural operation. Thereby, compared with the case of returning the agricultural machine to the storage location and then moving it to the next field, the time required for the movement and the fuel consumption can be suppressed. As a result, it becomes possible to perform a series of agricultural operations using the agricultural machine more efficiently.

[0196] "Crop work schedule" is data that defines the schedule of one or more crop operations to be performed by agricultural machinery. The crop work schedule includes, for example, for each crop operation performed by the agricultural machinery, information indicating the scheduled date and time when the operation is to be carried out and the field where the operation is to be carried out. The schedule may also include, among other things, for each crop operation, information such as the content of the work, the implements used, and / or the type and quantity of materials used. Here, "materials" means the materials used in the crop operations carried out by the agricultural machinery. Materials are also called "agricultural materials". Materials may include materials consumed by the crop operations, such as pesticides, fertilizers, seeds, or seedlings. The crop work schedule can be created by a management device that communicates with the agricultural machinery to manage the crop operations. The management device can create the schedule, for example, based on information input by a user (such as an agricultural manager or a crop worker) operating a terminal device. The management device may manage the crop operations of multiple agricultural machinery. In that case, the schedule may include information on the crop operations performed by the multiple agricultural machinery. The schedule can be downloaded to the agricultural machinery and recorded in a storage device in the agricultural machinery.

[0197] "Storage location" is a location provided for storing agricultural machinery. The storage location can be, for example, a location managed by the user of the agricultural machinery. The storage location can be a location secured for storing agricultural machinery, such as a warehouse, storage shed, or parking lot at the user's home or business. The location of the storage location can be pre-registered and recorded in a storage device.

[0198] A "waiting location" is a location provided for an agricultural machine to wait temporarily. One or more waiting locations are provided in the environment where the agricultural machine performs autonomous driving. In this specification, a waiting location may be referred to as a "station". The waiting location may be, for example, a location jointly managed or used by a plurality of users (such as agricultural workers). The waiting location may be, for example, a warehouse, a garage, a storage shed, a parking lot, or other facilities. The waiting location may also be a warehouse, a storage shed, a garage, or a parking lot at the home or business of an agricultural worker different from the user of the above agricultural machine. A plurality of waiting locations may be scattered in the environment where the agricultural machine moves. In that case, the control device may move the agricultural machine to one waiting location selected from among the plurality of waiting locations. At the waiting location, operations such as replacement or maintenance of parts or implements of the agricultural machine, or replenishment of materials may be performed. In that case, parts, tools, or materials necessary for those operations may be arranged at the waiting location.

[0199] The control device may move the agricultural machine to a waiting location based on the positional relationship between the storage location, the first field where a specific agricultural operation is performed, the second field where the next agricultural operation is to be performed, and the waiting location. For example, the control device may determine whether to move the agricultural machine to the storage location or to the waiting location based on the mutual positional relationship among the storage location, the first field, the second field, and the waiting location. For example, when the second moving distance from the first field through the waiting location to the field where the next agricultural operation is performed is shorter than the first moving distance from the first field through the storage location to the field where the next agricultural operation is performed, the control device may move the agricultural machine to the waiting location. Conversely, when the second moving distance is longer than the first moving distance, the control device may move the agricultural machine to the storage location. By such an operation, the agricultural machine can be moved to the one with the shorter total moving distance between the storage location and the waiting location. Therefore, it is possible to shorten the moving time and reduce the fuel consumption.

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

[0201] The control device can move the agricultural machine to the scheduled farmland at the scheduled time and execute agricultural operations according to the schedule recorded in the storage device. The schedule may include information on a plurality of agricultural operations performed in a plurality of farmlands. In that case, when the agricultural operation in one farmland is completed, the control device moves the agricultural machine for the next scheduled agricultural operation. At this time, the control device may move the agricultural machine to any one of the storage location, the waiting location, and the next farmland according to the time difference (also referred to as "idle time") between the end time of the agricultural operation in one farmland and the scheduled start time of the agricultural operation in the next farmland. For example, when the time difference is relatively short, the control device may move the agricultural machine directly to the next farmland. When the time difference is relatively long, the control device may move the agricultural machine to either the storage location or the waiting location. For example, when all the agricultural operations scheduled for a day are completed and no agricultural operations are to be performed until the next day or a later day, the control device may move the agricultural machine to either the storage location or the waiting location. Alternatively, when the idle time between two agricultural operations performed in two farmlands exceeds a threshold value (for example, 2 hours or 4 hours, etc.), the control device may move the agricultural machine to either the storage location or the waiting location. The control device may, for example, move the agricultural machine to the waiting location when the idle time is within the range from the first hour (for example, 2 hours, etc.) to the second hour (for example, 6 hours, etc.), and move the agricultural machine to the storage location when the idle time is longer than the second hour. The first hour and the second hour can be determined by the control device or the user in consideration of the travel time of the agricultural machine depending on the positions of the two farmlands, the storage location, and the waiting location.

[0202] In this way, after the farming work in a certain field is completed, when certain conditions are met, the control device may determine whether to move the agricultural machine to a storage location or a standby location. The control device may make the above determination only after the completion of the last farming work scheduled for a day. Alternatively, the control device may also make the above determination during the farming work of a day, for example, after the completion of a farming work with a relatively long free time until the start of the next farming work. Even when waiting becomes necessary due to unexpected events such as sudden changes in weather or equipment troubles, the control device may move the agricultural machine to a standby location near the field where the next farming work will be carried out and make it wait.

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

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

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

[0206] When moving the agricultural machine to the standby location, the control device may send a notification to the terminal device used by the user of the agricultural machine. The notification may include, for example, information identifying the standby location as the destination of the agricultural machine. By sending such a notification, the user can know that the agricultural machine will not return to the storage location but move to the standby location. The user can be, for example, the owner of the agricultural machine or an operator who uses the agricultural machine on a daily basis. The terminal device can be any computer such as a smartphone, a tablet computer, or a personal computer (PC). When the control device determines the date and time to return the agricultural machine to the storage location after moving the agricultural machine to the standby location, it may notify the terminal device of the information indicating that date and time. Thereby, the user can know the scheduled date and time when the agricultural machine will return to the storage location.

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

[0208] According to the above configuration, similar to the previous embodiment, the agricultural machinery can be moved to a waiting location different from the original storage location based on the next agricultural operation. Therefore, the movement time of the agricultural machinery and the fuel consumption can be suppressed, and a series of agricultural operations included in the schedule can be efficiently executed.

[0209] The management device may instruct the control device of the agricultural machinery to execute the agricultural operation based on, for example, the schedule of agricultural operations stored in the storage device included in the agricultural management system. The control device can move the agricultural machinery to the field according to the instruction from the management device and execute the agricultural operation on the agricultural machinery in the field.

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

[0211] When the second moving distance from the field where the specific agricultural operation was performed, through the waiting location, to the field where the next agricultural operation is to be performed is shorter than the first moving distance when moving from the field where the specific agricultural operation was performed, through the storage location, to the field where the next agricultural operation is to be performed, the control device may move the agricultural machinery to the waiting location. When the second moving distance is longer than the first moving distance, the control device may move the agricultural machinery to the storage location.

[0212] The communication device may receive a schedule including information on the start time of the next farming operation as the above schedule. The control device may move the agricultural machine to a waiting location when the time difference between the end time when a specific farming operation is completed and the start time of the next farming operation is equal to or longer than a predetermined time.

[0213] A method for controlling an agricultural machine that performs automatic driving according to another embodiment of the present disclosure includes obtaining a schedule of farming operations performed by the agricultural machine from a storage device and controlling the operation of the agricultural machine according to the schedule. Controlling the operation of the agricultural machine includes moving the agricultural machine to a waiting location different from a preset storage location of the agricultural machine based on the next farming operation included in the schedule after a specific farming operation included in the schedule is completed.

[0214] A computer program for controlling an agricultural machine that performs automatic driving according to still another embodiment of the present disclosure causes a computer to obtain a schedule of farming operations performed by the agricultural machine from a storage device and control the operation of the agricultural machine according to the schedule. Controlling the operation of the agricultural machine includes moving the agricultural machine to a waiting location different from a preset storage location of the agricultural machine based on the next farming operation included in the schedule after a specific farming operation included in the schedule is completed.

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

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

[0217] FIG. 20 is a block diagram showing a configuration example of the work vehicle 100 and the implement 300 in the present embodiment. The configuration shown in FIG. 20 is the same as the configuration shown in FIG. 3 except that the second terminal device 500 and the ECU 186 in the control device 180 are removed.

[0218] FIG. 21 is a block diagram illustrating a schematic hardware configuration of the management device 600 and the terminal device 400. The configuration shown in FIG. 21 is the same as the configuration of the management device 600 and the first terminal device 400 shown in FIG. 7.

[0219] [Movement to Storage Location and Standby Location] Next, an example of movement control performed after the work vehicle 100 completes a specific agricultural operation will be described.

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

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

[0222] Hereinafter, an example will be described in the case where the "specific farming operation" is the farming operation performed last on each working day and the "next farming operation" is the farming operation performed first on the next working day.

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

[0224] The storage location 90 can be, for example, a garage, a storage shed, or a parking lot adjacent to the user's home 92 or workplace. The station 96 can be a location jointly managed or used by multiple users. The station 96 can also be a facility such as a parking lot or a garage managed and operated by a municipality, an agricultural cooperative, or a company. If the station 96 is a facility that is locked at night, theft of the work vehicle 100 parked at the station 96 can be prevented. In FIG. 22, one station 96 is illustrated, but a plurality of stations (i.e., waiting locations) may be provided. At the station 96, services such as replacement or maintenance of parts of the work vehicle 100 or the implement 300, or replenishment of supplies (such as pesticides, fertilizers, seedlings, or seeds) may be provided. The station 96 may be provided for a fee. In that case, the management device 600 may charge the user according to the usage record of the station 96 by the work vehicle 100. In the example of FIG. 22, the station 96 is near the farm field 70B, but the station 96 may be provided at a location far from the farm field 70B. In the example of FIG. 22, the mutual distances between the farm fields 70A, 70B, the storage location 90, and the station 96 are relatively close, but this is just an example. The mutual distances between the farm fields 70A, 70B, the storage location 90, and the station 96 may be long, for example, 1 km to 10 km, or more.

[0225] In FIG. 22, the route along which the work vehicle 100 travels is illustrated by arrows. The solid-line arrow indicates an example of the route from when the work vehicle 100 departs from the storage location 90 until it finishes the day's farming work. The dashed-line arrow indicates an example of the route from when the work vehicle 100 finishes the last farming work of the day until it moves to the station 96. In this example, the work vehicle 100 departs from the storage location 90 and sequentially visits a plurality of fields 70A where farming work is scheduled for that day, and performs the farming work indicated in the schedule at each field. At each field, the work vehicle 100 performs farming work while performing autonomous driving in the manner described with reference to FIG. 8, for example. When the farming work at one field is completed, the work vehicle 100 enters the next field and performs farming work in the same manner. In this way, when the farming work at the last field 70A4 of the day is completed, the control device 180 of the work vehicle 100 determines whether to return the work vehicle 100 to the storage location 90 or move it to the station 96. This determination is made by the ECU 185 in the control device 180.

[0226] The control device 180 determines whether to move the work vehicle 100 to the storage location 90 or to the station 96 based on the positional relationships among, for example, the storage location 90, the farm field 70A4 where the last farming operation of the workday was performed, the farm field 70B1 where the first farming operation will be performed on the next workday, and the station 96. For example, when the second travel distance of the route from the farm field 70A4 through the station 96 to the farm field 70B1 where the next farming operation will be performed is shorter than the first travel distance of the route from the farm field 70A4 through the storage location 90 to the farm field 70B1, the control device 180 moves the work vehicle 100 to the station 96. Conversely, when the second travel distance is longer than the first travel distance, the control device 180 moves the work vehicle 100 to the storage location 90. The control device 180 calculates the first travel distance and the second travel distance based on the environmental map stored in the storage device 170. For example, the control device 180 calculates the distance of the shortest route from the farm field 70A4 through the storage location 90 to the farm field 70B1 where the next farming operation will be performed as the first travel distance. Similarly, the control device 180 calculates the distance of the shortest route from the farm field 70A4 through the station 96 to the farm field 70B1 where the next farming operation will be performed as the second travel distance. The control device 180 compares the first travel distance with the second travel distance. If the first travel distance is shorter, the control device 180 returns the work vehicle 100 to the storage location 90. If the second travel distance is shorter, the control device 180 moves the work vehicle 100 to the station 96. By such operations, the time required for the movement of the work vehicle 100 and the fuel consumption can be reduced, and a series of farming operations can be made more efficient.

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

[0228] In this embodiment, the control device 180 determines whether to head towards the station 96 at the timing when the farming work in the farmland 70A4 is completed, but this determination may be made at other timings. In this embodiment, the farmland where the farming work is performed last on each working day is determined in advance. Therefore, for example, when departing from the storage location 90, when performing farming work in any of the farmlands 70A, or when driving on the road, it is also possible to make the above determination. However, due to the influence of sudden changes in the weather, etc., the farming work may not proceed as scheduled. In that case, there is a possibility that the farmland where the farming work is performed first on the next working day may be changed from the original plan. By determining whether to move to the station 96 at the stage when the last farming work is completed on each working day as in the above example, it is possible to flexibly respond to such unexpected schedule changes.

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

[0230] When it reaches station 96, the work vehicle 100 waits at station 96 until the next working day. On the next working day, as shown in FIG. 23, the work vehicle 100 departs from station 96 and sequentially visits the farms 70B1 and 70B2 where farming operations are scheduled for that working day to perform farming operations. When the last farming operation of that working day is completed, the control device 180, in the same manner as described above, further determines whether to move to station 96 or return to the storage location 90 based on the location of the farm where the farming operation scheduled first for the next working day is to be performed. FIG. 23 shows an example of the route when the work vehicle 100 returns to the storage location 90. Such a route can be adopted when the farm where the farming operation scheduled first for the next working day is to be performed is closer to the storage location 90 than to station 96. When returning the work vehicle 100 to the storage location 90 as in this example, the control device 180 may send a notification to the terminal device 400. Such a notification may include information indicating the time when the work vehicle 100 is scheduled to return to the storage location 90. Thereby, the user can know that the work vehicle 100 is returning to the storage location 90. In addition, when a plurality of waiting locations are set, the control device 180 may determine the moving destination with the shortest moving distance from among the plurality of waiting locations and the storage location 90 and move the work vehicle 100 to that moving destination. Thereafter, the same operation is repeated until all farming operations on all working days included in the schedule are completed.

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

[0232] Next, an example of the operation of the control device 180 will be described in more detail with reference to FIG. 25.

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

[0234] When the control device 180 receives the instruction to start moving, it creates a route to the field where the first agricultural work of the day is to be performed (step S202). The control device 180 moves the work vehicle 100 along that route to the field and starts the agricultural work (step S203). In the field, the control device 180 controls the work vehicle 100 in the manner described with reference to, for example, FIG. 8, and causes the work vehicle 100 to perform working travel. When the agricultural work is completed (Yes in step S204), the control device 180 refers to the schedule and determines whether there is any unfinished agricultural work among the agricultural work scheduled for that day (step S205). If there is unfinished agricultural work, the control device 180 returns to step S202, creates a route to the next field, and moves the work vehicle to that field. The control device 180 repeats the operations from step S202 to S205 until the last agricultural work of the work day is completed.

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

[0236] When it is determined in step S206 that there is no farming operation on the next working day, the control device 180 creates a route from the position of the work vehicle 100 at that time to the storage location 90 and causes the work vehicle 100 to travel along the route. Thereby, the control device 180 returns the work vehicle 100 to the storage location 90.

[0237] By the above operations, the distance traveled by the work vehicle 100 for agricultural work carried out in a plurality of fields over a plurality of working days can be shortened, and the travel time and fuel consumption can be reduced. Therefore, a series of agricultural work can be executed more efficiently. According to the present embodiment, the control device 180 of the work vehicle 100 automatically executes the above operations without the user giving an instruction to the work vehicle 100. Therefore, the labor of operation by the user can be saved.

[0238] (Modification Example of Embodiment 2) The configuration and operation of the above Embodiment 2 are merely examples, and the present disclosure is not limited to the above configuration and operation. Hereinafter, modification examples of Embodiment 2 will be exemplified.

[0239] In the above Embodiment 2, the control device 180 determines whether to return to the storage location or move to the standby location after the end of the last agricultural work on each working day. Not limited to such an operation, the control device 180 may determine, for example, whether to head to the next field, return to the storage location, or move to the standby location each time an agricultural work is completed. For example, consider a case where the agricultural work in a plurality of fields 70A shown in FIG. 22 and the agricultural work in a plurality of fields 70B are carried out by the work vehicle 100 on the same day. In this case, the control device 180 may determine the destination based on the time difference between the time when the work in each field is completed and the scheduled start time of the next agricultural work. For example, the control device 180 may determine whether the above time difference is greater than a threshold each time the agricultural work in the field is completed, and determine the destination based on the result of the determination. When the time difference is equal to or less than the threshold, the control device 180 directly moves the work vehicle 100 to the next field. Conversely, when the time difference is greater than the threshold, the control device 180 may perform the same processing as steps S207 and S208 shown in FIG. 25 and determine whether to move the work vehicle 100 to the storage location or the standby location. An appropriate value for the threshold depends on the positional relationship among the field where the agricultural work is completed, the field where the next agricultural work is to be carried out, the storage location, and the standby location. Therefore, the control device 180 may determine the threshold according to these positional relationships.

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

[0241] The control device 180 may regard a plurality of fields gathered at a relatively short distance as a field group, and each time the agricultural operation in each field group is completed on each working day, determine whether to directly move the work vehicle 100 to the next field, return it to the storage location, or move it to the waiting location. Since the fields belonging to the same field group are located close to each other, it is often not necessary to move the work vehicle 100 to the storage location or the waiting location during the agricultural operations in those fields. When performing agricultural operations in a plurality of fields belonging to one field group, for example, it may be necessary to replace implements or replenish materials. In such a case, the control device 180 may move the work vehicle 100 to the storage location or the waiting location for replacing implements or replenishing materials.

[0242] In the embodiment shown in FIG. 25, when the second movement distance is shorter than the first movement distance, the control device 180 moves the work vehicle 100 to the station 96. Instead of such an operation, the control device 180 may move the work vehicle 100 to the station 96 when a specific farming operation (for example, the last farming operation performed on a certain working day) and the next farming operation (for example, the first farming operation performed on the next working day) are the same and the second movement distance is shorter than the first movement distance. When the specific farming operation and the next farming operation are different, the control device 180 may move the work vehicle 100 to the storage location 90 regardless of the first movement distance and the second movement distance. When the specific farming operation and the next farming operation are different, for example, the content of the farming operations performed is different, such as tilling and pesticide spraying. In that case, it may be necessary to return to the storage location 90 for operations such as implement replacement. By the above operation of returning the work vehicle 100 to the storage location 90 when the specific farming operation and the next farming operation are different, necessary operations such as implement replacement can be performed at the storage location 90.

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

[0244] In the above-described embodiment, the control device 180 inside the work vehicle 100 performs all of the determination of the destination of the work vehicle 100, the creation of the route of the work vehicle 100, and the travel control. Instead of such a form, a part of the operation of the above-described control device 180 may be executed by the processor 660 of the management device 600. For example, the processor 660 may execute the determination of the destination and the creation of the route. In that case, the control device 180 may be configured to perform the control of the automatic driving of the work vehicle 100 based on the destination information and the route information transmitted from the management device 600. The management device 600 may manage the operations of a plurality of agricultural machines including the work vehicle 100. In that case, the management device 600 may give an operation instruction to each agricultural machine based on the schedule of the agricultural work executed by each agricultural machine.

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

Industrial Applicability

[0246] The technology of the present disclosure can be applied to a management system for agricultural machines such as, for example, a tractor, a harvester, a rice transplanter, a ride-on management machine, a vegetable transplanter, a lawn mower, a seeder, a fertilizer applicator, or an agricultural robot.

Explanation of Signs

[0247] 50: GNSS satellite, 60: reference station, 70: field, 72: working area, 74: resting place, 76: road, 80: network, 90: storage location, 92: user's home, 94: stopping place, 96: station (waiting place), 100: work vehicle, 101: vehicle body, 102: prime mover (engine), 103: transmission, 104: tire, 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: steering wheel sensor, 154: cut-off angle sensor, 156: rotation sensor, 160: control system, 170: memory device, 180: control device, 181, 182, 183, 184, 185, 186: ECU, 190: communication device, 200: operation terminal, 210: operation switch group, 220: buzzer, 230: state detection device, 232: camera, 240: drive device, 300: implement, 340: drive device, 380: control device, 390: communication device, 400: first terminal device, 420: input device, 430: display device, 450: memory device, 460: processor, 470: ROM, 480: RAM, 490: communication device, 500: second terminal device, 520: input device, 530: display device, 550: memory device, 560: processor, 570: ROM, 580: RAM, 590: communication device, 600: management device, 660: processor, 650: memory device, 670: ROM, 680: RAM, 690: communication device

Claims

1. A control system for an agricultural machine that performs autonomous driving, comprising: a storage device that stores a schedule of agricultural operations to be performed by the agricultural machine; a control device that controls the operation of the agricultural machine according to the schedule; The control device moves the agricultural machine to a standby location different from the preset storage location of the agricultural machine based on the next agricultural operation included in the schedule after a specific agricultural operation included in the schedule is completed. Control system.

2. The control device moves the agricultural machine to the standby location based on the positional relationship among the storage location, the field where the specific agricultural operation is performed, the field where the next agricultural operation is performed, and the standby location. The control system according to claim 1.

3. When the second moving distance when moving from the field where the specific agricultural operation is performed through the standby location to the field where the next agricultural operation is performed is shorter than the first moving distance when moving from the field where the specific agricultural operation is performed through the storage location to the field where the next agricultural operation is performed, the control device moves the agricultural machine to the standby location. The control system according to claim 1 or 2.

4. When the second moving distance is longer than the first moving distance, the control device moves the agricultural machine to the storage location. The control system according to claim 3.

5. The control device moves the agricultural machine to the standby location when the time from the time when the specific agricultural operation is completed to the start of the next agricultural operation is equal to or longer than a predetermined time. The control system according to any one of claims 1 to 4.

6. The storage device stores a plurality of agricultural operations to be performed by the agricultural machine over a plurality of working days, including the agricultural operation performed last on each working day as the specific agricultural operation and the agricultural operation performed first on each working day as the next agricultural operation. The control system according to any one of claims 1 to 5.

7. The control system according to any one of claims 1 to 6, further comprising an input device for inputting the storage location, which is a location managed by the user of the agricultural machine, and the standby location, which is a location jointly used by a plurality of users, to the control device.

8. A management device for managing the schedule of agricultural operations, ​ An agricultural machine including a control device for controlling autonomous driving and a communication device for receiving the schedule from the management device. It is provided with After a specific farm work included in the schedule received by the communication device is completed, the control device moves the agricultural machine to a standby location different from the preset storage location of the agricultural machine based on the next farm work included in the schedule. An agricultural management system.

9. The communication device receives a schedule including information indicating the field where the specific farm work is performed and information indicating the field where the next farm work is performed as the schedule. The control device moves the agricultural machine to the standby location based on the positional relationship among the storage location, the field where the specific farm work is performed, the field where the next farm work is performed, and the standby location. The agricultural management system according to claim 8.

10. When the second moving distance when moving from the field where the specific farm work is performed to the field where the next farm work is performed via the standby location is shorter than the first moving distance when moving from the field where the specific farm work is performed to the field where the next farm work is performed via the storage location, the control device moves the agricultural machine to the standby location. The agricultural management system according to claim 8 or 9.

11. The control device according to claim 10, wherein when the second moving distance is longer than the first moving distance, the control device moves the agricultural machine to the storage location.

12. The communication device receives a schedule including information on the start time of the next farm work as the schedule. The agricultural management system according to any one of claims 8 to 11, wherein when the time difference between the end time when the specific farm work is completed and the start time of the next farm work is equal to or more than a predetermined time, the control device moves the agricultural machine to the standby location.

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