Support System

Abstract

To effectively utilize object information at a time different from the time of detection. [Solution] The support system S comprises a first mobile body VA having a detection device (sensing device 25) that detects surrounding objects and a first communication device 29 that transmits object information detected by the sensing device 25 and detection time information indicating the detection time, a calculation device 54 that calculates the outermost position of the object over time at the time of use when the object information is used based on the object information and detection time information from the first mobile body VA, and a server 50 that has a second communication device 51 that transmits the outermost position over time to the first mobile body VA or a second mobile body VB.

Description

[Technical Field]

[0001] The present invention relates to an assistance system that assists a moving vehicle based on object information obtained by detecting surrounding objects. [Background technology]

[0002] The autonomous driving system disclosed in Patent Document 1 includes a traveling machine equipped with a working device, a distance measurement sensor that measures the distance around the traveling machine, a machine position calculation unit that processes the distance measurement signal from the distance measurement sensor using a SLAM (Simultaneous Localization and Mapping) algorithm to calculate the machine position, and an autonomous driving control unit that causes the traveling machine to autonomously drive based on the machine position. Specifically, the machine position calculation unit creates an environmental map, which is point cloud data of the surrounding environment obtained by the distance measurement sensor, by processing the SLAM algorithm, and calculates the machine position on the environmental map. The environmental map is a map that shows objects around the traveling machine, and can therefore be considered object information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-146457 Summary of the Invention [Problem to be solved by the invention]

[0004] In the autonomous driving system of Patent Document 1, an environmental map is created each time the system autonomously drives. This is because the environmental map (object information) may change over time. For this reason, for example, the environmental map (object information) created during the previous autonomous driving cannot be used as is for the current autonomous driving, which is at a different time from the previous one.

[0005] The present invention has been made to solve the problems of the conventional technology, and has an object to provide a support system that can effectively utilize object information at a time different from the time of detection. [Means for solving the problem]

[0006] An assistance system according to one aspect of the present invention comprises a first mobile body having a detection device that detects surrounding objects and a first communication device that transmits object information detected by the detection device and detection time information indicating the detection time; a calculation device that calculates the outermost position of the object over time at the time of use when the object information is used, after the detection time, based on the object information and the detection time information from the first mobile body; and a server having a second communication device that transmits the outermost position over time to the first mobile body or a second mobile body.

[0007] The calculation device may calculate the outer edge position over time by changing the outer edge position of the object at the time of detection based on time-over-time information from the detection time to the time of use.

[0008] The calculation device may calculate the outer aging end position by referring to a preset table indicating a correspondence relationship between the detection time, the time of use, and the outer aging end position.

[0009] The server may include an estimation unit that identifies whether the object is a plant and, if the object is a plant, estimates the type and growth state of the plant, and the calculation device may calculate the outer end position over time by changing the outer end position of the object at the time of detection based on the current growth state of the plant.

[0010] The calculation device may calculate the outermost position over time by referring to a preset growth table that indicates the relationship between the detection time, the current growth state, and the outermost position over time.

[0011] The estimation unit may identify whether the object is a fruit tree, and if the object is a fruit tree, the calculation device may calculate the outer end position over time of a row of trees that connects the outer end positions of multiple fruit trees lined up at intervals in a predetermined direction in the predetermined direction.

[0012] The server may include an estimation unit that identifies the type of crop when the object is a crop, and the server may have a plurality of tables corresponding to the type of crop, and may calculate the outer end position over time by referring to the table corresponding to the type of crop.

[0013] The estimation unit may identify the type of crop if the object is a crop, and the server may have a plurality of growth tables corresponding to the type of crop, and calculate the outer end position over time by referring to the growth table corresponding to the type of crop.

[0014] The second moving body may be equipped with a position detection device that detects its own position, or may not be equipped with the detection device, the server may be equipped with a route generation unit that generates a movement route of the second moving body based on the acquired position information of the second moving body and the time-dependent outer end position calculated by the calculation device, and the second communication device may transmit the movement route of the second moving body to the second moving body.

[0015] The calculation device may set a no-entry area of ​​a predetermined distance outside the outer edge position of the object based on the object information and the detection time information, and the outer edge position of the no-entry area may be the outer edge position over time, and the second communication device may transmit the outer edge position of the object and the no-entry area to the first moving body or the second moving body.

[0016] The calculation device may calculate the outer aging end position by changing the predetermined distance of the inaccessible area based on information about the aging from the detection time to the time of use.

[0017] The server may include an estimation unit that identifies whether the object is a plant and, if the object is a plant, estimates the type and growth state of the plant, and the calculation device may calculate the outer end position over time by changing the specified distance of the inaccessible area based on the detection time and the current growth state of the plant.

[0018] The second moving body may be equipped with a position detection device that detects its own position, or may not be equipped with the detection device, and the server may be equipped with a path generation unit that generates a movement path for the second moving body based on the acquired position information of the second moving body and the outer edge position of the object and the inaccessible area calculated by the calculation device, and the second communication device may transmit the movement path of the second moving body to the second moving body.

[0019] The calculation device may set a fixed no-entry area at a predetermined distance outside the outer edge position of the object, and the outer edge position of the no-entry area may be the time-dependent outer edge position, and the second communication device may transmit the outer edge position of the object and the no-entry area to the first moving body or the second moving body. [Effects of the Invention]

[0020] According to the present invention, object information can be effectively utilized at a time different from the time of detection. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a block diagram showing a support system. [Figure 2] FIG. 2 is a schematic side view showing the working machine. [Figure 3] FIG. 2 is a schematic plan view showing the working machine. [Figure 4] FIG. 2 is a rear perspective view of the position changing device. [Figure 5A] FIG. 3 is a diagram illustrating an example of a sensing range of a sensing device provided in a work machine. [Figure 5B] FIG. 2 is a diagram illustrating a planned driving route L. [Figure 6]FIG. 1 is a diagram illustrating a support system in which object information detected by a first work machine is utilized by a second work machine. [Figure 7] This figure shows the case of summer when the gap between tree rows is the smallest and the case of winter when the gap between tree rows is the largest. [Figure 8] FIG. 2 is a diagram illustrating an example of a data flow within the support system according to the embodiment. [Figure 9A] 10A and 10B are diagrams showing the outer edge position over time when the outer edge position is changed depending on the season in the first embodiment. [Figure 9B] 10 is a diagram showing the outer edge position over time as the entry-prohibited area increases or decreases depending on the season in the second embodiment. FIG. [Figure 9C] FIG. 10 is a diagram showing the outer edge positions over time in the first, fourth, and seventh months of data acquired in winter in the first embodiment. [Figure 9D] FIG. 10 is a diagram showing the outer edge positions over time in the first, fourth, and seventh months of data acquired in summer in the first embodiment. [Figure 9E] FIG. 10 is a diagram showing the outer edge positions over time in January, April, and July in data acquired in winter in the first embodiment. [Figure 9F] FIG. 10 is a diagram showing the outer edge positions over time in January, April, and July of data acquired in summer in the first embodiment. [Figure 9G] FIG. 11 is a diagram showing the outer edge positions over time in the first, fourth, and seventh months of data acquired in winter in the second embodiment. [Figure 9H] FIG. 11 is a diagram showing the outer edge positions over time in the first, fourth, and seventh months of data acquired in summer in the second embodiment. [Figure 9I] FIG. 10 is a diagram showing the outer edge positions over time in January, April, and July in data acquired in winter in the second embodiment. [Figure 9J] FIG. 10 is a diagram showing the outer edge positions over time in January, April, and July of data acquired in summer in the second embodiment. [Figure 10A] 10 is a flowchart showing a process in the support system of the first pattern in the first embodiment. [Figure 10B] 10 is a flowchart showing a process in a first pattern support system in a second embodiment. [Figure 11A]10B is a flowchart showing the calculation process in the server shown in FIG. 10A. [Figure 11B] 10C is a flowchart showing the calculation process in the server shown in FIG. 10B. [Figure 12] 10 is a flowchart showing the processing in the assistance system in the second pattern in the first and second embodiments. [Figure 13A] 13 is a flowchart showing a calculation process in the server shown in FIG. 12 in the first embodiment. [Figure 13B] 13 is a flowchart showing a calculation process in the server shown in FIG. 12 in the second embodiment. [Figure 14] FIG. 10 is a diagram illustrating an example of a table. [Figure 15] FIG. 10 is a diagram illustrating an example of a table. [Figure 16] FIG. 10 is a diagram illustrating an example of a growth table. [Figure 17] FIG. 10 is a diagram showing an example of a growth table for the Southern Hemisphere. [Figure 18A] FIG. 10 is a diagram showing an example of a table according to the type of crop. [Figure 18B] FIG. 10 is a diagram showing an example of a growth table according to the type of crop. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0023] 1 is a block diagram showing an assistance system S in this embodiment. The assistance system S is a system (device) that assists the movement of a moving body V in, for example, a farm field H1. Farm fields H1 include vineyards, orchards, vegetable gardens, and the like. In this embodiment, the moving body V is, for example, a work machine 1, but it may also be a work vehicle, a drone (unmanned aerial vehicle) such as a multicopter, a rover, or the like.

[0024] For example, the support system S includes a first moving body VA, a server 50, and a second moving body VB. The first moving body VA is an input-side moving body V that inputs information to the server 50, and is a first work machine 1A that has a detection device (e.g., sensing device 25) that detects surrounding objects. The second moving body VB is a moving body V that receives information from the server 50 (i.e., a moving body V on the output side of the server 50), and is a second work machine 1B that does not have a detection device (e.g., sensing device 25), but may also be the first work machine 1A. If the second moving body VB is the first work machine 1A, the support system S will be composed of the first moving body VA and the server 50.

[0025] First, the work machine 1 (particularly the first work machine 1A) will be described. The work machine 1 is a vehicle that can perform work while traveling, and in this embodiment is a tractor to which a work device 2 (implement) can be attached to a traveling body 3 (machine body). Note that the work machine 1 is not limited to a tractor, and may be any vehicle that can perform work while traveling. For example, the work machine 1 may be an agricultural machine such as a combine harvester or rice transplanter, or a construction machine such as a compact track loader or backhoe.

[0026] Fig. 2 is a schematic side view of the work machine 1. Fig. 3 is a schematic plan view of the work machine 1. In the description of this embodiment, the direction toward which an operator seated in the driver's seat 10 of the work machine 1 faces (the left side in Figs. 2 and 3) is referred to as the front, and the opposite direction (the right side in Figs. 2 and 3) is referred to as the rear. The left side of the operator (the front side in Fig. 2, the bottom side in Fig. 3) is referred to as the left side, and the right side of the operator (the back side in Fig. 2, the top side in Fig. 3) is referred to as the right side. In addition, the horizontal direction perpendicular to the front-to-rear direction is referred to as the width direction.

[0027] As shown in Figures 2 and 3, the work machine 1 is equipped with a traveling body 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is driven to provide propulsion force to the traveling body 3. The traveling device 7 is a wheeled traveling device 7 in which the front wheels 7F and the rear wheels 7R are configured as tires. The front wheels 7F and the rear wheels 7R are each provided as a pair, spaced apart in the width direction. As another example, a traveling device 7 in which the front wheels 7F and / or the rear wheels 7R are configured as crawlers may be used. The traveling body 3 is capable of traveling forward and backward by being driven by the traveling device 7.

[0028] A prime mover 4 is built into the front of the traveling vehicle body 3. The prime mover 4 is configured as, for example, a diesel engine. As another example, the prime mover 4 may be configured as another internal combustion engine such as a gasoline engine, an electric motor, or the like.

[0029] The transmission 5 changes the speed of the power output by the prime mover 4 by switching between gear positions, making it possible to switch the propulsive force of the traveling device 7 and change the switching state of the traveling device 7 (switching the traveling device 7 to forward or reverse). The transmission 5 also transmits the power of the prime mover 4 to the PTO shaft 6. The PTO shaft 6 is an output shaft that is connected to the working device 2 and drives the working device 2.

[0030] A protection mechanism 9 for protecting the driver's seat 10 is provided on the upper part of the traveling vehicle body 3. The protection mechanism 9 is, for example, a cabin 9A that surrounds the driver's seat 10. The driver's seat 10 is provided inside the cabin 9A. The protection mechanism 9 is not limited to the cabin 9A, and may be a canopy or a rope erected behind the driver's seat 10.

[0031] The working implement 2 is attached to the traveling body 3. In the tractor of this embodiment, the working implement 2 is detachably attached to the traveling body 3. Specifically, a coupling device 8 to which the working implement 2 can be detachably attached is provided at the front and / or rear of the traveling body 3. In the example shown in Figures 2 and 3, the coupling device 8 is provided at the rear of the traveling body 3. Therefore, the working machine 1 can couple the working implement 2 to the coupling device 8 and tow the coupled working implement 2 by driving the traveling device 7.

[0032] 2 and 3, a position changing device 8A configured with a three-point link mechanism is shown as an example of the coupling device 8. This position changing device 8A is a lifting device that changes the relative position between the traveling body 3 and the working device 2 by raising and lowering the working device 2 relative to the traveling body 3. Below, the position changing device 8A configured with a three-point link mechanism will be described in detail.

[0033] 4 is a perspective view of the position changing device 8A as seen from the rear. The position changing device 8A has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e.

[0034] The front end of the lift arm 8a is supported at the upper rear part of the case (transmission case) that houses the transmission 5 so that it can swing upward or downward. The lift arm 8a swings (lifts and lowers) when driven by a lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. As shown in FIG. 1, the lift cylinder 8e is connected to a hydraulic pump via a control valve 34. The control valve 34 is an electromagnetic valve or the like, and extends and retracts the lift cylinder 8e.

[0035] The front end of lower link 8b is supported on the rear lower part of transmission 5 so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a and lower link 8b. The rear part of lower link 8b and the rear part of top link 8c are formed in a hook shape.

[0036] When the lift cylinder 8e is driven (extends and retracts), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d also moves up and down, causing the working device 2 to swing (lift and lower) upward or downward with the front part of the lower link 8b as a fulcrum.

[0037] In the above explanation, the position changing device 8A configured as a three-point link mechanism has been described as an example of the coupling device 8, but the coupling device 8 may be any device that is at least capable of coupling the working device 2 to the traveling body 3. For example, the coupling device 8 may be configured as a swing drawbar or the like that couples the working device 2 to the traveling body 3 without changing the relative positions of the working device 2 and the traveling body 3.

[0038] The work device 2 is a device that performs work on a work site H (e.g., a field H1) or a work object in the work site H (e.g., crops planted in the field H1). The work device 2 is a tilling device that performs tilling work, a ridge forming device that forms ridges, a furrow cutting device that cuts furrows, a harvesting device that harvests crops, a reaping device that cuts grass and the like, a spreading device that spreads grass and the like, a grass collecting device that collects grass and the like, a shaping device that shapes grass and the like, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that spreads pesticides, a separating device that separates crops, etc. In this embodiment, the work device 2 is, for example, a fertilizer spreading device or a pesticide spreading device.

[0039] Although the above description is of a case where the work machine 1 is a tractor and the work implement 2 is coupled to the coupling device 8, the work implement 2 is not limited to an implement coupled to the traveling body 3 by the coupling device 8. For example, the work implement 2 may be a front loader attached to the front of the traveling body 3.

[0040] Furthermore, the working device 2 may be any device that is provided on the working machine 1 and performs work at the work site H, and does not have to be a device that can be attached to and detached from the traveling body 3 like an implement. For example, if the working machine 1 is a combine harvester, the working device 2 includes a harvesting device that harvests crops. If the working machine 1 is a rice transplanter, the working device 2 includes a planting device that plants seedlings. If the working machine 1 is a backhoe or compact track loader, the working device 2 can be an attachment that can be attached to the position changing device 8A (such as an arm or boom).

[0041] 1, the work machine 1 is equipped with a steering device 11. The steering device 11 has a handle 11a (steering wheel), a steering shaft 11b (rotating shaft) that rotates in conjunction with the rotation of the handle 11a, and an assist mechanism 11c (power steering mechanism) that assists in steering the handle 11a.

[0042] The assist mechanism 11c includes a control valve 35 and a steering cylinder 32. The control valve 35 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 35 can also be switched by steering the steering shaft 11b. The steering cylinder 32 is connected to an arm 36 (knuckle arm) that changes the direction of the front wheels 7F. Therefore, by rotating the steering wheel 11a, the switching position and opening degree of the control valve 35 are switched in response to the operation, and the steering cylinder 32 extends or retracts to the left or right depending on the switching position and opening degree of the control valve 35, making it possible to change the steering direction of the front wheels 7F.

[0043] The above-described steering device 11 is an example and is not limited to the above-described configuration. For example, if the traveling device 7 can change the rudder angle by differentiating the propulsive force in one direction and the propulsive force in the other direction in the width direction, the traveling device 7 may also be configured to function as the steering device 11.

[0044] As shown in FIG. 1, the work implement 1 includes a control device 20 and a storage device 21. The control device 20 includes one or more processors. The control device 20 is a controller for the work implement 1 and performs various controls related to the work implement 1. The control device 20 is communicably connected to each device and apparatus mounted on the work implement 1 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. For example, the control device 20 performs control processing (operations) of the work implement 2, prime mover 4, transmission 5, position change device 8A, steering device 11, etc., based on a signal (operation signal) input from an operation device.

[0045] The control device 20 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by one or more processors. The control device 20 can read software programs from one or more memories using one or more processors and execute various processes based on the software programs. Note that the control device 20 may also be able to execute various processes based on predetermined logic circuits using one or more processors.

[0046] The processor may be, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).

[0047] The control device 20 has a plurality of physically separated processors that work together to Various processes may be executed, and the configuration is not limited to the above-described configuration. In such a case, the multiple processors are mounted on one or more computers that are physically separated from the work machine 1, and these processors are connected to each other so as to be able to communicate with each other via a network such as an in-vehicle network, a LAN, a WAN, or the Internet.

[0048] In addition, the software program may be stored in a storage device 21 (non-volatile memory such as HDD, SSD, CD-ROM, DVD-ROM, etc.) communicatively connected to the control device 20, or in an external server 50 connected via the network, and installed from there into the memory.

[0049] As shown in FIG. 1, the work machine 1 is equipped with one or more sensing devices 25. The sensing devices 25 sense the surroundings of the work machine 1. Specifically, the sensing devices 25 perform sensing by measuring the distance to the environment (surrounding objects) surrounding the work machine 1. The sensing devices 25 are distance measurement sensors that measure the distance to at least a portion of the surroundings of the work machine 1. The sensing devices 25 can measure the distance to at least a portion of the surroundings of the work machine 1 and detect point cloud data of the environment surrounding the work machine 1.

[0050] The sensing device 25 is connected to the control device 20 via wire or wireless communication so as to be able to communicate with the control device 20, and outputs sensing results to the control device 20. The sensing device 25 includes an optical distance measuring sensor, a signal processing circuit, etc. The optical distance measuring sensor of the sensing device 25 can be, for example, a LiDAR (Light Detection And Ranging).

[0051] A LIDAR (laser sensor) emits pulsed measurement light (laser light) millions of times per second from a light source such as a laser diode, and reflects the measurement light with a rotating mirror to scan horizontally or vertically and project it over a predetermined detection range (sensing range, e.g., 360°). The LIDAR then receives the measurement light reflected by an object with a light-receiving element. A signal processing circuit detects the distance to the object based on the time between when the LIDAR emits the measurement light and when it receives the reflected light (ToF (Time of Flight) method).

[0052] In addition to LIDAR, a ToF camera can be exemplified as the optical distance measuring sensor of the sensing device 25. In the above example, the sensing device 25 has an optical distance measuring sensor, but instead of the optical distance measuring sensor, an acoustic distance measuring sensor (for example, an airborne ultrasonic sensor such as a sonar) may be used.

[0053] FIG. 5A is a diagram showing an example of a sensing range Es of a sensing device 25 provided on the work machine 1. One or more sensing devices 25 are provided on the work machine 1, and the sensing range Es is sensed by the one or more sensing devices 25. The sensing range Es includes at least the worked area Ea where the work machine 1 (work machine 2) has performed work. The sensing device 25 also senses a position estimation range Eb, which is a range necessary to estimate the position of the work machine 1 on which the sensing device 25 is provided. An example of the position estimation range Eb is the range in the direction of travel of the work machine 1.

[0054] 5A is merely for explaining the sensing range Es, and the sensing range Es, the worked area Ea, and the position estimation range Eb are not limited to the example shown in FIG. 5A. The distance that the sensing device 25 can sense also varies depending on the distance measuring sensor adopted as the sensing device 25.

[0055] The work implement 1 performs work while traveling. For this reason, a work execution range Ea1, which is the area where the work implement 1 can perform work (the area where the work device 2 of the work implement 1 performs work at a predetermined position), moves as the work implement 1 travels. The work execution range Ea1 is the area where the work implement 1 can perform work while traveling. In other words, the work execution range Ea1 refers to the range in which the work implement 2 at a predetermined position (at a predetermined time) acts on the target object (the field H1, the crops planted in the field H1, weeds in the field H1, etc.).

[0056] 5A shows a case where the work implement 2 is attached to the rear of the traveling body 3 and the sensing device 25 senses the area behind the work machine 1 and the work implement 2, but the range of the sensing range Es that includes the side opposite the direction of travel is not limited to the rear of the work implement 1 and the work implement 2. For example, if the work implement 2 is attached offset in the width direction from the traveling body 3, in other words, if the work execution range Ea1 is offset in the width direction from the traveling body 3, the range of the sensing range Es that includes the side opposite the direction of travel will include the work execution range Ea1 that is offset in the width direction from the traveling body 3.

[0057] In this embodiment, the direction of travel of the work implement 1 is either forward or backward. Therefore, the sensing device 25 can sense an area around the work implement 1 that includes at least the front and rear of the work implement 1. In the example shown in FIGS. 2 and 3, two sensing devices 25 are provided on the work implement 1, one sensing device 25 (first sensing device 25a) senses the front, and the other sensing device 25 (second sensing device 25b) senses the rear. For example, the first sensing device 25a is provided in the front part of the roof 9a of the cabin 9A. The second sensing device 25b is provided in the rear part of the roof 9a.

[0058] The first sensing device 25a masks an area for detecting devices and equipment, such as the cabin 9A including the roof 9a, provided on the work machine 1. For this reason, the first sensing device 25a senses a range (for example, 180°) substantially in front of the work machine 1, and detects point cloud data of the sensing range Es.

[0059] The second sensing device 25b masks an area in which to detect devices and equipment provided on the work implement 1, such as the cabin 9A including the roof 9a. At this time, the second sensing device 25b may acquire the position of the work implement 2 connected to the position change device 8A and mask the area in which to detect the work implement 2. For this reason, the second sensing device 25b senses a range (for example, 180°) approximately behind the work implement 1 and detects point cloud data of the sensing range Es.

[0060] With the above configuration, in this embodiment, the first sensing device 25a and the second sensing device 25b can sense the area around the work machine 1 in approximately 360°. One or more sensing devices 25 may be provided on the work machine 1, and the area around the work machine 1 may be sensed by one or more sensing devices 25. The sensing range Es is not limited to approximately 360° around the work machine 1, and the mounting positions of the sensing devices 25 are not limited to the above-described positions. In FIG. 5A, the sensing range Es may include blind spots and is approximately 360° around the work machine 1, but is not limited to this. In this embodiment, the work machine 2 is a ridge-forming device. Therefore, the sensing range Es is sufficient as long as it is a range in which at least the molded object M (e.g., ridge M1) can be detected. Here, the sensing range Es is the range on the side of the work machine 1 where the work device 2 is placed, for example, approximately 180° rearward around the work machine 1, but it may also be 90° or the like, and is not limited to these numerical values.

[0061] As shown in FIG. 1, the work machine 1 is provided with an imaging device 26. The imaging device 26 is a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like. The imaging device 26 is provided in the front part of the roof 9a. The imaging device 26 captures an image of the area in front of the work implement 1, and the captured image includes the state of the area in front of the work implement 1. The first sensing device 25a and the imaging device 26 are arranged in close proximity to each other, either vertically or horizontally, in front of the roof 9a. Therefore, the point cloud data of the sensing range Es captured by the first sensing device 25a and the captured image by the imaging device 26 are from approximately the same measurement point (viewpoint).

[0062] Furthermore, when a rope is provided as the protection mechanism 9, a single sensing device 25 may be provided on top of the rope. Alternatively, a sensing device 25 may be provided on mounting structures extending outward in the width direction of the traveling body 3 at the front and rear of the traveling body 3, with a pair of sensing devices 25 at each of the front and rear of the traveling body 3, positioned spaced apart outward in the width direction from the traveling body 3. Furthermore, one or more sensing devices 25 may be provided on a working device 2 that is detachable from the traveling body 3. Furthermore, the first sensing device 25a and the imaging device 26 are arranged adjacent to each other vertically or horizontally above the rope.

[0063] As shown in Fig. 1, the work machine 1 is equipped with a position estimation unit 20a that estimates the position of the work machine 1 based on the sensing results of the sensing device 25. The position estimation unit 20a is, for example, a software program implemented in the control device 20. As another example, if the work machine 1 is connected to an information processing device such as an external server 50 so that they can communicate directly or indirectly, the position estimation unit 20a may be provided in the server 50 or the like external to the work machine 1. In the following explanation, an example will be described in which the position estimation unit 20a is provided in the control device 20 (work machine 1), and detailed explanations of other examples will be omitted.

[0064] The position estimation unit 20a estimates the position of the work machine 1 based on the sensing results of the sensing device 25 and environmental map information. The position estimation unit 20a estimates the position based on the sensing results of the sensing device 25 (ranging signals obtained from the ranging sensor), environmental map information, and a SLAM (Simultaneous Localization and Mapping) algorithm.

[0065] The environmental map information is map information that shows objects in the environment around the work field H, including the work field H where the work machine 1 performs work, and is generated from point cloud data. Taking an example where the work field H is a field H1 and the environmental map information shows the environment around the field H1, including the field H1, the environmental map information shows the ground around the field H1, the crops planted in the field H1, the ridges M1 formed in the field H1, the ridges around the field H1, the fences around the field H1, the weeds on the ground around the field H1, the barns around the field H1, etc. as a three-dimensional point cloud. The environmental map information is generated in advance based on the sensing results of the sensing device 25 and stored in the storage device 21. Note that the environmental map information stored in the storage device 21 may be generated based on the sensing results of the sensing device 25 of another work machine 1, etc.

[0066] In estimating the position of the work machine 1, the position estimation unit 20a acquires point cloud data (detected point cloud data) from the sensing results of the sensing device 25 of the work machine 1 and aligns (matches) the acquired detected point cloud data with the point cloud data of the environmental map information, thereby estimating the position of the work machine 1. The position estimation unit 20a estimates a predetermined position of the work machine 1 as the position estimation of the work machine 1.

[0067] Furthermore, the position estimation unit 20a may estimate (position estimate) the position (estimated position EP) of the work machine 1 (traveling body 3) based on its own position detected by a position detection device 27 attached to the work machine 1 using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki, that is, the position (e.g., latitude, longitude) of the GPS antenna. In this case, the own position (e.g., latitude, longitude) detected by the position detection device 27 may be used, and the sensing results of the sensing device 25 and environmental map information may not be used.

[0068] 1, the control device 20 has an automatic driving control unit 20b. The automatic driving control unit 20b is composed of electric and electronic circuits, a CPU, and programs stored in a memory, which are provided in the control device 20.

[0069] The automatic driving control unit 20b controls the automatic driving of the work machine 1 (hereinafter referred to as automatic driving control). The automatic driving control unit 20b can execute line-type automatic driving control and / or autonomous-type automatic driving control. To explain automatic driving using line-type automatic driving control as an example, the automatic driving control unit 20b controls the devices and apparatuses provided in the work machine 1 based on the estimated position EP and a predefined planned driving route L so that the traveling vehicle body 3 travels along the planned driving route L. For example, as automatic driving control, the automatic driving control unit 20b controls the steering angle and driving speed (vehicle speed) of the traveling vehicle body 3.

[0070] The planned travel route L may be stored in advance in the storage device 21, or may be created (defined) based on an estimated position EP estimated by the position estimation unit 20a when the work machine 1 actually travels. The planned travel route L may also be created based on information input via an input interface.

[0071] The input interface is, for example, a display device 15 that is provided in the work machine 1 and that allows input operations. The display device 15 has, in addition to a display screen that displays an image, for example, a touchpad or hardware switches. The input interface is sufficient as long as it allows at least the input operation of information and the input information can be acquired by the control device 20, and may be an operable terminal such as a smartphone that is communicatively connected to the control device 20. The input interface may also be a communication device that can communicate with an external server 50 or the like, and the communication device may receive the planned travel route L managed by the external server 50 or the like.

[0072] During automatic driving control, the automatic driving control unit 20b controls the steering angle so that the positional deviation between the estimated position EP and the planned traveling route L is less than a threshold value. In other words, when the positional deviation between the estimated position EP and the planned traveling route L is less than the threshold value, the automatic driving control unit 20b controls the control valve 35 of the steering device 11 to maintain the steering angle. On the other hand, when the positional deviation between the estimated position EP and the planned traveling route L is equal to or greater than the threshold value, the automatic driving control unit 20b controls the control valve 35 of the steering device 11 to change the steering angle in a direction that reduces the positional deviation.

[0073] Further, regarding the automatic driving control when the work implement 1 works in the field H1, the automatic driving control unit 20b performs automatic driving control, for example, so that the work implement 1 travels back and forth between one end and the other end of the work field H (field H1). Fig. 5B is a diagram illustrating a planned travel route L. As shown in Fig. 5B, the planned travel route L in the field H1 includes a straight section L1 that travels from one end of the field H1 to the other, and a turning section L2 that connects one straight section L1 with the other straight section L1.

[0074] The automatic driving control unit 20b may control the work device 2, the position change device 8A, etc., depending on the position of the work implement 1 on the planned travel route L, etc., and control the work performed by the work device 2. The automatic driving control unit 20b can control the execution and stopping of work by the work device 2. The automatic driving control unit 20b can control the drive of the position change device 8A (lifting device) and the PTO shaft 6, and switch between a working state in which the work device 2 performs work and a non-working state in which the work device 2 does not perform work.

[0075] In the case where the working device 2 is a working device 2 that is towed by the working machine 1 and performs work while in contact with or embedded in the ground, such as a tilling device or a ridge-making device, the automatic driving control unit 20b uses the position change device 8A to lower the working device 2 to the ground and switch it to a working state, The position changing device 8A can raise the working device 2 from the ground and switch it to a non-working state.

[0076] Furthermore, when the working device 2 is a working device 2 that is driven by power transmitted from the PTO shaft 6 or by a built-in actuator (e.g., an electric actuator), such as a rotary tiller or a molding device, the automatic driving control unit 20b can switch between a working state and a non-working state by controlling these power sources (PTO shaft 6, actuator, etc.).

[0077] For example, the automatic driving control unit 20b switches to the working state when the estimated position EP is located on the straight section L1, and switches to the non-working state when the estimated position EP is located on the turning section L2.

[0078] The automatic driving control unit 20b may switch between the working state and the non-working state according to the areas defined in the field map, regardless of the position of the estimated position EP on the planned travel route L. For example, the area where work is performed (working area Ha) is defined as the area inside the headland of the field H1. Furthermore, the area where work is not performed (non-working area Hb) is defined as the headland, entrances and exits of the field H1, and places where work has already been performed. Note that the above-mentioned working area Ha and non-working area Hb are merely examples, and the working area Ha may, for example, include the headland.

[0079] In the above-described embodiment, automatic driving has been explained using line-type automatic driving control as an example, but in autonomous automatic driving control, the automatic driving control unit 20b controls each device and apparatus provided in the work machine 1 to perform work within the field H1 based on the estimated position and sensing results, regardless of the planned driving route L.

[0080] The work machine 1 may also employ a display device 15 that displays the current position of the work machine 1 on a field map based on the estimated position EP estimated by the position estimation unit 20a and a field map showing the field H1. The display device 15 may be a display placed near the driver's seat 10 of the work machine 1, or may be a mobile terminal carried by the worker or a manager's terminal that monitors the work of the work machine 1. Examples of mobile terminals and manager's terminals include terminals such as smartphones (multi-function mobile phones), tablets, and PDAs, as well as fixed computers such as personal computers.

[0081] The work machine 1 has a first communication device 29. The first communication device 29 is a communication module that performs either direct communication or indirect communication with the server 50, and can perform wireless communication using, for example, the IEEE802.11 series of communication standards, such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The first communication device 29 can also perform wireless communication using, for example, a mobile phone communication network or a data communication network.

[0082] Next, the second work machine 1B will be described. The second work machine 1B has a configuration generally similar to the first work machine 1A described above, but does not have the sensing device 25 or the position estimation unit 20a. The second work machine 1B is equipped with a position detection device 27, so it can acquire its own position. The second work machine 1B has a third communication device 29B. The third communication device 29B has the same configuration as the first communication device 29. Detailed description of the configuration of the second work machine 1B that is the same as that of the first work machine 1A will be omitted.

[0083] Next, the server 50 will be described. The server 50 has a second communication device 51, a storage device 52, and a control device 53. The second communication device 51 is a communication module that performs either direct communication or indirect communication with the work machine 1, similar to the first communication device 29. The device 51 can perform wireless communication via, for example, a mobile phone communication network or a data communication network, etc. The storage device 52 is, for example, a hard disk drive (HDD), a solid state drive (SSD), etc.

[0084] The control device 53 performs various controls related to the server 50. The control device 53 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by one or more processors. The control device 53 can read software programs from one or more memories using one or more processors and execute various processes based on the software programs. Note that the control device 53 may also be able to execute various processes based on predetermined logic circuits using one or more processors. The processor is, for example, a CPU, GPU, DSP, FPGA, ASIC, etc.

[0085] An example of the functions of the assistance system S will now be described. FIG. 6 is a diagram illustrating the assistance system S in which object information detected by a first work machine 1A is utilized by a second work machine 1B. As shown in FIG. 6, the first work machine 1A transmits object information (e.g., summer-detected object information) indicating surrounding objects detected by the first sensing device 25a of the first work machine 1A to the server 50, for example, in the summer. The server 50 stores the summer-detected object information. For example, in the winter, when a transmission request is received from the second work machine 1B, the server 50 transmits time-dependent object information (winter) in which the summer-detected object information has been corrected to winter object information to the second work machine 1B. The second work machine 1B can autonomously travel in the winter using the time-dependent object information (winter).

[0086] Alternatively, as shown in Fig. 6, if winter-detected object information is transmitted from the first work machine 1A to the server 50, the server 50 stores the winter-detected object information. For example, in the summer, when a transmission request is received from the second work machine 1B, the server 50 transmits time-dependent object information (summer) that corrects the winter-detected object information to summer object information to the second work machine 1B. The second work machine 1B can autonomously travel in the summer using the time-dependent object information (summer).

[0087] FIG. 7 shows the case where the spacing between rows of trees is minimum width W1 in summer and maximum width W2 in winter. As shown on the left side of FIG. 7, in a field H1 (e.g., a vineyard), a plurality of fruit trees FT (here, grape vines) are planted at intervals in a predetermined direction Y, forming tree rows TR in multiple rows (two rows in FIG. 7) in a horizontal direction X perpendicular to the predetermined direction Y. In summer, the leaves of the grape vines grow thick, so the distance between the opposing outer end positions OL of two adjacent tree rows TR (i.e., the width / space between vine rows) is minimum width W1. In other words, the width W between the rows of trees that a first work implement 1A (e.g., a tractor) can travel is minimum width W1. The fruit trees FT may be attached with trellises (e.g., posts) to support the fruit trees FT, and the spacing between the rows of trees is sometimes called the trellis width. The term "trellis" refers to a tree row configuration system made up of posts (rods) or wires with crosspieces that support the trees. When the first working implement 1A travels between tree rows in the summer, the first sensing device 25a of the first working implement 1A detects surrounding objects (for example, the tree rows TR on both sides). In other words, the first sensing device 25a acquires surrounding object information. This object information is summer-detected object information, and is point cloud data that includes the lush tree rows TR located on both sides of the travel path of the first working implement 1A.

[0088] On the other hand, as shown on the right side of Figure 7, in winter, the leaves on the grape vines have withered and been pruned, so the trees are sparser than in summer, and the gap between the rows of trees is at its maximum width W2. In other words, the width W between the rows of trees over which the first working implement 1A (e.g., a tractor) can travel is at its maximum width W2 (maximum width W2 > minimum width W1). When the first working implement 1A travels between the rows of trees in winter, The first sensing device 25a of the first working machine 1A detects surrounding objects (for example, tree rows TR on both sides). In other words, surrounding object information is acquired by the first sensing device 25a. This object information is object information detected in winter and is point cloud data including dead and pruned tree rows TR located on both sides of the travel path of the first working machine 1A. As shown in FIG. 7, for certain plants (for example, grape vines), the outer edge position OL of the tree rows TR is managed by farm personnel so that it increases and decreases periodically (one cycle per year).

[0089] First Embodiment The support system S in the first embodiment calculates a time-dependent outer end position OL1 (the edge position of the grapevine after the change) that is obtained by changing the outer end position OL (the edge position of the grapevine) of the object detected by the sensing device 25 of the first moving body VA (the first working machine 1A) depending on the time of use of the second moving body VB (the first working machine 1A or the second working machine 1B), thereby making it possible to effectively utilize the time-dependent outer end position OL1 (the edge position of the grapevine after the change).

[0090] 8 is a diagram showing an example of the flow of data within the assistance system S. As described above, the assistance system S includes a first moving body VA (first work machine 1A), a server 50, and a second moving body VB (either the first work machine 1A or the second work machine 1B, but shown as the second work machine 1B in FIG. 8). The first work machine 1A includes a sensing device 25 (particularly the first sensing device 25a) that detects surrounding objects, and a first communication device 29 that transmits object information (e.g., point cloud information) detected by the sensing device 25 and detection time information (e.g., data acquisition date) indicating the detection time to the server 50.

[0091] As shown in FIG. 8, the first work implement 1A transmits various types of transmission data (data D1) to the server 50. The transmission data (data D1) includes vehicle information, the type of sensor used, field position information, start position and end position, point cloud information (object information), trellis length, width, spacing, and data acquisition date (detection time information). The vehicle information is, for example, position information (latitude, longitude) of the first work implement 1A. The type of sensor used is the type of sensing device 25 possessed by the first work implement 1A (lidar, ToF camera, airborne ultrasonic sensor, etc.). The field position information is, for example, a map of a field H1 such as a vineyard. The start position is the position of the first work implement 1A when acquisition of point cloud information for one tree row starts (start point of the tree row). The end position is the position of the first work implement 1A when acquisition of point cloud information for one tree row ends (end point of the tree row). The point cloud information (object information) is point cloud data obtained by converting point cloud data in a sensor coordinate system, which uses the sensing device 25 (particularly the first sensing device 25a) as the reference position, into point cloud information in an absolute coordinate system based on vehicle information (position information from the start position to the end position of the first work implement 1A). The trellis length refers to the total length of multiple trellises lined up in the predetermined direction Y, i.e., the length of the tree row TR in the predetermined direction Y. The trellis spacing refers to the spacing between multiple trellises lined up in the predetermined direction Y (the distance between them in the predetermined direction Y). As shown in FIG. 7, the trellis width TW refers to the distance between the centers of the tree rows. The distance obtained by subtracting the tree row spacing W (i.e., the distance in the horizontal direction X between the outer end position OL of one tree row TR and the outer end position OL of the adjacent tree row TR) from the trellis width TW is a value that varies over time. In other words, the trellis width TW - tree row spacing W = 2 × (TR - OL) is a distance that varies depending on the season. The width W between tree rows is synonymous with the distance between tree rows. The trellis length, width, and spacing may be values ​​detected by the sensing device 25, or may be values ​​input by the user. The detection time information is the date on which the sensing device 25 acquired point cloud information (object information) (for example, the data acquisition date), but may also be the month or season on which the data was acquired.

[0092] As shown in Fig. 1, the control device 53 of the server 50 includes a calculation device 54. Based on the object information and detection time information from the first moving body VA (first working machine 1A), the calculation device 54 calculates the use time (current time information (e.g., date, month, season, etc.)) when the second moving body VB (first working machine 1A or second working machine 1B) will use the object information after the detection time. The outer end position OL1 of the object over time is calculated. For example, the control device 53 functions as the calculation device 54 when a processor of the control device 53 executes a determination program. The use times include a time when the object information is used after a series of work periods in which the first moving body VA (first working machine 1A) moves through the field H1 while detecting object information (information including the outer end position OL of the tree row TR), a time when a second moving body VB other than the first moving body VA uses the object information, and a time when the object information is used after a predetermined time has passed since the first moving body VA detected the object information.

[0093] 9A is a diagram showing the outer edge position OL1 over time when the outer edge position OL is changed depending on the season in the first embodiment. As shown on the left side of FIG. 9A, the calculation device 54 calculates the outer edge position OL1 over time of the object in the usage period (currently the season is, for example, summer) as shown on the left side of FIG. 9A (i.e., the outer edge position OL1 over time obtained by extending the outer edge position OL of the tree in winter outward) based on the object information acquired in winter shown on the right side of FIG. 7 and the detection time information (the season in which the data was acquired was winter). In this case, as shown on the left side of FIG. 9A, the distance between the outer edge positions OL1 over time, i.e., the drivable tree-row width W, is narrower.

[0094] Conversely, the calculation device 54 calculates the object's outer edge position over time OL1 (i.e., the outer edge position over time OL1 obtained by shrinking the outer edge position OL of the tree in summer) during the usage period (the current season is winter, for example) as shown on the right side of Fig. 9A, based on the object information acquired in summer shown on the left side of Fig. 7 and the detection time information (the season in which the data was acquired was summer). In this case, the distance between the outer edge positions over time OL1, i.e., the drivable tree row width W, becomes wider, as shown on the right side of Fig. 9A.

[0095] The calculation device 54 calculates the temporal outer end position OL1 by changing the outer end position OL of the object at the time of detection based on the temporal information from the detection time to the time of use. For example, the calculation device 54 calculates the temporal outer end position OL1 by referring to a preset table (tables TB1 and TB2 shown in FIGS. 14 and 15, which will be described later) that shows the correspondence between the detection time, the time of use, and the temporal outer end position OL1. The storage device 52 stores the tables TB1 and TB2 shown in FIGS. 14 and 15 in advance. The calculation device 54 determines the timing of receiving a use request for object information from the second moving body VB (e.g., the second work machine 1B) as the time of use (the month that has passed since the time of use in FIG. 14 or the season that is the time of use in FIG. 15), and changes the object information already stored in the storage device 52 to content that corresponds to the time of use.

[0096] The server 50 may include an estimation unit 55 that identifies whether an object is a plant and, if the object is a plant, estimates the type and growth state of the plant. For example, the estimation unit 55 can identify the type of plant by performing image matching processing between an image of a plant (e.g., fruits such as grapes, apples, and peaches, or vegetables such as potatoes, asparagus, and cabbage) captured by the imaging device 26 and images of various plants pre-stored in the storage device 52. The estimation unit 55 can also estimate the growth state of the identified plant by performing image matching processing between the image of the identified plant and growth state images showing various growth states of the plant pre-stored in the storage device 52. The calculation device 54 then calculates the time-dependent outer edge position OL1 by changing the outer edge position OL of the object at the time of detection based on the current growth state of the plant. For example, the control device 53 functions as the estimation unit 55 when a processor of the control device 53 executes an estimation program. The estimation unit 55 may have at least one of the following functions: a function to identify crops; a function to estimate the growth state by referring to pre-entered crop information; and a function to perform estimation by image processing. Furthermore, when a user pre-enters crop information such as the name of the crop and the variety of the crop, the server 50 may identify the type of plant (i.e., identify the crop) based on the entered crop information. For example, when "Cabernet Sauvignon" (French: Cabernet Sauvignon) is entered, the server 50 not only identifies the grapes but also identifies the variety as a grape for red wine.

[0097] The calculation device 54 may calculate the outer end position OL1 over time by referring to a growth table TB3 shown in FIG. 16 (described later) that is preset and shows the relationship between the detection time, the current growth state, and the outer end position OL1 over time. The storage device 52 stores the growth table TB3 shown in FIG. 16 in advance. The calculation device 54 determines the timing at which a use request for object information is received from the second moving body VB (e.g., the second working implement 1B) as the use time (growth phase at the time of use), and updates the object information stored in the storage device 52 to content corresponding to the use time (growth phase at the time of use in FIG. 16). The calculation device 54 may also determine country information indicating the country in which the field is located or hemisphere information indicating whether the hemisphere in which the field is located is the northern or southern hemisphere, based on the position information of the first working implement 1A. Therefore, the country information and hemisphere information are used to determine whether to use a table for the southern hemisphere or a table for the northern hemisphere for correction. In other words, if the hemisphere information for the first working machine 1A is the southern hemisphere, the second working machine 1B, which is located in the southern hemisphere, will make corrections using a table for the southern hemisphere. The storage device 52 pre-stores a growth table TB4 for the southern hemisphere shown in Fig. 17, which will be described later. The calculation device 54 may calculate the outermost position OL1 over time by referring to a preset growth table TB4 for the southern hemisphere shown in Fig. 17, which shows the relationship between the detection time, the current growth state, and the outermost position OL1 over time.

[0098] The estimation unit 55 identifies whether the object is a fruit tree FT. If the object is a fruit tree FT, the calculation device 54 calculates the outermost position OL1 over time of a tree row TR that connects the outermost positions OL of multiple fruit trees FT lined up at intervals in a predetermined direction Y in the predetermined direction Y.

[0099] As described above, the calculation device 54 of the server 50 performs various internal calculations such as season conversion, growth phase conversion, country information conversion, and hemisphere conversion, calculates the outermost position OL1 over time, and generates routes and calculates route information, as shown in FIG. 8 .

[0100] The second communication device 51 of the server 50 transmits the outermost position OL1 over time to the second moving body VB (the first work machine 1A or the second work machine 1B). In FIG. 1, the second moving body VB is the second work machine 1B which is equipped with a position detection device 27 that detects its own position, but is not equipped with a sensing device 25. In other words, the second work machine 1B does not have the function of generating a movement path for the second work machine 1B (i.e., its own movement path), and therefore, when the movement path for the second work machine 1B is provided from the outside, it can travel based on the movement path of the second work machine 1B and its own position detected by the position detection device 27.

[0101] 1, the server 50 includes a route generating unit 56 that generates a movement route of the second moving body VB. The route generating unit 56 generates the movement route of the second moving body VB based on the position information of the second moving body VB acquired by the server 50 and the outermost position OL1 over time calculated by the calculation device 54. As shown in FIG. 8, the second communication device 51 transmits the movement route of the second moving body VB generated by the route generating unit 56 to the second moving body VB.

[0102] In the support system S shown in FIG. 8, the work implement 1 on the output side of the server 50 is a second work implement 1B that does not have a sensing device 25. In other words, the support system S shown in FIG. 8 is configured according to a second pattern PT2 that includes a first work implement 1A, a server 50, and a second work implement 1B. Furthermore, the support system S may also be configured according to a first pattern PT1 that includes a first work implement 1A and a server 50. The support system S of the first pattern PT1 may include a case in which the work implements 1 on the input and output sides are a single first work implement 1A, and the support system S is configured according to the single first work implement 1A and a server 50, as well as a case in which the support system S is configured according to the first work implement 1A, the server 50, and the first work implement 1A.

[0103] First, the processing of the first pattern PT1 in the support system S in the first embodiment will be described with reference to Fig. 10A and Fig. 11A. Fig. 10A is a flowchart showing the processing of the first pattern PT1 in the support system S in the first embodiment. Fig. 11A is a flowchart showing the calculation processing in the server 50 shown in Fig. 10A.

[0104] 10A, the input-side work machine 1, i.e., the first work machine 1A, acquires object information (trellis point cloud information) indicating surrounding tree rows TR (objects) using the sensing device 25 while performing actual work manually or automatically (S11). The control device 20 of the first work machine 1A associates the object information (trellis point cloud information), position information (latitude, longitude) of the first work machine 1A, and detection time information (for example, the date of data acquisition) in the storage device 21.

[0105] The first work implement 1A (control device 20) acquires the coordinates of the outer end position OL of the trellis TR (object) from the object information (point cloud information of the trellis) (S12). For example, the control device 20 converts point cloud data in a sensor coordinate system that uses the sensing device 25 (particularly the first sensing device 25a) as the reference position into point cloud information in an absolute coordinate system based on the vehicle information (position information from the start position to the end position of the first work implement 1A). The control device 20 calculates the coordinates of the outer end position OL of the trellis TR (object) in the absolute coordinate system from the point cloud information in the absolute coordinate system.

[0106] The first work implement 1A (control device 20) transmits to the server 50 transmission data (data D1) including position information indicating the coordinates of the outer end position OL of the tree row TR (S13). For example, as shown in FIG. 8, the first communication device 29 of the first work implement 1A transmits to the server 50 transmission data including vehicle information, the type of sensor used, field position information, start position and end position, point cloud information (object information), trellis length, width, spacing, and data acquisition date (detection time information). Note that the control device 53 (computing device 54) of the server 50 may also perform the above-mentioned S12 of the first work implement 1A. In other words, the control device 53 (computing device 54) may calculate (acquire) the coordinates of the outer end position OL of the tree row TR (object).

[0107] After S13, the server 50 performs a calculation process (S20). Specifically, the server 50 receives transmission data (S21) as shown in FIG. 11A. The calculation device 54 calculates the aging outer end position OL1 by referring to a preset table showing the correspondence between the detection time, the use time, and the aging outer end position OL1 (S22A). For example, in S22A, the calculation device 54 calculates the aging outer end position OL1 using any of the table TB1 shown in FIG. 14, the table TB2 shown in FIG. 15, the growth table TB3 shown in FIG. 16, and the growth table TB4 shown in FIG. 17.

[0108] Here, a case where table TB1 shown in FIG. 14 is used will be described. FIG. 14 is a diagram showing an example of table TB1. Table TB1 shown in FIG. 14 is a data table with 12 rows and 12 columns. The 12 records arranged vertically on the left side list the data acquisition months (i.e., detection times) from January to December. The 12 columns arranged horizontally on the top side list the actual driving months (i.e., the time of use) in the form of elapsed months from the acquisition month. Numeric values ​​indicated by "1," "1.5," and "2" are associated with cells corresponding to each row and column. These values ​​correspond to outer aging end positions OL1, respectively. The units of the numerical values ​​in each cell are, for example, feet, but are not limited to feet and may be other units such as centimeters. FIG. 9C is a diagram showing outer aging end positions OL1 for the first, fourth, and seventh months of winter data acquired in the first embodiment. For example, a case where data acquisition month is January will be described. When the actual travel month is the first month, the calculation device 54 calculates the coordinates of the outer end position OL when the distance from the center of the tree line TR to the outer end position OL is set to "1", and calculates the outer end position OL1 over time when the distance from the center of the tree line TR to the outer end position OL is also set to "1" (see the solid line for the first month in Figure 9C). When the actual travel month is the fourth month, the coordinates of the outer end position OL when the distance from the center of the tree line TR to the outer end position OL is set to "1" For this, the outer end position OL1 over time is calculated so that the distance from the center of the tree line TR to the outer end position OL is "1.5" (see the dashed line for the fourth month in Figure 9C). If the actual travel month is the seventh month, the outer end position OL1 over time is calculated so that the distance from the center of the tree line TR to the outer end position OL is "2" for the coordinates of the outer end position OL when the distance from the center of the tree line TR to the outer end position OL is "1" (see the dashed line for the seventh month in Figure 9C).

[0109] 9D is a diagram showing the outer edge positions OL1 over time for the first, fourth, and seventh months in data acquired in summer in the first embodiment. When the data acquisition month is July and the actual travel month is the first month, the calculation device 54 calculates the outer edge position OL1 over time such that the distance from the center of the line of trees TR to the outer edge position OL is "2" (see the dashed line for the first month in FIG. 9D). When the actual travel month is the fourth month, the calculation device 54 calculates the outer edge position OL1 over time such that the distance from the center of the line of trees TR to the outer edge position OL is "1.5" (see the dashed line for the fourth month in FIG. 9D). If the actual travel month is the seventh month, the coordinates of the outer end position OL when the distance from the center of the tree line TR to the outer end position OL is set to "2" are used to calculate the outer end position OL1 over time, by subtracting the distance from the center of the tree line TR to the outer end position OL from "1" (see the solid line for the seventh month in Figure 9D).

[0110] Next, a case where table TB2 shown in FIG. 15 is used will be described. FIG. 15 is a diagram showing an example of table TB2. In table TB2 shown in FIG. 15, the 12 vertical rows of records at the left end list the data acquisition months (i.e., detection times) from January to December, and the 12 horizontal columns at the top list the actual driving months (i.e., usage periods) indicating the seasons. Each cell corresponding to each row and column is associated with a time-dependent outer end position OL1 indicated in "0," "0.5," "1," "1.5," and "2" feet (approximately 0, approximately 15, approximately 30, approximately 45, and approximately 60 cm). FIG. 9E is a diagram showing the time-dependent outer end positions OL1 for January, April, and July in winter-acquired data according to the first embodiment. For example, if the data acquisition month is January (i.e., winter) and the actual travel month is January (also winter), the calculation device 54 calculates a time-dependent outer edge position OL1 such that the distance from the center of the tree line TR to the outer edge position OL is "1" for the coordinate of the outer edge position OL when the distance from the center of the tree line TR to the outer edge position OL is "1" (see the solid line for January in FIG. 9E).If the actual travel month is April (i.e., spring), the calculation device 54 calculates a time-dependent outer edge position OL1 such that the distance from the center of the tree line TR to the outer edge position OL is "1.5" for the coordinate of the outer edge position OL when the distance from the center of the tree line TR to the outer edge position OL is "1" (see the dashed dotted line for April in FIG. 9E). If the actual travel month is July (i.e., summer), the coordinates of the outer end position OL are calculated so that the distance from the center of the tree row TR to the outer end position OL is "2" when the distance from the center of the tree row TR to the outer end position OL is "1" (see the dashed line for July in Figure 9E).

[0111] 9F is a diagram showing the outer edge position OL1 over time for January, April, and July in data acquired in summer in the first embodiment. When the data acquisition month is July and the actual travel month is January (i.e., winter), the calculation device 54 calculates the outer edge position OL1 over time by subtracting the outer edge position OL of "1" from the coordinate of the outer edge position OL when the distance from the center of the tree line TR to the outer edge position OL is set to "1" (see the dashed-dotted line for April in FIG. 9F). If the actual travel month was July (i.e., summer), the coordinates of the outer end position OL are calculated when the distance from the center of the tree row TR to the outer end position OL is set to "1," and the outer end position OL1 over time is calculated so that the distance from the center of the tree row TR to the outer end position OL is also "1" (see the dashed line for July in Figure 9F).

[0112] Next, a case where the growth table TB3 shown in Fig. 16 is used will be described. Fig. 16 is a diagram showing an example of the growth table TB3. In the growth table TB3 shown in Fig. 16, the 12 records arranged vertically on the left side have the data acquisition months from January to December (i.e., detection times) arranged, and the 12 columns arranged horizontally on the top side have the actual driving months indicating the seasons (i.e., usage periods) arranged, and each cell corresponding to each row and each column is associated with the outermost position OL1 over time taking into account the growth phase, as shown by "0", "0.5", "1", "1.5", and "2" feet (approximately 0, approximately 15, approximately 30, approximately 45, and approximately 60 cm). For example, if the data acquisition month was December to February (i.e., the pruning period) and the actual travel month was the pruning period (e.g., December to February), the calculation device 54 calculates the outer edge position OL1 over time where the distance from the center of the tree line TR to the outer edge position OL is "1" for the coordinate of the outer edge position OL when the distance from the center of the tree line TR to the outer edge position OL is "1." If the actual travel month was the growing period (e.g., March to July), the calculation device 54 calculates the outer edge position OL1 over time where the distance from the center of the tree line TR to the outer edge position OL is "1.5" for the coordinate of the outer edge position OL when the distance from the center of the tree line TR to the outer edge position OL is "1." If the actual travel month was the harvesting period (e.g., August to October), the calculation device 54 calculates the outer edge position OL1 over time where the distance from the center of the tree line TR to the outer edge position OL is "2" for the coordinate of the outer edge position OL when the distance from the center of the tree line TR to the outer edge position OL is "1." If the actual travel month is during the withered period (for example, November), the coordinates of the outer end position OL are calculated so that the distance from the center of the tree row TR to the outer end position OL is "1.5", relative to the coordinates of the outer end position OL when the distance from the center of the tree row TR to the outer end position OL is "1".

[0113] On the other hand, when the data acquisition month is August to October (i.e., the harvest period) and the actual travel month is the pruning period (for example, December to February), the calculation device 54 calculates the outer end position OL1 over time by subtracting the distance from the center of the tree line TR to the outer end position OL from the coordinate of the outer end position OL when the distance from the center of the tree line TR to the outer end position OL is set to "1" (0). When the actual travel month is the growing period (for example, March to July), the calculation device 54 calculates the outer end position OL1 over time by subtracting the distance from the center of the tree line TR to the outer end position OL from the coordinate of the outer end position OL when the distance from the center of the tree line TR to the outer end position OL is set to "1" (0.5). When the actual travel month is the harvest period (for example, August to October), the calculation device 54 calculates the outer end position OL1 over time by subtracting the distance from the center of the tree line TR to the outer end position OL from the coordinate of the outer end position OL when the distance from the center of the tree line TR to the outer end position OL is set to "1". If the actual travel month is during the withered period (for example, November), the coordinates of the outer end position OL are calculated so that the distance from the center of the tree row TR to the outer end position OL is "0.5" relative to the coordinates of the outer end position OL when the distance from the center of the tree row TR to the outer end position OL is "1".

[0114] Next, we will explain the case where the growth table TB4 shown in Figure 17 is used. Figure 17 is a diagram showing an example of a growth table TB4 for the southern hemisphere. Compared to the growth table TB3 for the northern hemisphere shown in Figure 16, Figure 17 shows a growth table TB4 for the southern hemisphere. When the calculation device 54 determines that the field is located in the southern hemisphere based on the position information of the first moving body VA, it decides to use the growth table TB4 shown in Figure 17.

[0115] Returning to FIG. 11A, the server 50 receives vehicle body information (specifications, etc.) from the work machine 1 (here, the first work machine 1A) on the output side of the server 50 (S23). The server 50 (control device 53) then determines that the type of sensor used, included in the received vehicle body information, is LiDAR, i.e., that the work machine 1 (first work machine 1A) on the output side of the server 50 has a sensing device 25, and transmits data D2 (for example, the tree row spacing W at which automatic travel is possible) to the work machine 1 (first work machine 1A) on the output side of the server 50 (S24A). In other words, the second communication device 51 transmits the chronological outer edge position OL1 (for example, the tree row spacing W at which automatic travel is possible). Furthermore, the server 50 receives the chronological outer edge position OL1 (for example, the tree row spacing W at which automatic travel is possible) for the work machine 1 (first work machine 1A) on the output side of the server 50. Although it has been determined that path generation is unnecessary, if a request for path generation is received from the work implement 1 (first work implement 1A) on the output side of the server 50, the server 50 may generate and transmit a path based on the outermost position OL1 over time and the vehicle body information of the first work implement 1A. The generated paths are divided into a "Global path" and a "Local path". A "Global path" is a general path and can be generated by the server 50. Even a vehicle with a sensor (i.e., the first work implement 1A) may receive and use the "Global path" from the server 50. A "Local path" is a general path and can be generated by the server 50. A "local path" is a local route that can be changed depending on the situation at hand, such as obstacles or slopes. For this reason, the vehicle (first work implement 1A) equipped with a sensor has the function of generating a "local path."

[0116] As shown in FIG. 10A, the work machine 1 (first work machine 1A) on the output side of the server 50 acquires data D2 (e.g., the width W between tree rows where automatic travel is possible) (S31A). That is, the first communication device 29 receives the outermost position OL1 over time (e.g., the width W between tree rows where automatic travel is possible). The work machine 1 (first work machine 1A) on the output side of the server 50 generates a route (path PS) (S32). The work machine 1 (first work machine 1A) on the output side of the server 50 performs automatic driving based on the data D2 (outermost position OL1 over time: the width W between tree rows where automatic travel is possible) received from the server 50 and the route (path PS) that it generated (S33).

[0117] Next, the processing in the support system S for the second pattern PT2 in the first embodiment will be described using Fig. 12 and Fig. 13A. That is, the work implement 1 on the output side of the server 50 is the second work implement 1B, which does not have a sensing device 25. Fig. 12 is a flowchart showing the processing in the support system S for the second pattern PT2 in the first and second embodiments. Fig. 13A is a flowchart showing the calculation processing in the server 50 shown in Fig. 12 in the first embodiment. Note that Figs. 12 and 13A will explain in detail the processing that differs from Figs. 10A and 11A, and explanations of the same processing will be omitted.

[0118] S11 to S13 shown in Fig. 12 are the same as S11 to S13 shown in Fig. 10A described above. After S13, the server 50 performs calculation processing (S20). Specifically, the server 50 performs processing of S21, S22A, S23, S25A, and S26 as shown in Fig. 13A. S25A and S26 shown in Fig. 13A are not included in Fig. 11A described above, so S25A and S26 will be described below.

[0119] As shown in FIG. 13A, after S23, the server 50 (control device 53) determines that the type of sensor used included in the received vehicle body information is not LIDAR, that is, that the work unit 1 (second work unit 1B) on the output side of the server 50 does not have the sensing device 25, and generates a route for the work unit 1 (second work unit 1B) on the output side of the server 50 (S25A). The server 50 (control device 53) generates a route (path PS) for the work unit 1 (second work unit 1B) on the output side based on data D2 (outer end position over time OL1: width W between tree rows where automatic travel is possible) and the vehicle body information. The server 50 transmits the generated route to the work unit 1 (second work unit 1B) on the output side of the server 50 (S26). In S26, the server 50 may transmit the outer end position over time OL1 (for example, width W between tree rows where automatic travel is possible) along with the generated route.

[0120] The work machine 1 (second work machine 1B) on the output side of the server 50 performs automatic driving based on the route received from the server 50 (S34). In addition, the work machine 1 (second work machine 1B) on the output side of the server 50 may perform automatic driving based on the outermost position OL1 over time (for example, the width W between tree rows where automatic driving is possible) and the route received from the server 50.

[0121] Second Embodiment As shown in FIG. 9A, the support system S in the first embodiment changes the outer edge position OL of the object (edge ​​position of the grapevine) detected by the first moving body VA depending on the time of use of the second moving body VB. The changed outer edge position over time is designated as OL1 (the changed edge position of the grapevine). On the other hand, the support system S in the second embodiment, as shown in Figure 9B, sets an intrusion-prohibited area IL (inflation layer) outside the outer edge position OL (edge ​​position of the grapevine) of the object detected by the first moving body VA, and the outer edge position of the intrusion-prohibited area IL, the size of which is changed depending on the time of use by the second moving body VB, is designated as the outer edge position over time OL1. Figure 9B is a diagram showing the outer edge position over time OL1 obtained by increasing or decreasing the intrusion-prohibited area IL depending on the season in the second embodiment.

[0122] The calculation device 54 sets an intrusion-prohibited area IL (inflation layer) at a predetermined distance D outside the outer edge position OL of the object (edge ​​position of the grapevine) as shown in Fig. 9B based on object information (e.g., point cloud information) detected by the sensing device 25 and detection time information indicating the detection time (e.g., data acquisition date), and sets the outer edge position of this intrusion-prohibited area IL as the time-dependent outer edge position OL1. The second communication device 51 transmits the outer edge position OL of the object and the intrusion-prohibited area IL to the second moving body VB (first work machine 1A or second work machine 1B).

[0123] The calculation device 54 calculates the outer aging end position OL1 by changing the predetermined distance D of the entry-prohibited area IL based on the aging information from the detection time to the time of use.

[0124] For example, the calculation device 54 may refer to a preset table (tables TB1 and TB2 shown in FIGS. 14 and 15, and growth tables TB3 and TB4 shown in FIGS. 16 and 17) that shows the correspondence between the detection time, the time of use, and the inflation layer value (i.e., the inflation layer value = the predetermined distance D of the intrusion-prohibited area IL) to calculate the inflation layer value (i.e., the predetermined distance D), and may set the outer edge position of the intrusion-prohibited area IL at the calculated predetermined distance D as the outer edge position OL1 over time. In the second embodiment, each cell of the tables TB1 and TB2 shown in FIGS. 14 and 15, and the growth tables TB3 and TB4 shown in FIGS. 16 and 17 can be read as corresponding to an inflation layer value (i.e., the predetermined distance D).

[0125] When table TB1 shown in FIG. 14 is used in the second embodiment, each cell of table TB1 is associated with an inflation layer value represented by "1," "1.5," or "2" feet. FIG. 9G is a diagram showing the outer chronological end positions OL1 for the first, fourth, and seventh months of winter-acquired data in the second embodiment. For example, when the data acquisition month is January and the actual driving month is the first month, the calculation device 54 calculates an inflation layer value that is the same as "1" when the inflation layer value is set to "1" (see the solid line for the first month in FIG. 9G). When the actual driving month is the fourth month, the calculation device 54 calculates an inflation layer value that is 1.5 when the inflation layer value is set to "1" (see the dashed-dotted line for the fourth month in FIG. 9G). When the actual driving month is the seventh month, the calculation device 54 calculates an inflation layer value that is 2 when the inflation layer value is set to "1" (see the dashed line for the seventh month in FIG. 9G).

[0126] 9H is a diagram showing the outer chronological end position OL1 for the first, fourth, and seventh months of summer-acquired data in the second embodiment. When the data acquisition month is July and the actual driving month is the first month, the computing device 54 calculates an inflation layer value that is the same as "2" when the inflation layer value is set to "2" (see the dashed line for the first month in FIG. 9H). When the actual driving month is the fourth month, the computing device 54 calculates an inflation layer value that is reduced to "1.5" when the inflation layer value is set to "2" (see the dashed line for the fourth month in FIG. 9H). When the actual driving month is the seventh month, the computing device 54 calculates an inflation layer value that is reduced to "1" when the inflation layer value is set to "2" (see the solid line for the seventh month in FIG. 9H).

[0127] Next, when the table TB2 shown in FIG. 15 is used in the second embodiment, the table Each cell of TB2 is associated with an inflation layer value represented by "0," "0.5," "1," "1.5," or "2" feet. FIG. 9I illustrates the outer chronological end positions OL1 for January, April, and July in winter-acquired data according to the second embodiment. For example, if the data acquisition month is January (i.e., winter) and the actual driving month is January (also winter), the calculation device 54 calculates an inflation layer value that is equal to "1" when the inflation layer value is set to "1" (see the solid line for January in FIG. 9I). If the actual driving month is April (i.e., spring), the calculation device 54 calculates an inflation layer value that is equal to "1.5" when the inflation layer value is set to "1" (see the dashed-dotted line for April in FIG. 9I). If the actual driving month is July (i.e., summer), the calculation device 54 calculates an inflation layer value that is equal to "2" when the inflation layer value is set to "1" (see the dashed line for July in FIG. 9I).

[0128] 9J shows the outer chronological end position OL1 for January, April, and July for summer data according to the second embodiment. When the data acquisition month is July and the actual driving month is January (i.e., winter), the calculation device 54 calculates an inflation layer value by subtracting a value of "0" from the inflation layer value set to "1" (see the solid line for January in FIG. 9J; the inflation layer is maintained at the predetermined distance D). When the actual driving month is April (i.e., spring), the calculation device 54 calculates an inflation layer value by subtracting a value of "0.5" from the inflation layer value set to "1" (see the dashed-dotted line for April in FIG. 9J). When the actual driving month is July (i.e., summer), the calculation device 54 calculates an inflation layer value by leaving a value of "1" as is (see the dashed line for July in FIG. 9J).

[0129] The server 50 may include an estimation unit 55 that identifies whether the object is a plant and, if the object is a plant, estimates the type and growth state of the plant. The calculation device 54 calculates the outer edge position OL1 over time by changing the predetermined distance D of the inaccessible area IL based on the detection time and the current growth state of the plant.

[0130] In the second embodiment, when using the growth table TB3 shown in Figure 16 or the growth table TB4 shown in Figure 17, the values ​​of each cell can be replaced with inflation layer values ​​in the same way as above, so explanations will be omitted here.

[0131] Here, the processing of the first pattern PT1 in the support system S in the second embodiment will be described with reference to Fig. 10B and Fig. 11B. Fig. 10B is a flowchart showing the processing of the first pattern PT1 in the support system S in the second embodiment. Fig. 11B is a flowchart showing the calculation processing in the server 50 shown in Fig. 10B.

[0132] S11 to S13 shown in Fig. 10B are the same as S11 to S13 shown in Fig. 10A, and therefore will not be described here. After S13, the server 50 performs calculation processing (S20). Specifically, the server 50 performs processing of S21, S22B, S23, and S24B, as shown in Fig. 11B. S22B and S24B shown in Fig. 11B differ from S22A and S24A shown in Fig. 11A described above, and therefore S22B and S24B will be described.

[0133] 11B, the calculation device 54 calculates the inflation layer value (i.e., the predetermined distance D) by referring to a preset table showing the correspondence between the detection time, the time of use, and the inflation layer value (= the predetermined distance D of the entry-restricted area IL), and sets the outer edge position of the entry-restricted area IL at the calculated predetermined distance D as the outer edge position OL1 over time (S22B). For example, in S22B, the calculation device 54 calculates the inflation layer value (i.e., the predetermined distance D) using any of table TB1 shown in FIG. 14, table TB2 shown in FIG. 15, growth table TB3 shown in FIG. 16, and growth table TB4 shown in FIG. 17.

[0134] As shown in FIG. 11B, after S23, the server 50 (control device 53) determines that the type of sensor used included in the received vehicle body information is LIDAR, that is, that the work machine 1 (first work machine 1A) on the output side of the server 50 has a sensing device 25, and transmits data D2 (for example, the tree row spacing W at which automatic driving is possible + corrected inflation layer value) to the work machine 1 (first work machine 1A) on the output side of the server 50 (S24B).

[0135] As shown in FIG. 10B, the work machine 1 (first work machine 1A) on the output side of the server 50 acquires data D2 (e.g., the width W between tree rows where automatic travel is possible + the corrected inflation layer value) (S31B). That is, the first communication device 29 receives the outermost position over time OL1 (e.g., the width W between tree rows where automatic travel is possible + the corrected inflation layer value). The work machine 1 (first work machine 1A) on the output side of the server 50 generates a route (path PS) (S32). The work machine 1 (first work machine 1A) on the output side of the server 50 performs automatic driving based on the data D2 (outermost position over time OL1: width W between tree rows where automatic travel is possible) received from the server 50 and the route (path PS) that it generated (S33).

[0136] Next, the processing of the second pattern PT2 in the support system S in the second embodiment will be described with reference to Fig. 12 and Fig. 13B. That is, the work machine 1 on the output side of the server 50 is the second work machine 1B, which does not have the sensing device 25. Fig. 13B is a flowchart showing the calculation processing in the server 50 shown in Fig. 12 in the second embodiment.

[0137] S11 to S13 shown in Fig. 12 are the same as S11 to S13 shown in Fig. 10A described above. After S13, the server 50 performs calculation processing (S20). Specifically, the server 50 performs processing of S21, S22B, S23, S25B, and S26, as shown in Fig. 13B. S22B and S25B shown in Fig. 13B are not included in Fig. 11B described above, so S25B and S26 will be described below.

[0138] As shown in FIG. 13A, after S23, the server 50 (control device 53) determines that the type of sensor used included in the received vehicle body information is not LIDAR, that is, that the work unit 1 (second work unit 1B) on the output side of the server 50 does not have the sensing device 25, and generates a route for the work unit 1 (second work unit 1B) on the output side of the server 50 (S25B). The server 50 (control device 53) generates a route (path PS) for the work unit 1 (second work unit 1B) on the output side based on data D2 (outer end position over time OL1: width W between tree rows where automatic travel is possible + corrected inflation layer value) and the vehicle body information. The server 50 transmits the generated route to the work unit 1 (second work unit 1B) on the output side of the server 50 (S26). In S26, the server 50 may transmit the outer end position over time OL1 (e.g., width W between tree rows where automatic travel is possible) along with the generated route.

[0139] The work machine 1 (second work machine 1B) on the output side of the server 50 performs automatic driving based on the route received from the server 50 (S34). In addition, the work machine 1 (second work machine 1B) on the output side of the server 50 may also perform automatic driving based on the outermost position over time OL1 (for example, the tree row width W at which automatic driving is possible + corrected inflation layer value) and the route received from the server 50.

[0140] Third Embodiment As shown in Figure 9B, the support system S in the second embodiment changes the predetermined distance D of the intrusion-prohibited area IL (inflation layer) set outside the outer edge position OL of the object (edge ​​position of the grapevine) depending on the time of use when the second moving body VB uses it. In contrast, the support system S in the third embodiment fixes the predetermined distance D of the intrusion-prohibited area IL in the second embodiment, and does not change the outer edge position OL of the object (edge ​​position of the grapevine) as in the first embodiment. By changing the position of the outer edge of the entry-prohibited area IL depending on the time of use of the second moving body VB, the position of the outer edge of the entry-prohibited area IL becomes the outer edge position OL1 over time.

[0141] For example, the calculation device 54 of the server 50 sets a fixed intrusion-prohibited area IL (inflation layer) at a predetermined distance D (for example, fixed to one foot) outside the outer edge position OL of the object. The calculation device 54 changes the outer edge position OL of the object at the time of detection based on temporal information from the time of detection to the time of use, thereby setting the outer edge position of the intrusion-prohibited area IL (fixed value) outside the outer edge position OL as a temporal outer edge position OL1. Then, the second communication device 51 transmits the outer edge position OL of the object and the intrusion-prohibited area IL to the first moving body VA (first work machine 1A) or the second moving body VB (second work machine 1B).

[0142] In this case, the entry-prohibited area IL is fixed at a predetermined distance D, and the outer edge position OL of the object at the time of detection can be changed to a position that matches the time of use of the first moving body VA (first work machine 1A) or the second moving body VB (second work machine 1B). Therefore, the entry-prohibited area IL can be set as a buffer area of ​​a fixed size, and the outer edge position OL1 over time can be calculated appropriately.

[0143] Note that the estimation unit 55 may identify the type of crop when the object is a crop. For example, the estimation unit 55 can identify (specify) the type of crop (e.g., fruits such as grapes and strawberries, or vegetables such as potatoes, asparagus, and cabbage) by performing image matching processing between an image of the crop captured by the imaging device 26 and images of various crops pre-stored in the storage device 52. FIG. 18A is a diagram showing an example of a table corresponding to the type of crop. As shown in FIG. 18A, the server 50 has multiple tables TB1 and TB11 corresponding to the type of crop. The server 50 calculates the outermost position OL1 over time by referring to the tables TB1 and TB11 corresponding to the type of crop shown in FIG. 18A. For example, if the estimation unit 55 identifies the type of crop as grapes, the server 50 determines the table TB1 (or table TB2) corresponding to grapes as shown in FIG. 18A, and calculates the outermost position OL1 over time by referring to the table TB1 (or table TB2) shown in FIG. 14. On the other hand, if the type of crop is identified as strawberry, the server 50 determines a table TB11 corresponding to grapes, as shown in FIG. 18A, and calculates the outermost chronological position OL1 by referring to the table TB11.

[0144] Furthermore, the estimation unit 55 identifies the type of crop when the object is a crop. FIG. 18B is a diagram showing an example of a table corresponding to the type of crop. As shown in FIG. 18B, the server 50 has multiple growth tables TB3, TB31 corresponding to the type of crop. The server 50 calculates the outermost position OL1 over time by referring to the growth tables TB3, TB31 corresponding to the type of crop shown in FIG. 18B. For example, if the estimation unit 55 identifies the type of crop as grape, the server 50 determines the growth table TB3 corresponding to grape as shown in FIG. 18B, and calculates the outermost position OL1 over time by referring to the growth table TB3 shown in FIG. 16. On the other hand, if the type of crop is identified as strawberry, the server 50 determines the growth table TB31 corresponding to grape as shown in FIG. 18B, and calculates the outermost position OL1 over time by referring to the growth table TB31.

[0145] The main characteristic features and effects of the support system S in the above-described embodiment are as follows.

[0146] (Item A1) A server including a first moving body VA including a detection device (sensing device 25) that detects surrounding objects and a first communication device 29 that transmits object information detected by the sensing device 25 and detection time information indicating the detection time; a calculation device 54 that calculates a time-dependent outer edge position OL1 of the object at a time of use when the object information is used after the detection time based on the object information and the detection time information from the first moving body VA; and a second communication device 51 that transmits the time-dependent outer edge position OL1 to the first moving body VA or a second moving body VB. 50 and an assistance system S.

[0147] With this configuration, the server 50 can provide the first moving body VA or the second moving body VB with the outer edge position OL of the object detected by the first moving body VA as the outer edge position OL1 over time corrected to match a time of use different from the time of detection. Therefore, the first moving body VA or the second moving body VB can move using the outer edge position OL1 over time of the object at the time of use. Therefore, the support system S can effectively utilize object information at a time different from the time of detection.

[0148] (Item A2) The assistance system S described in Item A1, wherein the calculation device 54 calculates the outer end position OL1 over time by changing the outer end position OL of the object at the time of detection based on time-lapse information from the detection time to the time of use.

[0149] According to this configuration, the outer end position OL of the object at the time of detection is changed based on the time-lapse information from the detection time to the time of use (for example, current temporal information such as date, month, season, etc.), so that the outer end position OL1 over time can be calculated appropriately.

[0150] (Item A3) The assistance system S described in Item A2, wherein the calculation device 54 calculates the aging outer end position OL1 by referring to a preset table showing the correspondence between the detection time, the time of use, and the aging outer end position OL1.

[0151] According to this configuration, the outer aging end position OL1 is determined by referring to the table, so that the outer aging end position OL1 can be determined easily and quickly.

[0152] (Item A4) The support system S described in Item A1, wherein the server 50 is provided with an estimation unit 55 that identifies whether the object is a plant and, if the object is a plant, estimates the type and growth state of the plant, and the calculation device 54 calculates the time-dependent outer end position OL1 by changing the outer end position OL of the object at the time of detection based on the current growth state of the plant.

[0153] According to this configuration, when the object is a plant, the outermost position OL1 of the plant over time is calculated according to the growth state of the plant, so that the outermost position OL1 of the plant over time can be calculated appropriately. Therefore, when the second moving body VB moves at a time of use different from the time of detection, it is possible to prevent the second moving body VB from coming into contact with the plant, whose outer shape changes depending on the growth state.

[0154] (Item A5) The assistance system S described in Item A4, wherein the calculation device 54 calculates the aging outer end position OL1 by referring to pre-set tables TB1 and TB2 showing the relationship between the detection time, the time of use, and the aging outer end position OL1.

[0155] According to this configuration, the outer chronological end position OL1 of the plant is determined by referring to the table, so that the outer chronological end position OL1 of the plant can be determined easily and quickly.

[0156] (Item A6) The support system S described in item A4, wherein the calculation device 54 calculates the outer end position OL1 over time by referring to a pre-set growth table TB3 showing the relationship between the detection time, the current growth state, and the outer end position OL1 over time.

[0157] According to this configuration, the outermost chronological position OL1 of the plant is determined in accordance with the growth state by referring to the growth table TB3, so that the outermost chronological position OL1 of the plant can be determined more accurately.

[0158] (Item A7) The estimation unit 55 identifies whether the object is a fruit tree FT, and The support system S described in item A4, in which the calculation device 54 calculates the outer end position OL1 over time of a tree row TR that connects the outer end positions OL of multiple fruit trees FT lined up at intervals in a predetermined direction Y when the object is a fruit tree FT.

[0159] This configuration makes it possible to calculate the outermost position OL1 of the row of fruit trees FT over time, which prevents the second moving body VB from coming into contact with the row of fruit trees TR, the shape of which changes depending on the state of growth, when the second moving body VB moves during a different period of use than the time of detection.

[0160] (Item A8) The support system S described in Item A3 is provided with an estimation unit 55 that identifies the type of crop when the object is a crop, and the server 50 has a plurality of tables TB1, TB2, TB11 according to the type of crop, and calculates the outer end position OL1 over time by referring to the table according to the type of crop.

[0161] According to this configuration, the outer aging end position OL1 is determined by referring to the tables TB1, TB2, and TB11 according to the type of crop, so that the outer aging end position OL1 of the crop can be appropriately determined according to the type of crop.

[0162] (Item A9) The support system S described in Item A6, wherein the estimation unit 55 identifies the type of crop when the object is a crop, the server 50 has a plurality of growth tables TB3, TB31 according to the type of crop, and calculates the outer end position OL1 over time by referring to the growth table according to the type of crop.

[0163] According to this configuration, the outer end position OL1 over time is determined according to the growth condition by referring to the growth tables TB3 and TB31 corresponding to the type of crop, so that the outer end position OL1 over time of the crop can be determined more accurately according to the type of crop.

[0164] (Item A10) The second moving body VB is equipped with a position detection device 27 that detects its own position, but does not have the sensing device 25, the server 50 is equipped with a route generation unit 56 that generates a movement route of the second moving body VB based on the acquired position information of the second moving body VB and the time-dependent outer end position OL1 calculated by the calculation device 54, and the second communication device 51 transmits the movement route of the second moving body VB to the second moving body VB.An assistance system S described in any one of items A1 to A9.

[0165] According to this configuration, even if the second moving body VB does not have the sensing device 25, it can not only move its own position so as to be located on the movement route generated by the server 50, but also move using the outermost time-dependent position OL1 of the object at the time of use. Therefore, the second moving body VB can move so as not to approach the outermost time-dependent position OL1, and can operate as if it had a configuration including the sensing device 25.

[0166] (Item A11) The assistance system S described in Item A1, in which the calculation device 54 sets an inaccessible area IL of a predetermined distance D outside the outer end position OL of the object based on the object information and the detection time information, and the outer edge position of the inaccessible area IL is set as the time-dependent outer end position OL1, and the second communication device 51 transmits the outer end position OL of the object and the inaccessible area IL to the first moving body VA or the second moving body VB.

[0167] According to this configuration, the predetermined distance D of the no-entry area IL (inflation layer) set outside the outer end position OL of the object can be set to a distance that matches the time of use of the first moving body VA or the second moving body VB. Therefore, the no-entry area IL can be set to a buffer area of ​​an appropriate size. Furthermore, the first moving body VA or the second moving body VB can change the no-entry area IL set outside the outer end position OL1 (i.e., the outer end position OL) of the object over time at the time of use. It can be moved using the outer edge position (possible outer edge position).

[0168] (Item A12) The assistance system S described in Item A11, in which the calculation device 54 calculates the outer end position OL1 over time by changing the specified distance D of the inaccessible area IL based on time-lapse information from the detection time to the time of use.

[0169] According to this configuration, the outermost position OL1 over time is calculated by changing the predetermined distance D of the inaccessible area IL (inflation layer), which reduces the computational burden compared to when the outermost position OL1 over time is calculated by changing the outermost position OL of the object at the time of detection.

[0170] (Item A13) The support system S described in Item A11, wherein the server 50 is provided with an estimation unit 55 that identifies whether the object is a plant and, if the object is a plant, estimates the type and growth state of the plant, and the calculation device 54 calculates the outer end position OL1 over time by changing the specified distance D of the inaccessible area IL based on the detection time and the current growth state of the plant.

[0171] With this configuration, the predetermined distance D of the intrusion-prohibited area IL can be set to a distance that corresponds to the growth state of the plant, and therefore the intrusion-prohibited area IL can be made into a buffer area with a size that corresponds to the growth state of the plant.

[0172] (Item A14) The second moving body VB is equipped with a position detection device 27 that detects its own position, but does not have the sensing device 25, the server 50 is equipped with a path generation unit 56 that generates a movement path of the second moving body VB based on the acquired position information of the second moving body VB and the outer edge position OL of the object and the intrusion-prohibited area IL calculated by the calculation device 54, and the second communication device 51 transmits the movement path of the second moving body VB to the second moving body VB. Support system S described in item A11.

[0173] According to this configuration, even if the second moving body VB does not have the sensing device 25, it can not only move its own position so as to be located on the movement route generated by the server 50, but also move using the outermost position OL1 of the object over time at the time of use. Therefore, the second moving body VB can move so as not to approach the outermost position OL1 of the object over time (i.e., the changeable outer edge position of the intrusion-prohibited area IL set outside the outermost position OL), and can operate as if it had a configuration including the sensing device 25.

[0174] (Item A15) The assistance system S described in Item A2, in which the calculation device 54 sets a fixed no-entry area IL at a predetermined distance D outside the outer end position OL of the object, and the outer edge position of the no-entry area IL is set as the time-dependent outer end position OL1, and the second communication device 51 transmits the outer end position OL of the object and the no-entry area IL to the first moving body VA or the second moving body VB.

[0175] With this configuration, the intrusion-prohibited area IL (inflation layer) is fixed at a predetermined distance D, and the outer edge position OL of the object at the time of detection can be changed to a position that matches the time of use of the first moving body VA or the second moving body VB. Therefore, the outer edge position OL1 over time can be appropriately calculated while the intrusion-prohibited area IL is a buffer area of ​​a fixed size.

[0176] In the above embodiments, the detection device is the sensing device 25, but it may be an imaging device 26 or the like.

[0177] In each of the above embodiments, the second work machine 1B may be equipped with a sensing device 25. In this case, the second work machine 1B uses the time-dependent end information received from the server 50 as "advance information." This reduces the cost of calculating point cloud information using the sensing device 25 (for example, a mounted sensor) provided in the second work machine 1B. Alternatively, the second work machine 1B may utilize the time-dependent outer edge information received from the server 50 as "supplementary information." In this case, even if the accuracy of the sensing device 25 provided in the second work machine 1B is low (for example, a vehicle equipped with a sensor (low-cost sensor) that can acquire point cloud information with low accuracy), it is possible to travel safely within the tree line.

[0178] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0179] 1: Work equipment 1A: First work machine 1B: 2nd work machine 25: Sensing device (detection device) 26: Imaging device (detection device) 27: Position detection device 29: First communication device 50: Server 51: Second communication device 54: Arithmetic device 55: Estimation part 56: Route generation unit IL: Invasion layer (inflation layer) OL:Outer end position OL1: Outer end position over time S: Support System TB1: Table TB2: Table TB3: Growth Table V: moving body VA: The first moving body VB: The second moving body

Claims

1. a first mobile body including a detection device that detects surrounding objects and a first communication device that transmits object information detected by the detection device and detection time information that indicates a detection time; An assistance system comprising: a server having a calculation device that calculates the outermost position of the object over time at the time of use when the object information is used, after time has elapsed since the detection time, based on the object information and the detection time information from the first moving body; and a second communication device that transmits the outermost position over time to the first moving body or the second moving body.

2. The assistance system according to claim 1 , wherein the calculation device calculates the outer edge position over time by changing the outer edge position of the object at the time of detection based on time-lapse information from the detection time to the time of use.

3. The assistance system according to claim 2 , wherein the calculation device calculates the outermost aging position by referring to a preset table indicating a correspondence relationship between the detection time, the time of use, and the outermost aging position.

4. the server includes an estimation unit that identifies whether the object is a plant and, if the object is a plant, estimates the type and growth state of the plant; The support system according to claim 1 , wherein the calculation device calculates the outer edge position over time by changing the outer edge position of the object at the time of detection based on a current growth state of the plant.

5. The assistance system according to claim 4 , wherein the calculation device calculates the outermost aging position by referring to a preset table showing a relationship between the detection time, the time of use, and the outermost aging position.

6. The support system according to claim 4 , wherein the calculation device calculates the outermost position over time by referring to a preset growth table that indicates a relationship between the detection time, the current growth state, and the outermost position over time.

7. the estimation unit identifies whether the object is a fruit tree; The support system according to claim 4, wherein the calculation device calculates the time-dependent outer end position of a row of fruit trees that connects the outer end positions of multiple fruit trees lined up at intervals in a predetermined direction in the predetermined direction when the object is a fruit tree.

8. an estimation unit that identifies a type of crop when the object is a crop; The support system according to claim 3 , wherein the server has a plurality of tables corresponding to different types of crops, and calculates the outer edge position over time by referring to the table corresponding to the type of crop.

9. the estimation unit identifies a type of crop when the object is a crop; The support system according to claim 6, wherein the server has a plurality of the growth tables corresponding to different types of crops, and calculates the outer edge position over time by referring to the growth table corresponding to the type of crop.

10. the second moving body is provided with a position detection device for detecting its own position, and is not provided with the detection device; the server includes a route generating unit that generates a travel route of the second moving body based on the acquired position information of the second moving body and the outer end position over time calculated by the calculation device; 10. The assistance system according to claim 1, wherein the second communication device transmits a moving route of the second moving body to the second moving body.

11. the calculation device sets an intrusion-prohibited area of ​​a predetermined distance outside an outer edge position of the object based on the object information and the detection time information, and determines the outer edge position of the intrusion-prohibited area as the time-dependent outer edge position; The assistance system according to claim 1 , wherein the second communication device transmits the outer edge position of the object and the intrusion-prohibited area to the first moving body or the second moving body.

12. The assistance system according to claim 11 , wherein the calculation device calculates the outer edge position over time by changing the predetermined distance of the inaccessible area based on information about time elapsed from the detection time to the time of use.

13. the server includes an estimation unit that identifies whether the object is a plant and, if the object is a plant, estimates the type and growth state of the plant; The assistance system according to claim 11 , wherein the calculation device calculates the outer edge position over time by changing the predetermined distance of the inaccessible area based on the detection time and the current growth state of the plant.

14. the second moving body is provided with a position detection device for detecting its own position, and is not provided with the detection device; the server includes a path generating unit that generates a movement path of the second moving body based on the acquired position information of the second moving body, the outer edge position of the object calculated by the calculation device, and the intrusion-prohibited area; The assistance system according to claim 11 , wherein the second communication device transmits a moving route of the second moving body to the second moving body.

15. the computing device sets a fixed no-entry area at a predetermined distance outside an outer edge position of the object, and sets the outer edge position of the no-entry area as the time-dependent outer edge position; The assistance system according to claim 2 , wherein the second communication device transmits the outer edge position of the object and the intrusion-prohibited area to the first moving body or the second moving body.

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