Work plan creation method and work plan creation system

Abstract

To provide a work plan creation method and work plan creation system that can easily create appropriate work plans for fields. [Solution] A work vehicle 1 that travels and performs work in a field includes an information input unit 60 for inputting work plan information related to the work plan for travel and work performed by the work vehicle 1, a work plan creation unit 61 that creates a work plan based on a machine learning model that has acquired the input work plan information, and an information output unit 62 that outputs the created work plan to the work vehicle 1.

Description

Technical Field

[0001] The present invention relates to a work plan creation method and a work plan creation system for a work vehicle equipped with a work implement to travel and perform work on a field.

Background Art

[0002] Conventionally, some work vehicles such as tractors are equipped with work implements for working on a field and perform work with the work implement while driving automatically.

[0003] For example, in Patent Document 1, an autonomous driving work vehicle capable of autonomous driving without a driver and a manned accompanying driving work vehicle in which an operator performs a steering operation while accompanying the autonomous driving work vehicle are tractors, and a rotary tilling device is mounted on each of the autonomous driving work vehicle and the accompanying driving work vehicle as a work implement.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a work vehicle, it is necessary to create in advance a work plan such as a travel route for automatically traveling while working with a work implement. In a conventional work vehicle, in order to create this work plan, it is necessary to input a plurality of items step by step. Therefore, it is difficult for an operator (worker) who is not used to creating a work plan to create a work plan.

[0006] For example, when performing initial work on a field, creating a work plan requires inputting information about the machine, such as the work vehicle's tread width and the machine's working width, as well as information about the vehicle's operation, such as the turning method, turning radius, and drive type (two-wheel drive or four-wheel drive). In this case, even if the work is performed on the same field, if the work vehicle or machine is changed, the worker must input each piece of information and create a new work plan each time. If the information is the same as in a previously created work plan, it results in redundant work for the worker.

[0007] Furthermore, for subsequent operations on a field, it is necessary to select field information and routes used in past operations in order to create a work plan. However, as work vehicles repeatedly perform operations in various fields, a large amount of field information and routes are accumulated, making it time-consuming for workers to select the appropriate field information and routes.

[0008] Furthermore, conventional work vehicles cannot create work plans that accommodate automated driving that involves traveling in a specific sequence (for example, automated driving that first circles the outer perimeter and then performs puddling work). In addition, conventional work vehicles cannot create work plans that include automated driving that involves moving between fields, requiring the creation and selection of a travel route each time after moving between fields, which is time-consuming.

[0009] The present invention aims to provide a work plan creation method and a work plan creation system that can easily create an appropriate work plan for a field. [Means for solving the problem]

[0010] To solve the above problems, the present invention provides a work plan creation method for a work vehicle that travels and works in a field, characterized by comprising: an input step of inputting work plan information relating to a work plan for travel and work performed by the work vehicle; a creation step of creating the work plan based on a machine learning model that has acquired the input work plan information; and an output step of outputting the created work plan to the work vehicle.

[0011] Furthermore, in order to solve the above problems, the work plan creation system of the present invention is a work plan creation system for a work vehicle that travels and works in a field, and is characterized by comprising: an input unit that inputs work plan information relating to a work plan for travel and work to be carried out by the work vehicle; a creation unit that creates the work plan based on a learning model that has been trained on the input work plan information; and an output unit that outputs the created work plan to the work vehicle. [Effects of the Invention]

[0012] The present invention provides a work plan creation method and a work plan creation system that can easily create an appropriate work plan for a field. [Brief explanation of the drawing]

[0013] [Figure 1] This is a side view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 2] This is a block diagram of a work vehicle according to an embodiment of the present invention. [Figure 3] This flowchart shows an example of the operation for creating a work plan in a work vehicle according to an embodiment of the present invention. [Modes for carrying out the invention]

[0014] The following describes a work vehicle 1 according to one embodiment of the present invention with reference to the drawings. The work vehicle 1 of the present invention performs work by driving on a field and working with an implement 3, either by automatic driving or manual operation. The work vehicle 1 of the present invention is an agricultural vehicle such as a tractor, combine harvester, rice transplanter, or lawnmower, and in the following embodiment, the work vehicle 1 being a tractor will be described.

[0015] As shown in Figure 1, the tractor-type work vehicle 1 comprises a body 2 and implements 3, and is configured to perform tasks such as tilling using the implements 3 while the vehicle 2 moves. Various implements 3, such as rotary tillers, harrows, loaders, plows, and box scrapers, are attached to the vehicle 2 as needed. Furthermore, as shown in Figure 2, the work vehicle 1 is equipped with a control device 4 that controls the operation of each part.

[0016] In work vehicle 1, either manual driving mode or automatic driving mode is set. When manual driving mode is set, work vehicle 1 is driven manually within the field in response to the operator's operation of various control devices (steering wheel, accelerator pedal, shift lever, etc.).

[0017] When the automatic driving mode is set, the control device 4 controls the vehicle speed and steering of the work vehicle 1 so that it drives automatically along the set driving path, and the control device 4 also controls the work machine 3 so that it performs automatic work associated with the automatic driving.

[0018] For example, when operating a work vehicle 1 automatically to perform work in a field, first, the work vehicle 1 is driven around the outer perimeter of the field by manual operation or other means to acquire information about the field's external shape. Then, based on the acquired information, the work vehicle 1 is operated automatically in the central work area of ​​the field to perform work, such as back-and-forth driving along multiple straight paths in the central work area, or circular driving where the vehicle repeatedly circles a straight path while shifting from the center of the field outwards. Furthermore, the work vehicle 1 is operated automatically in the headland area surrounding the central work area, following the outer perimeter of the field.

[0019] A pair of front wheels 10 are provided on the lower front of the vehicle body 2, and a pair of rear wheels 11 are provided on the lower rear of the vehicle body 2. A cabin 12 for the operator (worker) is provided on the upper part of the vehicle body 2, and the interior of the cabin 12 is equipped with a driver's seat and various operating devices (steering wheel, accelerator pedal, shift lever, etc.).

[0020] In addition, the vehicle body 2 is provided with an engine 13, a transmission 14, a work implement lifting mechanism 15, a positioning unit 16 (see FIG. 2), and a control device 4.

[0021] An engine 13 is built in the front part of the vehicle body 2, and a transmission 14 is provided between a pair of left and right rear wheels 11. The power of the engine 13 is transmitted to each front wheel 10 and each rear wheel 11 after being shifted by the transmission 14.

[0022] A pair of left and right lower links 18, a top link 19, and a PTO shaft 20 are connected to the rear part of the transmission 14, and each lower link 18, top link 19, and PTO shaft 20 are arranged to extend rearward. The work implement 3 is connected to the rear ends of each lower link 18, top link 19, and PTO shaft 20 and is driven by the PTO shaft 20.

[0023] The work implement lifting mechanism 15 includes a pair of left and right lift arms 21 and a lift cylinder 22 composed of a hydraulic cylinder. The tip of one lift arm 21 is connected to one lower link 18 via a link member 23, and the tip of the other lift arm 21 is connected to the other lower link 18 via a rolling cylinder 24. The work implement lifting mechanism 15 can change the height of the work implement 3 supported by the vehicle body 2 by driving the lift cylinder 22.

[0024] The work implement 3 is composed of, for example, a rotary tiller or a harrow for secondary tillage and includes a tillage cover 25 extending in the left-right direction. A tillage rotary shaft 26 having a rotary shaft extending in the left-right direction is rotatably attached to the tillage cover 25, and the tillage rotary shaft 26 rotates by the power transmitted from the PTO shaft 20. A plurality of tillage claws 27 are provided at intervals in the left-right direction on the tillage rotary shaft 26. The work implement 3 is configured such that the tillage claws 27 rotate together with the tillage rotary shaft 26 to till the soil of the field.

[0025] The positioning unit 16 is configured to acquire position information (positioning point) of the work vehicle 1 using a satellite positioning system such as GNSS. It receives positioning signals from positioning satellites via a positioning antenna and acquires position information of the positioning unit 16, i.e., position information of the work vehicle 1, based on the positioning signals.

[0026] In the cabin 12, the area around the driver's seat is equipped with a vehicle display unit 30 such as an LCD display, a vehicle audio output unit 31 such as a speaker, a vehicle operation unit 32 such as a keyboard and various buttons, and a vehicle sound collection unit 33 such as a microphone. The vehicle display unit 30 is controlled by the control device 4 to display various information to the operator. The vehicle audio output unit 31 is controlled by the control device 4 to output various information to the operator as audio. The vehicle operation unit 32 is controlled by the control device 4 to receive information input from the operator via manual operation. The vehicle sound collection unit 33 is controlled by the control device 4 to receive information input via voice input from the operator. The vehicle display unit 30 and the vehicle operation unit 32 may be configured as an integrated touch panel.

[0027] Furthermore, the vehicle body 2 is equipped with a vehicle imaging unit 34 that captures images of the area around the vehicle body 2, the area around the work machine 3, and the work status performed by the work machine 3. The vehicle imaging unit 34 is controlled by the control device 4 to capture images of the area around the vehicle body 2, the area around the work machine 3, and the work status performed by the work machine 3, and inputs each image to the control device 4. Note that the imaging device that captures images of the area around the vehicle body 2, the imaging device that captures images of the area around the work machine 3, and the imaging device that captures images of the work status performed by the work machine 3 in the vehicle imaging unit 34 may be the same or may be different.

[0028] Next, the control device 4 will be described. The control device 4 is composed of a computer such as a CPU and, as shown in Figure 2, is connected to a storage unit 41 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 42 that communicates with external devices such as a management server 6 that manages the mobile terminal 5 and the work vehicle 1, and an artificial intelligence server 7. In Figure 2, an example is shown in which the management server 6 and the artificial intelligence server 7 are provided separately, but the artificial intelligence server 7 may be included in the management server 6.

[0029] The memory unit 41 stores programs and data for controlling various components and functions of the work vehicle 1, and the control device 4 controls the various components and functions by performing calculations based on the programs and data stored in the memory unit 41. For example, the control device 4 controls the positioning unit 16 to obtain the position of the work vehicle 1. The control device 4 operates as an operation control unit 45 by executing the programs stored in the memory unit 41.

[0030] The communication unit 42 can communicate wirelessly with external devices such as the mobile terminal 5 held by the worker, the management server 6, and the artificial intelligence server 7 via a wireless communication antenna. The control device 4 controls the communication unit 42 to communicate wirelessly with the mobile terminal 5, the management server 6, and the artificial intelligence server 7, and sends and receives various information between the mobile terminal 5, the management server 6, and the artificial intelligence server 7.

[0031] The driving control unit 45 controls the vehicle speed and steering of the work vehicle 1 by controlling the engine 13, the transmission 14 and the steering device (not shown), and controls the operation of the work implement 3 by controlling the work implement lifting mechanism 15 and the PTO shaft 20, thereby controlling the driving operation of the work vehicle 1.

[0032] For example, when the automatic driving mode is set, the driving control unit 45 controls the automatic driving of the work vehicle 1 based on the driving route of the work plan set for the field. At this time, the driving control unit 45 receives and acquires the work plan, including field information and the driving route set for the field, from the mobile terminal 5. When automatic driving starts, the driving control unit 45 acquires the position of the work vehicle 1 from the positioning unit 16 and controls each part so that the work vehicle 1 performs automatic driving work along the driving route based on the position of the work vehicle 1, the field information and the driving route.

[0033] The mobile terminal 5 is one of the components of the work vehicle 1 and is a terminal that can remotely control the work vehicle 1. For example, it can be a tablet terminal equipped with a touch panel or a notebook-type personal computer. In this invention, the work plan creation system is configured by the work vehicle 1 and the mobile terminal 5.

[0034] As shown in Figure 2, the mobile terminal 5 is equipped with a control device 50 which consists of a computer such as a CPU. The control device 50 is connected to a storage unit 51 which includes ROM, RAM, a hard disk drive, and flash memory, and to a communication unit 52 which communicates with external devices such as the work vehicle 1, the management server 6, and the artificial intelligence server 7.

[0035] The mobile terminal 5 is equipped with a terminal display unit 53 such as an LCD display, a terminal audio output unit 54 such as a speaker, a terminal operation unit 55 such as a keyboard and various buttons, and a terminal sound collection unit 56 such as a microphone. The terminal display unit 53 is controlled by the control device 50 to display various information to the worker. The terminal audio output unit 54 is controlled by the control device 50 to output various information to the worker as audio. The terminal operation unit 55 is controlled by the control device 50 to accept information input by the worker through manual operation. The terminal sound collection unit 56 is controlled by the control device 50 to accept information input by voice input from the worker. The terminal display unit 53 and the terminal operation unit 55 may be configured as an integrated touch panel.

[0036] The mobile terminal 5 has a terminal imaging unit 57 for capturing images of the area around the vehicle body 2, the area around the work machine 3, and the work status performed by the work machine 3. The terminal imaging unit 57 is controlled by the control device 50 to capture images of the area around the vehicle body 2, the area around the work machine 3, and the work status performed by the work machine 3, and inputs each image to the control device 50.

[0037] The memory unit 51 stores programs and data for controlling various components and functions of the mobile terminal 5, and the control device 50 controls the various components and functions of the mobile terminal 5 by performing calculations based on the programs and data stored in the memory unit 51.

[0038] The storage unit 51 stores field information of the field that the work vehicle 1 is working on. This field information includes, for example, the shape, size, and location information (coordinates, etc.) of the field edges that constitute the outer perimeter of the field, as well as the shape, size, and location information (coordinates, etc.) of the work area of ​​the field. The field information also includes information such as the shape, size, and location information (coordinates, etc.) of unworked areas where work has not yet been performed, and completed work areas where work has already been completed.

[0039] Furthermore, the memory unit 51 stores information about the work vehicle 1 and information about the work implement 3 attached to the work vehicle 1. For example, the work vehicle information includes fixed information such as the model number and size of the work vehicle 1, as well as arbitrarily configurable information such as the tread width (tread width and zoom width if the work vehicle 1 is a zoom specification), the vehicle speed while driving, the vehicle speed while working, and the vehicle speed while turning. The work implement information includes fixed information such as the model number and type of work implement 3, as well as arbitrarily configurable information such as the length from the center to the left end of the work implement, the length from the center to the right end of the work implement, the working width, the working length, the length to the working center, the offset width, and the overlap width.

[0040] Furthermore, the memory unit 51 stores route creation information that indicates the characteristics of route creation in the field, as well as worker information of the workers.

[0041] The communication unit 52 can communicate wirelessly with external devices such as the work vehicle 1, the management server 6, and the artificial intelligence server 7 via a wireless communication antenna. The control device 50 controls the communication unit 52 to communicate wirelessly with the work vehicle 1, the management server 6, and the artificial intelligence server 7, and transmits and receives various information between the work vehicle 1, the management server 6, and the artificial intelligence server 7.

[0042] Furthermore, the control device 50 operates as an information input unit 60 (input unit), a work plan creation unit 61 (creation unit), and an information output unit 62 (output unit) by executing a program stored in the memory unit 51. The information input unit 60, the work plan creation unit 61, and the information output unit 62 realize the input process, creation process, and output process of the work plan creation method according to the present invention.

[0043] The information input unit 60 inputs work plan information related to the work plan for the work vehicle 1 to travel and perform work. The information input unit 60 inputs work plan information via the terminal operation unit 55 and the terminal sound collection unit 56 in response to any operation by the worker. For example, the information input unit 60 displays a work plan information input screen on the terminal display unit 53 and inputs the work plan information through input operations on this input screen.

[0044] The information input unit 60 inputs at least one of the following as work plan information: work vehicle information for work vehicle 1, work machine information for work machine 3, field information for the field where travel and work will be performed, route creation information indicating the characteristics of route creation in the field, and worker information for the workers.

[0045] The information input unit 60 inputs fixed information such as the model number and size of work vehicle 1, as well as setting information such as tread width, vehicle speed while driving, vehicle speed while working, and vehicle speed while turning, as work vehicle information. For example, the information input unit 60 may input all work vehicle information as manual input information in response to arbitrary manual operations by the operator on the terminal display unit 53 or terminal operation unit 55. Alternatively, the information input unit 60 may input the model number of work vehicle 1 as manual input information in response to arbitrary manual operations by the operator on the terminal display unit 53 or terminal operation unit 55, and automatically detect and input other fixed information and setting information associated with the model number from the storage unit 51 or management server 6 as automatic input information. In this case, the information input unit 60 may present various types and model numbers of work vehicle 1 stored in the storage unit 51 or management server 6 to the operator for selection on the terminal display unit 53, etc., and allow the operator to select and input them in response to arbitrary manual operations by the operator on the terminal display unit 53 or terminal operation unit 55.

[0046] The information input unit 60 inputs fixed information such as the model number and type of work implement 3, as well as setting information such as the length from the center to the left end of the work implement, the length from the center to the right end of the work implement, the work width, the work length, the length to the work center, the offset width, and the overlap width, as work implement information. For example, the information input unit 60 may input all work implement information as manual input information in response to any manual operation by the operator on the terminal display unit 53 or terminal operation unit 55. Alternatively, the information input unit 60 may input the model number of work implement 3 as manual input information in response to any manual operation by the operator on the terminal display unit 53 or terminal operation unit 55, and automatically detect and input other fixed information and setting information associated with the model number from the storage unit 51 or management server 6 as automatic input information. In this case, the information input unit 60 may present various types and model numbers of work machines 3 stored in the storage unit 51 and the management server 6 to the worker for selection via the terminal display unit 53, etc., and allow the worker to select and input according to their own manual operation on the terminal display unit 53 or terminal operation unit 55.

[0047] The information input unit 60 inputs field information such as the shape, size, and location information of the field edge, the shape, size, and location information of the work area, and the shape, size, and location information of unworked and completed work areas. The information input unit 60 may input field information for one field on which work is performed, or it may input field information for two or more fields on which work is performed. For example, the information input unit 60 may input all field information as manual input information in response to arbitrary manual operations by the operator on the terminal display unit 53 or terminal operation unit 55. Alternatively, the information input unit 60 may input the selection of a field in response to arbitrary manual operations by the operator on the terminal display unit 53 or terminal operation unit 55, and automatically detect and input other field information associated with the selected field from the storage unit 51 or management server 6 as automatic input information. In this case, the information input unit 60 may present various fields stored in the storage unit 51 and the management server 6 to the worker for selection via the terminal display unit 53, etc., and allow the worker to select and input the field according to their own manual operation on the terminal display unit 53 or terminal operation unit 55.

[0048] The information input unit 60 inputs information indicating specific route creation characteristics, such as the work order of the travel route in the field, the direction of the travel route's rotation, and the start and end positions of the travel route, as route creation information. The work vehicle 1 creates a travel route that, for example, fills in the field as a single work area in one continuous stroke, or a travel route that divides the field into a central work area and a headland area and fills in both areas in one continuous stroke. The work vehicle 1 may perform work on the created travel route in either manual or automatic travel mode.

[0049] For example, the information input unit 60 inputs, as route creation information, the type of work to be performed along the travel route (e.g., tilling, puddling, sowing, weeding, fertilizer application, harvesting, etc.) and the width of the furrows that affect the width of the travel route. The information input unit 60 also inputs, as route creation information, the type of implement related to the left-right offset of the implement 3 relative to the vehicle body 2 (e.g., no offset, right offset (reciprocating travel), right offset (circular travel), etc.).

[0050] Furthermore, the information input unit 60 inputs a headland work method related to work travel in the headland area as route creation information. For example, as a headland work method, it inputs the travel mode in the headland area (manual travel mode or automatic travel mode) and the direction of rotation in the headland area (which can be set for automatic travel, and is clockwise or counterclockwise).

[0051] Furthermore, the information input unit 60 inputs the work sequence between the central work area and the headland area as route creation information (which can be set for automatic driving, such as inner work → headland work, headland work → inner work, inner work only, inner work only (forward turning only), outer idle driving → inner work → headland work, etc.). Inner work refers to driving while working in the central work area, headland work refers to driving while working in the headland area, and outer idle driving refers to driving without performing any work. Note that "inner work → headland work" may be pre-set as the standard work sequence.

[0052] Furthermore, the information input unit 60 inputs route creation information such as the route pattern (round trip or circular trip) related to work travel in the central work area, and the start and end positions for automatic travel. In addition, the information input unit 60 inputs the turning method (U-turn, fishtail turn, hook turn, etc.) and turning radius for inner work, and the turning method and turning radius for headland work.

[0053] Furthermore, if zoom width is entered as work vehicle information for a work vehicle 1 that is not a zoom machine, the information input unit 60 converts the zoom width to tread width and sets it as work vehicle information. If tread width is entered as work vehicle information for a work vehicle 1 that is a zoom machine, the information input unit 60 converts the tread width to zoom width and sets it as work vehicle information. If neither tread width nor zoom width is entered as work vehicle information, and furrow width is entered as route creation information, the information input unit 60 converts the furrow width to tread width or zoom width and sets it as work vehicle information.

[0054] For example, the information input unit 60 may input all route creation information as manually input information in response to any manual operation by the operator on the terminal display unit 53 or terminal operation unit 55. Alternatively, the information input unit 60 may present multiple options for each item of the route creation information stored in the storage unit 51 or management server 6 to the operator via the terminal display unit 53 or the like, allowing the operator to select and input the information in response to any manual operation by the operator on the terminal display unit 53 or terminal operation unit 55.

[0055] Alternatively, the information input unit 60 may input each item of the route creation information as text, in response to any manual operation by the operator on the terminal display unit 53 or the terminal operation unit 55. Alternatively, regardless of each item of the route creation information, the information input unit 60 may input specific route creation characteristics as text, either in sentences or bullet points, in response to any manual operation by the operator on the terminal display unit 53 or the terminal operation unit 55. The information input unit 60 may input the start and end positions for automatic driving as location information, or it may input them by having the operator select them on the map displayed on the screen.

[0056] The information input unit 60 inputs worker information, including the worker name and worker identification information that identifies each worker, as well as work vehicle information and work equipment information unique to each worker. For example, the information input unit 60 may input all worker information as manually input information in response to the worker's arbitrary manual operation on the terminal display unit 53 or terminal operation unit 55. Alternatively, the information input unit 60 may input the worker name and worker identification information from the worker information in response to the worker's arbitrary manual operation on the terminal display unit 53 or terminal operation unit 55, and automatically detect and input other worker information for the selected worker as automatically input information from the storage unit 51 or management server 6. In this case, the information input unit 60 may present the worker names and worker identification information of multiple workers stored in the storage unit 51 or management server 6 to the worker in a selectable format on the terminal display unit 53, etc., and allow the worker to select and input the information in response to their arbitrary manual operation on the terminal display unit 53 or terminal operation unit 55.

[0057] The work plan creation unit 61 creates a work plan based on the work plan information entered by the information input unit 60. For example, the work plan creation unit 61 displays a work plan creation screen on the terminal display unit 53 and creates a work plan through creation instruction operations on this creation screen. The work plan information input screen by the information input unit 60 and the work plan creation screen by the work plan creation unit 61 may be the same screen or different screens.

[0058] For example, the work plan creation unit 61 creates a work plan information list as a work plan, which enumerates the input work plan information. The work plan creation unit 61 may create work plan information lists for various combinations of multiple types of work vehicles 1, multiple types of implements 3, multiple fields, and multiple workers. The work plan creation unit 61 may also create work plan information lists that span two or more fields. In other words, the work plan creation unit 61 creates a work plan for the duration of work travel, in which the work vehicle 1 travels through the field and performs work with the implement 3, without changing the type of work vehicle 1, the type of implement 3, or the workers.

[0059] Furthermore, when route creation information is entered as text in the information input unit 60, the work plan creation unit 61 analyzes the text to extract each item of route creation information contained in the text and adds it to the work plan information list.

[0060] For example, if the input text reads "First, run around the outer perimeter → then perform puddling work," the work plan creation unit 61 extracts the terms "outer perimeter run" and "puddling work" from the text and extracts that the work order will be "outer perimeter run" first, followed by "puddling work." The work plan creation unit 61 detects from the term "puddling work" that the work type is "puddling," and also detects that the work order between the central work area and the headland area is not specified, and determines that the work order between the central work area and the headland area is the standard "inner work → headland work." Then, the work plan creation unit 61 sets the work type "puddling" and the work order "outer perimeter run → inner work → headland work" as route creation information.

[0061] Furthermore, if text is entered that states, for example, "The turning radius for inner work is 4m, and the turning radius for outer work is 5m," the work plan creation unit 61 extracts the combinations of terms "inner work," "turning radius," and "4m" from the text, and the combinations of terms "outer work," "turning radius," and "5m," and determines that the term "outer work" is "heading work." Then, the work plan creation unit 61 sets the turning radius for inner work to 4m and the turning radius for heading work to 5m as route creation information.

[0062] Furthermore, if text such as "Read work path information operated by a previous user and automatically generate a work path" is entered, the work plan creation unit 61 extracts combinations of terms such as "previous user," "operated," "work path information," and "read," and combinations of terms such as "work path" and "automatically generated" from the text, and determines that the term "perimeter work" is "heading area work." The work plan creation unit 61 determines from the terms "previous user" and "work path information" that it is work path information from the previous work run, reads the work path information from the storage unit 51 or management server 6, and sets it as the current path creation information. The work plan creation unit 61 also creates a run based on the current path creation information from the terms "work path" and "automatically generated."

[0063] Furthermore, the work plan creation unit 61 may use artificial intelligence (AI) to analyze the text input as work plan information, and may use a generating AI to set the work plan information based on that text. For example, the work plan creation unit 61 generates a machine learning model by machine learning each item of the work plan information (work vehicle information, work machine information, field information, route creation information, worker information) and similar terms, as well as the information set as each item and similar terms, and stores it in the memory unit 51 or the artificial intelligence server 7. Then, the work plan creation unit 61 uses the machine learning model to analyze the text input as work plan information using AI, and determines the work plan information contained in the text and the information set therein.

[0064] Furthermore, the work plan creation unit 61 creates a travel route as a work plan, based on the input work plan information, for the implement 3 to automatically travel while working in the designated field. At this time, the work plan creation unit 61 creates a travel route so that the work vehicle 1 specified in the work vehicle information and the implement 3 specified in the implement information perform work in the field specified in the field information, according to the characteristics specified in the route creation information. The work plan creation unit 61 may create a travel route regardless of whether the work vehicle 1 is driven manually or automatically.

[0065] Furthermore, the work plan creation unit 61 may use artificial intelligence (AI) to determine an appropriate travel route or travel pattern based on the work plan information, and may use a generation AI to create a travel route that is determined to be appropriate based on the work plan information.

[0066] For example, the work plan creation unit 61 generates a machine learning model by machine learning the information set in each item of the work plan information (work vehicle information, work machine information, field information, route creation information, worker information), as well as combinations thereof, and stores it in the memory unit 51 and the artificial intelligence server 7. Furthermore, the work plan creation unit 61 generates a machine learning model by machine learning the travel routes or travel patterns that satisfy the information set in the work plan information, or combinations thereof, and stores it in the memory unit 51 and the artificial intelligence server 7.

[0067] The work plan creation unit 61 then uses a machine learning model to determine an appropriate travel route or travel pattern based on the input work plan information, and also uses a machine learning model to generate a travel route that is deemed appropriate based on the work plan information. If the work plan creation unit 61 determines a travel pattern, it creates a travel route based on the work vehicle information, work equipment information, field information, and the travel pattern.

[0068] Furthermore, if the work plan creation unit 61 determines that there is insufficient work plan information to create a work plan when a work plan creation instruction is issued, the information output unit 62 will notify the user of the additional work plan information that needs to be added to create the work plan, either by displaying it on the terminal display unit 53 or by outputting it via sound from the terminal audio output unit 54.

[0069] Furthermore, the work plan creation unit 61 may generate a machine learning model by machine learning the currently input work plan information and other work plan information to be added using artificial intelligence (AI) in order to create a work plan, and store it in the memory unit 51 or the AI ​​server 7. The work plan creation unit 61 may also use the machine learning model to generate an AI that generates a list of other work plan information to be added to the currently input work plan information.

[0070] The information output unit 62 outputs the work plan created by the work plan creation unit 61 to the terminal display unit 53, the work vehicle 1, etc. For example, the information output unit 62 displays and outputs the work plan information list and travel route created as a work plan to the terminal display unit 53. The information output unit 62 also transmits and outputs the work plan information list and travel route created as a work plan to the work vehicle 1 via the communication unit 52. Alternatively, in addition to the travel route, or in place of the travel route, the information output unit 62 may transmit and output driving instructions (instructions for automatic driving of the work vehicle 1 or instructions for operation of the work machine 3) based on the created travel route to the work vehicle 1 via the communication unit 52 in order to control the automatic driving operation of the work vehicle 1.

[0071] Furthermore, the information output unit 62 may use artificial intelligence (AI) to generate a machine learning model by machine learning the work plan information list, the travel route, and the corresponding driving instructions, in order to control the automatic driving operation of the work vehicle 1 based on the work plan information list and the travel route, and store this model in the memory unit 51 or the artificial intelligence server 7. The information output unit 62 may also use the machine learning model to generate the driving instructions corresponding to the work plan information list and the travel route using a generation AI.

[0072] Furthermore, after the travel route is output by the information output unit 62, the information input unit 60 can accept input from the worker regarding the unsuitability of the travel route and the reasons for its unsuitability. For example, the information input unit 60 may accept input from the worker in the form of text, such as sentences or bullet points, in response to any manual operation by the worker on the terminal display unit 53 or the terminal operation unit 55. When the information input unit 60 receives input regarding the unsuitability of the travel route, it provides feedback to the work plan creation unit 61 and instructs it to recreate the travel route.

[0073] In this case, the work plan creation unit 61 determines whether it can recreate an appropriate travel route from the currently input work plan information in response to the reason for the unsuitability of the travel route. If it determines that an appropriate travel route can be recreated, the work plan creation unit 61 recreates the appropriate travel route, and the information output unit 62 outputs the recreated travel route. On the other hand, if it determines that an appropriate travel route cannot be recreated, the work plan creation unit 61 notifies the user of any additional work plan information that needs to be added to recreate an appropriate travel route, either through a screen display by the terminal display unit 53 or through audio output by the terminal audio output unit 54.

[0074] Furthermore, the work plan creation unit 61 may generate a machine learning model by machine learning the currently input work plan information and other work plan information to be added using artificial intelligence (AI) in order to recreate an appropriate travel route, and store this model in the memory unit 51 or the AI ​​server 7. The information output unit 62 may then generate a list of other work plan information to be added to the currently input work plan information using the machine learning model and generation AI.

[0075] Next, an example of the operation of the work vehicle 1 in this embodiment for creating a work plan will be explained with reference to the flowchart in Figure 3. Note that the work operations of the work vehicle 1 are performed as needed in the field, but these will not be explained below.

[0076] First, when a worker uses a mobile terminal 5 to input at least one piece of work plan information from the following: work vehicle information for the work vehicle 1 that will be driven and operated (work driving); work machine information for the work machine 3 that will be driven; field information for the field that will be driven; route creation information indicating the characteristics of the driving route for the work driving; and worker information for the worker, the information input unit 60 inputs the work plan information in response to the input operation (step S1).

[0077] Furthermore, when a worker operates the work plan creation instruction using the mobile terminal 5 (step S2), the work plan creation unit 61 determines whether or not there is any missing work plan information to create the work plan (step S3).

[0078] If there are no deficiencies in the input of work plan information (Step S3: No), the work plan creation unit 61 creates a work plan based on the input work plan information (Step S4).

[0079] If there is any missing work plan information (Step S3: Yes), the work plan creation unit 61 notifies the worker of any additional work plan information that needs to be added to create the work plan (Step S5). When the worker enters the additional work plan information using the mobile terminal 5 (Step S6), the work plan creation unit 61 creates a work plan based on the entered work plan information (Step S4).

[0080] Furthermore, in the mobile terminal 5, the information output unit 62 outputs the created work plan to the terminal display unit 53, the work vehicle 1, etc. (step S7).

[0081] The worker checks the outputted work plan and determines whether there are any unsuitable routes in the work plan. If there are no unsuitable routes, the worker does not need to input any unsuitable routes using the mobile terminal 5 (step S8: No), the work plan creation process is completed, and the work vehicle 1 is driven based on the created work plan.

[0082] If there is an unsuitable driving route, the worker enters the unsuitable driving route using the mobile terminal 5 (Step S8: Yes). In this case, the work plan creation unit 61 notifies the worker of other work plan information that should be added in order to recreate the unsuitable driving route (Step S5). When the worker enters the other work plan information using the mobile terminal 5 (Step S6), the work plan creation unit 61 recreates the driving route of the work plan based on the entered work plan information (Step S4).

[0083] Then, the information output unit 62 outputs the work plan, including the recreated travel route, to the terminal display unit 53, the work vehicle 1, etc. (step S7). In this way, a work plan including a travel route that matches the worker's intentions is created.

[0084] As described above, according to this embodiment, the work vehicle 1 that travels and works in the field includes an information input unit 60 that inputs work plan information relating to a work plan for travel and work to be carried out by the work vehicle 1, a work plan creation unit 61 that creates a work plan based on a machine learning model that has acquired the input work plan information, and an information output unit 62 that outputs the created work plan to the work vehicle 1.

[0085] In other words, the present invention provides a method for creating a work plan for a work vehicle 1 that travels and works in a field, comprising: an input step of inputting work plan information relating to a work plan for travel and work performed by the work vehicle 1; a creation step of creating a work plan based on a machine learning model that has acquired the input work plan information; and an output step of outputting the created work plan to the work vehicle 1.

[0086] Specifically, according to the work vehicle 1 of this embodiment, the information input unit 60 inputs at least one of the following as work plan information: work vehicle information relating to the work vehicle 1, work equipment information relating to the work equipment 3 attached to the work vehicle 1, field information relating to the field in which the work vehicle 1 will work, route creation information indicating the characteristics of route creation, and worker information of the worker.

[0087] As a result, according to the present invention, by inputting the necessary work plan information, an appropriate work plan corresponding to the input work plan information can be created based on a machine learning model that has acquired the work plan information. Therefore, even operators (workers) who are unfamiliar with creating work plans can easily create an appropriate work plan for the field.

[0088] Furthermore, according to the work vehicle 1 of this embodiment, the information input unit 60 inputs manual input information, which is entered according to the operator's manual operation, and automatic input information, which is automatically detected and entered, as work plan information.

[0089] As a result, according to the present invention, by manually inputting only the minimum necessary work plan information, other necessary work plan information can be automatically input, making it possible for operators unfamiliar with creating work plans to easily create an appropriate work plan for the field.

[0090] Furthermore, according to the work vehicle 1 of this embodiment, if the work plan creation unit 61 determines that there is insufficient input of work plan information, or if the worker inputs that the created work plan is unsuitable, it will notify the worker of other work plan information that should be added.

[0091] As a result, according to the present invention, it is possible to determine the additional work plan information necessary to create an appropriate work plan based on a machine learning model, and to create an appropriate work plan corresponding to the added work plan information. Therefore, even operators (workers) who are unfamiliar with creating work plans can easily create an appropriate work plan for the field based on the added work plan information.

[0092] In the above-described embodiment, an example was explained in which the information input unit 60 inputs work plan information such as work vehicle information, work machine information, field information, route creation information, and worker information in response to arbitrary manual operations by the worker on the terminal display unit 53 and terminal operation unit 55. However, the present invention is not limited to this example.

[0093] In the first modified example of this embodiment, the information input unit 60 may input instructions for work plan information regarding field work via the terminal sound collection unit 56. Furthermore, in the first modified example, the information input unit 60 may input not only instructions for work plan information but also operation instructions for field work via the terminal sound collection unit 56. For example, in the mobile terminal 5, the input start button for voice instructions is operable on the terminal display unit 53 and the terminal operation unit 55, and when the input start button is operated, the input of voice instructions is received via the terminal sound collection unit 56.

[0094] At this time, the information input unit 60 performs voice analysis of voice messages such as input instructions for work plan information and operation instructions for work driving that are input via the terminal sound collection unit 56, and converts the input instructions and operation instructions into text to generate text data.

[0095] Furthermore, the information input unit 60 may perform voice analysis of voice messages using artificial intelligence (AI), and generate text data based on said voice messages using generating AI. For example, the information input unit 60 generates a machine learning model by machine learning voice data of input instructions for work plan information, operation instructions for work driving, and similar terminology, and stores it in the storage unit 51 or the artificial intelligence server 7. Then, the information input unit 60 uses the machine learning model to analyze the input voice messages of work plan information input instructions and operation instructions for work driving using AI, and generates text data by converting said voice messages into text.

[0096] Furthermore, the information input unit 60 analyzes the text data, which is a transcription of the voice message, to determine the content of the work plan information input instructions and work driving operation instructions contained in the text data.

[0097] Furthermore, the information input unit 60 may use artificial intelligence (AI) to analyze text data, and a generating AI may be used to determine the content of input instructions and operation instructions based on the text data. For example, the information input unit 60 generates a machine learning model by machine learning text data of input instructions for work plan information, operation instructions for work driving, and similar terminology, and stores it in the storage unit 51 or the artificial intelligence server 7. The information input unit 60 then uses the machine learning model to analyze the text data, which is a transcription of the voice message, and determines the content of the input instructions and operation instructions contained in the text data.

[0098] For example, if a worker inputs a voice message via the terminal sound collection unit 56 saying, "Please change the settings to be suitable for work machine model XXX," the information input unit 60 analyzes the voice message to create text data, and then analyzes the text data. The information input unit 60 then extracts terms such as "model XXX," "work machine," and "change to suitable settings" from the text data, and determines from these terms that it is an instruction to input (change) work plan information.

[0099] In this case, the information input unit 60 reads recommended work equipment information (for example, size, recommended vehicle speed, recommended engine speed, recommended lifting speed, recommended PTO rotation speed, etc.) for the "work equipment" of "model number XXX" from the storage unit 51 or the management server 6 and sets it as the work equipment information for the current work plan information.

[0100] Furthermore, the information output unit 62 creates a response to the voice message instructing the input of work plan information and outputs it to the worker via the terminal display unit 53 and the terminal voice output unit 54, specifically outputting a response such as, "The vehicle speed and work width have been changed to settings suitable for XXX." On the other hand, if the information input unit 60 determines that recommended work equipment information for "work equipment" of "model number XXX" is not registered in the storage unit 51 or the management server 6, the information output unit 62 creates a response such as, "There is no recommended work equipment information," to the voice message instructing the input of work plan information and outputs it to the worker via the terminal display unit 53 and the terminal voice output unit 54.

[0101] The information input unit 60 may also determine whether the input instruction for work plan information is configurable. If it is configurable, the information input unit 60 sets the input work plan information. On the other hand, if it is not configurable, the information output unit 62 creates a response explaining why the input work plan information cannot be set and outputs it to the worker via the terminal display unit 53 or the terminal voice output unit 54.

[0102] Furthermore, in response to a voice message from the worker instructing the input of work plan information, the information output unit 62 may create a response asking whether or not to set the work plan information and output it to the worker via the terminal display unit 53 or the terminal voice output unit 54. In this case, the information input unit 60 sets the work plan information when it receives a response from the worker accepting the setting of the work plan information.

[0103] For example, if a worker inputs a voice message via the terminal sound collection unit 56 saying, "I will drive around the perimeter of the field, so please take over the tilling of the inner area after I finish," the information input unit 60 analyzes the voice message to create text data and then analyzes the text data. The information input unit 60 then extracts terms such as "drive around the perimeter of the field," "after completion," "tilling the inner area," and "take over" from the text data and determines from these terms that it is an operation instruction for driving to perform tilling work in the central work area.

[0104] The information input unit 60 may also determine whether or not the operation instructions for the work run are suitable for automatic operation.

[0105] If the operation is capable of autonomous driving, the information output unit 62 creates a response acknowledging acceptance of the operation instruction and outputs it to the operator, and the work plan creation unit 61 creates a work plan, including the travel route, based on the input work plan information. The information input unit 60 then transmits the created work plan along with control signals to the work vehicle 1 to control the work vehicle 1 in accordance with the operation instruction.

[0106] On the other hand, if the operation is not possible to operate automatically, the information output unit 62 creates and outputs to the operator the information necessary to accept the operation instruction, the response to the operation, and the response explaining why the operation instruction cannot be accepted. In the case of an operation instruction via voice message as described above, the work vehicle 1 can determine the shape, size, and position information of the field edge based on the driving trajectory (position information) of the outer perimeter drive, but it cannot determine the timing or position of completion of the outer perimeter drive of the field. Therefore, the information output unit 62 creates a response to the voice message such as "Understood. Please declare the start of work after completion" and outputs it to the operator via the terminal display unit 53 or the terminal voice output unit 54.

[0107] In this case, the work vehicle 1 enters a state of waiting for a declaration to start work, and the worker must input a voice message declaring the start of work via the terminal sound collection unit 56 after completing a drive around the perimeter of the field. If no declaration to start work is input after a predetermined time has elapsed, the work vehicle 1 will release from the waiting state.

[0108] For example, if a worker inputs a voice message, "Please work facing the direction of the vehicle," via the terminal sound collection unit 56, the information input unit 60 analyzes the voice message to create text data, and then analyzes the text data. The information input unit 60 then extracts terms such as "facing the direction of the vehicle" and "please work" from the text data, and determines from these terms that it is an operation instruction for work to be performed while the work vehicle 1 is moving in its current direction of travel. In this case, as described above, the information input unit 60 determines whether the operation instruction for work to be performed is suitable for automated driving, and the work vehicle 1 performs processing according to the result of that determination.

[0109] Furthermore, the information input unit 60 may use artificial intelligence (AI) to determine whether or not the operation instructions for work driving are suitable for automated driving, and may use a generation AI to create a voice message in response to the operation instructions based on the result of this determination. For example, the information input unit 60 generates a machine learning model by machine learning work driving operation instructions and similar terms, and voice messages in response to the operation instructions, and stores it in the memory unit 51 or the artificial intelligence server 7. Then, the information input unit 60 uses the machine learning model to determine whether or not the operation instructions are suitable for automated driving, and generates a voice message in response based on the determination result.

[0110] Furthermore, as described above, if the information input unit 60 determines that there is an error in the input instruction or operation instruction based on the content of the voice message from the worker regarding the work plan information or the operation instruction for work driving, the information output unit 62 creates a response indicating the error in the input instruction or operation instruction and outputs it to the worker via the terminal display unit 53 or the terminal voice output unit 54.

[0111] In the above-described embodiment, when the information input unit 60 inputs work plan information as automatically input information, it automatically detects work vehicle information associated with a model number entered manually, work machine information associated with a model number entered manually, field information associated with a field entered manually, and worker information associated with a worker entered manually. However, the present invention is not limited to this example.

[0112] In the second modified example of this embodiment, when multiple workers use the work vehicle 1, the work vehicle 1 stores work plan information corresponding to each worker in advance in the storage unit 51 and the management server 6, and the information input unit 60 detects and inputs the work plan information corresponding to the worker using the work vehicle 1. Here, the work plan information corresponding to a worker includes at least one of the following: work vehicle information, work machine information, field information, route creation information, and worker information. The work vehicle 1 stores worker images, such as facial images that can identify each worker, in advance in the storage unit 51 and the management server 6, and the information input unit 60 compares the captured images of workers using the work vehicle 1 captured by the vehicle imaging unit 34 and the terminal imaging unit 57 with the pre-stored worker images, and identifies the worker using the work vehicle 1 based on the comparison result.

[0113] The vehicle imaging unit 34 and the terminal imaging unit 57 may automatically image people around the vehicle body 2 or people sitting in the driver's seat in response to the operation of the vehicle operation unit 32 or the terminal operation unit 55, and the information input unit 60 may automatically identify the worker based on the captured image. Alternatively, the vehicle imaging unit 34 may automatically image people around the vehicle body 2 or people sitting in the driver's seat when a person detection sensor (not shown) provided on the work vehicle 1 detects such people, and the information input unit 60 may automatically identify the worker based on the captured image. Alternatively, the vehicle imaging unit 34 may automatically image people around the vehicle body 2 or people sitting in the driver's seat in response to the operation of the engine 13 of the work vehicle 1, and the information input unit 60 may automatically identify the worker based on the captured image, or the operator may be asked to select whether or not to image people around the vehicle body 2 or people sitting in the driver's seat and identify the worker in response to the operation of the engine 13 of the work vehicle 1.

[0114] In the second modified example, the work vehicle 1 pre-stores work plan information recommended for the worker in the memory unit 51 and the management server 6 as work plan information corresponding to the worker. For example, the work vehicle 1 pre-stores work vehicle information and work equipment information such as the previous vehicle speed, engine speed, lifting speed, PTO rotation speed, sensitivity during automatic driving, and the timing of the rise of the work equipment 3 during turning in the memory unit 51 and the management server 6 as work plan information corresponding to the worker.

[0115] Furthermore, the work vehicle 1 may use artificial intelligence (AI) to determine which work plan information to recommend to the worker, and may use a generating AI to set the work plan information corresponding to the worker based on the determination result. For example, the work vehicle 1 uses machine learning to analyze the work plan information previously set by the worker, thereby generating a machine learning model of work plan information that suits the worker's preferences in addition to the previously set work plan information, and storing it in the memory unit 51 or the artificial intelligence server 7. The work plan creation unit 61 then uses the machine learning model to determine which work plan information to recommend to the worker, and determines it as work plan information corresponding to the worker.

[0116] In the second modified example, the information output unit 62 creates a notification regarding the setting of work plan information corresponding to the worker and outputs it to the worker via the terminal display unit 53 and the terminal voice output unit 54.

[0117] For example, when the information input unit 60 inputs work plan information corresponding to a worker and sets it automatically, the information output unit 62 creates a notification to confirm the recognized worker and a notification to set the work plan information corresponding to the worker, and outputs them to the worker via the terminal display unit 53 and the terminal voice output unit 54. Alternatively, when the information input unit 60 sets the work plan information corresponding to a worker according to the worker's manual operation, the information output unit 62 creates a notification to confirm the recognized worker and a notification to check whether or not to set the work plan information corresponding to the worker, and outputs them to the worker via the terminal display unit 53 and the terminal voice output unit 54. Specifically, the work vehicle 1 outputs a notification to the worker asking whether or not to set work vehicle information and work machine information such as the previous vehicle speed, engine speed, lifting speed, and PTO rotation speed as work plan information corresponding to the worker.

[0118] Furthermore, the work vehicle 1 may use a generating AI to create notifications regarding the setting of work plan information corresponding to workers. For example, the work vehicle 1 generates a machine learning model by machine learning the terminology used in notifications regarding the setting of work plan information corresponding to workers, and stores it in the memory unit 51 or the artificial intelligence server 7. Then, the work plan creation unit 61 uses the machine learning model to create notifications regarding the setting of work plan information corresponding to workers using AI.

[0119] Furthermore, in the second modified example, the work vehicle 1 may, regardless of the worker, pre-store work plan information corresponding to multiple types of work vehicles 1 and work plan information corresponding to multiple types of work machines 3 in the storage unit 51 and the management server 6, and the information input unit 60 may detect and input work plan information corresponding to the work vehicle 1 and work machine 3 used by the worker. In this case, the work vehicle 1 may pre-store work vehicle images and work machine images that can identify each work vehicle 1 and each work machine 3 in the storage unit 51 and the management server 6, and the information input unit 60 may compare the captured images of the work vehicle 1 and work machine 3 used by the worker captured by the vehicle imaging unit 34 and the terminal imaging unit 57 with the pre-stored work vehicle images and work machine images, and identify the work vehicle 1 and work machine 3 used by the worker based on the comparison result.

[0120] In the above-described embodiment, an example was given in which machine learning models relating to work plan information, driving routes and patterns, other work plan information to be added, driving instructions, input instructions for work plan information and operation instructions for work driving, and work plan information corresponding to workers are stored in the storage unit 51 of the mobile terminal 5. However, the present invention is not limited to this example. In other examples, these machine learning models may be stored in the storage unit 41 of the work vehicle 1 or in the artificial intelligence server 7.

[0121] Furthermore, although the above-described embodiment illustrates an example in which the information input unit 60, the work plan creation unit 61, and the information output unit 62 operate on the computer of the control device 50 of the mobile terminal 5, the present invention is not limited to this example. In other examples, the information input unit 60, the work plan creation unit 61, and the information output unit 62 may be configured to operate on the computer of the control device 4 of the work vehicle 1 or the computer of the artificial intelligence server 7. In this case, the information input unit 60, the work plan creation unit 61, and the information output unit 62 may operate as artificial intelligence (AI) or generative AI on the computer of the control device 4 of the work vehicle 1 or the computer of the artificial intelligence server 7.

[0122] In other words, according to this embodiment, the work plan creation system for the work vehicle 1 only needs to include an information input unit 60, a work plan creation unit 61, and an information output unit 62. Here, the information input unit 60, the work plan creation unit 61, and the information output unit 62 may be executed by the control device 50 of the mobile terminal 5, or they may be executed by the computer of the control device 4 of the work vehicle 1 or the computer of the artificial intelligence server 7.

[0123] In the embodiments described above, an example was given in which the work vehicle 1 is composed of a tractor, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be composed of other agricultural machinery such as a combine harvester, rice transplanter, or lawnmower, or it may be composed of other work vehicles other than agricultural machinery.

[0124] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole. Work plan creation methods and work plan creation systems that involve such modifications are also included in the technical concept of the present invention.

[0125] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0126] <Note 1> A method for creating a work plan for work vehicles that travel and perform work in a field, An input step for inputting work plan information relating to a work plan for driving and performing work using the aforementioned work vehicle, A creation process that creates a work plan based on a machine learning model that has acquired the input work plan information, A method for creating a work plan, characterized by comprising an output step of outputting the created work plan to the work vehicle.

[0127] <Note 2> The work plan creation method according to Appendix 1, characterized in that the input step inputs at least one of the following as work plan information: work vehicle information relating to the work vehicle, work equipment information relating to the work equipment attached to the work vehicle, field information relating to the field in which the work vehicle will work, route creation information indicating the characteristics of route creation, and worker information of the worker.

[0128] <Note 3> The work plan creation method according to Appendix 1 or 2, characterized in that the input step includes inputting manually entered information in response to manual operations by an operator and automatically detected and entered information as work plan information.

[0129] <Note 4> The work plan creation method according to any one of the appendices 1 to 3, characterized in that the creation process determines that there is a deficiency in the input of the work plan information, or when the worker inputs that the created work plan is unsuitable, it notifies the worker of other work plan information that should be added.

[0130] <Note 5> The automated driving method according to any one of Appendix 1 to 4, characterized in that the creation step is to create the work plan using a generating AI that employs a machine learning model to acquire the work plan information.

[0131] <Note 6> The automated driving method according to Appendix 4, characterized in that the creation step is to create the additional work plan information by generating AI using a machine learning model that has acquired the input work plan information and the additional work plan information to be added.

[0132] <Note 7> A work planning system for work vehicles that travel and perform work in a field, An input unit for inputting work plan information relating to a work plan for driving and performing work using the aforementioned work vehicle, A creation unit that creates a work plan based on a machine learning model that has acquired the input work plan information, A work plan creation system characterized by comprising: an output unit that outputs the created work plan to the work vehicle.

[0133] <Note 8> The work plan creation system according to Appendix 7, characterized in that the input unit inputs at least one of the following as work plan information: work vehicle information relating to the work vehicle, work equipment information relating to the work equipment attached to the work vehicle, field information relating to the field in which the work vehicle will work, route creation information indicating the characteristics of route creation, and worker information of the worker.

[0134] <Note 9> The work plan creation system according to Appendix 7 or 8, characterized in that the input unit inputs manually input information entered in response to manual operations by an operator and automatically detected and entered information as work plan information.

[0135] <Note 10> The work plan creation system according to any one of the appendices 7 to 9, characterized in that the creation unit notifies the worker of other work plan information to be added when it determines that there is a shortage of input work plan information, or when the worker inputs that the created work plan is unsuitable.

[0136] <Note 11> The work plan creation system according to any one of the appendices 7 to 10, characterized in that the creation unit creates the work plan using a generating AI that employs a machine learning model to acquire the work plan information.

[0137] <Note 12> The work plan creation system according to Appendix 10, characterized in that the creation unit creates the additional work plan information to be added by generating AI using a machine learning model that has acquired the input work plan information and the additional work plan information to be added. [Explanation of symbols]

[0138] 1. Work vehicles 2 car bodies 3. Work equipment 4. Control device 5 Mobile devices 6. Management Server 7. Artificial Intelligence Server 13 Engine 14. Transmission 15. Lifting mechanism for work equipment 16 Positioning Units 30 Vehicle display section 31 Vehicle audio output unit 32 Vehicle Control Unit 33. Vehicle sound collection unit 34 Vehicle imaging unit 41 Storage section 45 Operation Control Unit 50 Control device 51 Storage section 53 Terminal display unit 54 Terminal audio output section 55 Terminal operation section 56 Terminal sound collection unit 57 Terminal imaging unit 60 Information Input Section (Input Section) 61. Work Planning Department (Creation Department) 62 Information Output Unit (Output Unit)

Claims

1. A method for creating a work plan for work vehicles that travel and perform work in a field, An input step for inputting work plan information relating to a work plan for driving and performing work using the aforementioned work vehicle, A creation step of creating the work plan based on a machine learning model that has acquired the input work plan information, A method for creating a work plan, characterized by comprising an output step of outputting the created work plan to the work vehicle.

2. The work plan creation method according to claim 1, characterized in that the input step inputs at least one of the following as work plan information: work vehicle information relating to the work vehicle, work equipment information relating to the work equipment attached to the work vehicle, field information relating to the field in which the work vehicle will work, route creation information indicating the characteristics of route creation, and worker information of the worker.

3. The work plan creation method according to claim 1, characterized in that the input step includes inputting manually entered information, which is entered according to the manual operation of the worker, and automatically detected and entered information, as the work plan information.

4. The work plan creation method according to claim 1, characterized in that the creation step determines that there is a deficiency in the input of the work plan information, or when the worker inputs that the created work plan is unsuitable, it notifies the worker of other work plan information that should be added.

5. The method for creating a work plan according to claim 1, characterized in that the creation step involves creating the work plan using a generative AI that employs a machine learning model to acquire the work plan information.

6. The method for creating a work plan according to claim 4, characterized in that the creation step is to create the additional work plan information by generating AI using a machine learning model that has acquired the input work plan information and the additional work plan information to be added.

7. A work planning system for work vehicles that travel and perform work in a field, An input unit for inputting work plan information relating to a work plan for driving and performing work using the aforementioned work vehicle, A creation unit that creates the work plan based on a machine learning model that has acquired the input work plan information, A work plan creation system characterized by comprising: an output unit that outputs the created work plan to the work vehicle.

Images